基于薄壳振动理论和半球壳谐振子的实际结构特征，研究了半球谐振陀螺的敏感元件即半球壳的振动特性。给出振子诺振频率和振型在环向进动的计算公式，并在所设计的半球壳样件上进行了相应的实验研究。理论计算与实验吻合。此外还给出了半球谐振陀螺闭环测量的结构图及检测原理。 Based on the shell vibration theory and the actual structural characteristics of the hemispherical shell resonator, the vibration characteristics of the hemispherical shell, the sensitive element of the hemispherical resonator gyroscope, are studied. The formula of nulling frequency and mode of precession in the toroidal precession is given, and the corresponding experimental research is carried out on the designed hemispherical shell specimen. The theoretical calculation is in good agreement with the experiment. In addition, the structure diagram and detection principle of closed-loop measurement of hemispherical resonator gyroscope are also given.