Geodesic
Eight-point model of the hemispherical resonator gyro
Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 1 (2007), pp. 135-214

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In clause the mechanical model of the resonator solid-state wave gyro as eight dot weights connected among themselves and connected with the centre of system by springs is considered. It is shown, that the dynamics of that system reflects the dynamics of the real device with a sufficient degree of accuracy. The influence of errors of the resonator manufacturing on dynamics of system is considered. 
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     author = {A. V. Bonshtedt and S. V. Kuz'min and P. K. Machehin},
     title = {Eight-point model of the hemispherical resonator gyro},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
     pages = {135--214},
     publisher = {mathdoc},
     number = {1},
     year = {2007},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VUU_2007_1_a13/}
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A. V. Bonshtedt; S. V. Kuz'min; P. K. Machehin. Eight-point model of the hemispherical resonator gyro. Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹûternye nauki, no. 1 (2007), pp. 135-214. http://geodesic.mathdoc.fr/item/VUU_2007_1_a13/