A High-Precision Mode Matching Method for Rate-Integrating Honeycomb Disk Resonator Gyroscope**Resrach supported by the National Key R&D Program of China (2018YFB2002300), National Natural Science Foundation of China (51905538) and Natural Science Foundation of Hunan Province (2020JJ2033).

This paper presents a precise mode matching method based on the quadrature control forces for the honeycomb disk resonator gyroscope working on the rate-integrating mode. Rate-integrating gyroscope (RIG) allows the pattern angle to precess freely to observe the output forces of quadrature control loop in specific directions which contains the full information of frequency mismatch for mode matching process. This method is proved by experiments to be highly effective and precise, reducing the frequency mismatch from 4Hz to about 5mHz. And the gyroscope achieves an angle-dependent bias drift (ADB) of 0.05°/s and a threshold value of less than ±0.005°/s after mode matching. Such tuning voltages are also suitable for the MEMS rate gyroscope (RG).