A metallic cylindrical resonator is a well-known base detail of the significant part of Coriolis vibratory gyroscopes (CVG) [1] including a MEMS gyro. It own parameters just after mechanical manufacture in main are determine an advisability of further utilize and the future gyroscope accuracy potential. Initial testing CVG resonators directly after their manufacture often done using the optical method [2,3] or acoustic method [4,5]. Unfortunately investigated manufacture quality of the resonators by using acoustic method not very well describe in scientific literature. A paper presents the results of some extension acoustic investigations of the metallic CVG resonators. This result describes the behavior of maximum quality factor (Q-factor) axes and own resonant frequencies axes under stabilized temperature step influences and can be used in prediction for CVG bias minimization during it works in temperature range.

The work analyzes the development and current state of vibration gyroscopes in Ukraine and in the world. The development of quartz and metallic resonators of various diameters for vibrating gyroscopes is presented and analyzed. In addition, for comparison with world practice, the developments of quartz and metallic resonators of advanced foreign companies, leaders in this field, are given. The block diagrams of the standing wave control system of the vibrating gyroscope in three modes of operation: as  the angle rate sensor, as the rate-integrating or whole angle mode sensor and the differential mode are considered. In the perspective, the possibility of combining all three modes in one gyroscope with automatic switching from one mode to another one is shown, for maximum use of the advantages of each mode in dependence of environmental conditions and motion parameters. The test results of gyroscope with a metallic resonator made in Ukraine, on the effect of a wide range of external disturbances are presented. The development prospects of vibrating gyroscopes and systems based on them are evaluated. The paper draws conclusions about the state and prospects for the development of vibrating gyroscopy in Ukraine.

А new method for on-run periodic scale factor and bias self-calibration of vibratory gyroscopes in an inertial measurement unit with a redundant number of sensors is proposed. Self-calibration uses predefined virtual positive and negative angle rates to calibrate the SF, and the bias of the gyroscope that is in calibration mode, while the others, at least three gyroscopes of an inertial measurement unit, whose sensitivity axes do not lie in the same plane, operate in the measurement mode to measure the real angle rate of a vehicle. The projection of the current angle rate onto the sensitivity axis of the gyroscope being calibrated is computed from the results of measuring the full angle rate vector by the other three gyroscopes, creating conditions for the calibration procedure. In contrast to known methods, such as single-axis or multi-axis rotation of an inertial measurement unit and vibration modes reversal, the proposed method does not use mechanical rotation, which requires additional devices, and does not require a reorientation of the vibrating wave, which entails the need to align the parameters of the two measuring channels. The scale factor and bias calibration procedure using this method is the same for any gyroscope of an inertial measurement unit and can be applied to several gyroscopes at the same time. Therefore, the proposed method has great potential for an application not only for small-sized 4-gyro inertial measurement unit based on vibratory gyroscopes but also for multi-gyro inertial measurement unit based on micro-electro-mechanical gyroscopes. Experimentally shown that using the proposed method a gyro requirements mitigation coefficient can be substantially increased and can provide high accuracy for autonomous navigation systems based on low-cost, small-sized, and micro-electro-mechanical gyroscopes.