A vibratory rotation sensor in the form of a hemispherical resonator gyro (HRG) is capable of measuring the angular displacement (velocity), which is not developed in home.

• 半球壳谐振子陀螺仪（HRG），是近年来迅速发展起来的一种新型的 角位移/角速率传感器，目前在国内尚处于起步阶段。