The hemispherical resonant gyro in the whole angle mode is a rate integrating gyro, which has the characteristics of wide measurement range, high bandwidth and high accuracy. In this paper, the whole angle mode of a two-piece hemispherical resonator gyro composed of resonators and surface electrodes is studied. The pattern control and the single solution method are introduced and implemented through the FPGA and DSP architecture and the standing wave azimuth is resolved. The experimental data show that the developed two-piece hemispherical resonance gyro prototype can realize the function of rate integrating gyro, with the measurement range of ± 400 (°)/s and the maximum system drift of 20 (°)/h. Compared with the hemispherical resonant gyro in the force balance mode, it broadens the measuring range of the hemispherical resonant gyro, and lays a foundation for further improving the accuracy of the full-angle hemispherical resonant gyro