In order to effectively identify the characteristic parameters of hemispherical shell resonator, an extended Kalman filter algorithm is proposed to identify the four characteristic parameters of hemispherical shell resonator（HSR）, which includes anisotropy of stiffness Δω, primary axis of stiffness θ_ω, anisotropy of damping Δ (1/τ ) and primary axis of damping θ_τ. In this paper, based on the amplitude control equation and orthogonal control equation of the non-ideal hemispherical shell resonator, the parameter identification equation based on the extended Kalman filter algorithm is constructed, and the simulation model of the hemispherical resonator gyro（HRG）is built, so as to verify the effectiveness of the proposed method. The simulation results show that all the characteristic parameters converge to the set expected value within 15 seconds. The proposed method can effectively identify the characteristic parameters of the hemispherical shell resonator, and can provide a favorable guide for the error calibration, compensation and system accuracy improvement of the hemispherical resonator gyro.