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《Acta Geodaetica et Cartographica Sinica》 2011-06
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De-noising Method for Gyro Signal Based on EMD

GAN Yu,SUI Lifen Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450052,China  
Gyro random drift is a remarkable factor that can affect the precision of inertial navigation system(INS).Wavelet de-noising method is poor in coping with exceptional noise,and it depends greatly on the selection of wavelet base and decomposition scale.Empirical mode decomposition(EMD) de-noising method for gyro signal is presented.The signal is decomposed into an intrinsic mode function(IMF) group.Based on this group,IMFs of exceptional noise are first disposed by 2σ criterion and then the number of IMFs of high frequency noise is determined by correlation coefficient.The de-noising process is finally done by removing the noisy IMFs.Detailed comparison between EMD method and wavelet method is given.Overlapping Allan variance is used to analyze the effect of the two methods,and the applicable ability of EMD method is tested through an INS calculation.It is shown that EMD method outperforms wavelet method in removing exceptional noise and is more efficient in weakening random drift.
【Fund】: 国家自然科学基金(40974010);; 信息工程大学测绘学院硕士学位论文创新与创优基金(S201101)
【CateGory Index】: P228
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