基于LMD-WSVD的半球谐振陀螺混合去噪方法

doi:10.12305/j.issn.1001-506X.2023.02.21

系统工程与电子技术 ›› 2023, Vol. 45 ›› Issue (2): 497-503.doi: 10.12305/j.issn.1001-506X.2023.02.21

• 制导、导航与控制 • 上一篇

基于LMD-WSVD的半球谐振陀螺混合去噪方法

常龙康¹, 魏健雄¹, 于飞¹^,*, 张国昌², 高伟¹, 郝强³

1. 哈尔滨工业大学仪器科学与工程学院, 黑龙江哈尔滨 150001
2. 哈尔滨工程大学烟台研究院, 山东烟台 264000
3. 中国舰船研究院, 北京 100101

收稿日期:2022-03-01 出版日期:2023-01-13 发布日期:2023-02-04
通讯作者: 于飞
作者简介:常龙康(1999—), 男, 硕士研究生, 主要研究方向为惯性传感器的信号处理技术、传感器数据融合
魏健雄(1991—), 男, 博士研究生, 主要研究方向为惯性导航算法及陀螺噪声抑制算法
于飞(1974—), 男, 教授, 博士, 主要研究方向为惯性导航、协同导航
张国昌(1977—), 男, 研究员, 硕士, 主要研究方向为惯性导航、协同导航
高伟(1977—), 男, 教授, 博士, 主要研究方向为精密惯性仪器、惯性导航系统技术、量子导航技术、智能协同导航技术
郝强(1992—), 男, 工程师, 博士, 主要研究方向为舰船导航技术、惯性导航
基金资助:
烟台市校地融合发展项目资助课题

A hybrid denoising method for hemispherical resonant gyroscope based on LMD-WSVD

Longkang CHANG¹, Jianxiong WEI¹, Fei YU¹^,*, Guochang ZHANG², Wei GAO¹, Qiang HAO³

1. School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
2. Yantai Research Institute, Harbin Engineering University, Yantai 264000, China
3. China Ship Research Institute, Beijing 100101, China

Received:2022-03-01 Online:2023-01-13 Published:2023-02-04
Contact: Fei YU

摘要/Abstract

摘要：

为了减少半球谐振陀螺(hemispherical resonant gyroscope, HRG)输出噪声对导航精度的影响, 提出了一种基于局部均值分解-排列熵-小波变换-奇异值分解的混合去噪方法。首先, 使用局部均值分解方法对HRG信号进行分解, 然后排列熵将其划分为两类: 低频分量和混合分量; 之后将小波变换和奇异值分解级联以构成两级滤波器, 对混合分量进行降噪处理, 最后重构得到最终的信号。通过实验验证了该方法的有效性, 实验结果表明, 相比原始信号, 所提出的方法有效地减少了HRG的输出噪声, 提高了其测量精度, 其中角度随机游走降低了99.9%, 零偏稳定性降低了60.3%。

关键词: 半球谐振陀螺, 局部均值分解, 排列熵, 小波变换, 奇异值分解

Abstract:

In order to reduce the impact of hemispherical resonant gyroscope (HRG) output noise on navigation accuracy, a hybrid denoising method based on local mean decomposition-permutation entropy-wavelet transform-singular value decomposition is proposed. Firstly, the signal of the HRG is decomposed using the local mean decomposition method; then these components are divided into two categories: low-frequency components and mixed components by the permutation entropy; lately, for the mixed components, the wavelet transform and singular value decomposition are cascaded to form a two-stage filter for noise reduction, and finally, components are reconstructed to obtain the final signal. The effectiveness of the proposed method is verified by the experiments. The results show that the proposed algorithm can effectively reduce the output noise in the HRG and improve its measurement accuracy, among which the angular random walk is reduced by 99.9% and the bias instability is reduced by 60.3% compared with the original signal.

Key words: hemispherical resonant gyroscope (HRG), local mean decomposition, permutation entropy, wavelet transform, singular value decomposition

中图分类号:

常龙康, 魏健雄, 于飞, 张国昌, 高伟, 郝强. 基于LMD-WSVD的半球谐振陀螺混合去噪方法[J]. 系统工程与电子技术, 2023, 45(2): 497-503.

Longkang CHANG, Jianxiong WEI, Fei YU, Guochang ZHANG, Wei GAO, Qiang HAO. A hybrid denoising method for hemispherical resonant gyroscope based on LMD-WSVD[J]. Systems Engineering and Electronics, 2023, 45(2): 497-503.

图/表 10

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参数	HRG	EMD-LPF	EMD-LMS	LMD-WSVD
零偏稳定性/(°/h)	0.865 6	0.663 6	0.578 9	0.343 6
角度随机游走/(°/h/ $ \sqrt{\mathrm{Hz}}$)	16.733 3	2.903 3	3.800 0	0.015 5

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基于LMD-WSVD的半球谐振陀螺混合去噪方法

A hybrid denoising method for hemispherical resonant gyroscope based on LMD-WSVD

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