CEEMD结合改进小波阈值的激光雷达信号去噪算法

doi:10.12305/j.issn.1001-506X.2023.01.12

Abstract

Abstract:

The long-distance echo signal of laser radar is affected by noise and is seriously distorted. In order to effectively remove the noise of the signal and improve the signal-to-noise ratio of the echo signal, a denoising algorithm combining complementary ensemble empirical mode decomposition (CEEMD) with an improved wavelet threshold is proposed. CEEMD can adaptively decompose nonlinear and non-stationary signals, and the improved wavelet threshold function has high-order differentiability characteristics, which can overcome the problems of hard threshold and soft threshold functions. The combination of the two methods can remove noise more effectively. Firstly, the echo signal is decomposed by CEEMD to obtain several intrinsic mode function (IMF) components. Secondly, the correlation coefficient between the IMF components and the signal is calculated by the correlation coefficient method. And the relevant and uncorrelated components are determined. Finally, the wavelet improved threshold method is used to denoise the uncorrelated components, and the rough penalty method is used to smooth the correlated components, and then the signal is reconstructed. Experimental results based on measured data show that the proposed algorithm has improved the signal-to-noise ratio by 2.65 dB and 0.58 dB compared with the CEEMD denoising method and CEEMD combined with the original improved threshold denoising method.

Key words: laser radar, signal processing, complementary ensemble empirical mode decomposition (CEEMD), wavelet threshold denoising

CLC Number:

TP212

Yuzhao MA, Kui LIU, Yanfeng ZHANG, Shuai FENG, Xinglong XIONG. Laser radar signal denoising algorithm based on CEEMD combined with improved wavelet threshold[J]. Systems Engineering and Electronics, 2023, 45(1): 93-100.

Figures/Tables 13

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References 30

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噪声强度/dB	自适应阈值	启发式阈值	固定阈值	极大极小阈值
10	17.26	17.86	16.13	19.61
15 20	21.97 26.91	22.50 27.40	22.25 27.23	23.65 27.84

指标	本文算法	CEEMD去噪	CEEMD+小波阈值去噪	CEEMD+原改进阈值去噪	EEMD+本文改进小波阈值去噪
SNR/dB	20.60	5.68	19.43	19.45	20.19
RMSE(×10^-7)	1.27	7.11	1.46	1.43	1.33

噪声强度/dB	本文算法	CEEMD去噪	CEEMD+小波阈值去噪	CEEMD+原改进阈值去噪	EEMD+本文改进小波阈值去噪
10	15.47	3.50	12.77	14.91	15.31
15 20	21.86 28.01	3.38 3.42	17.78 23.50	21.52 23.50	21.72 27.79

C值	本文算法	CEEMD去噪	CEEMD+小波阈值去噪	CEEMD+原改进阈值去噪	EEMD+本文改进小波阈值去噪
0.75 0.80	25.90 16.57	3.47 5.75	23.45 15.65	24.70 16.02	25.18 14.62

算法	本文算法	CEEMD去噪	CEEMD+小波阈值去噪	CEEMD+原改进阈值去噪	EEMD+本文改进小波阈值去噪
去噪效果指标	6.63	3.98	6.46	6.05	6.61

Laser radar signal denoising algorithm based on CEEMD combined with improved wavelet threshold

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