MEMS gyroscope signal denoising processing method based on mixed method
A processing method and gyroscope technology, which are applied in the recognition of patterns in signals, instruments, characters and patterns, etc., can solve the problems of unknown, complex random dynamic signals, and the denoising effect is not obvious, and achieve low steady-state error, The effect of fast convergence speed
Inactive Publication Date: 2018-03-06
TIANJIN UNIV
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[0005] In practical applications, most of them are complex random dynamic signals
The KF method can usually be used for the denoising of dynamic random signals; however, its denoising accuracy greatly depends on the selection of initial values of process noise and observation noise, and these parameters are unknown in many practical applications
Improper selection of the initial value will make the denoising effect not obvious
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[0047] The present invention will be further described below in conjunction with the drawings.
[0048] The various noises contained in MEMS gyroscopes greatly limit its application. In actual use, it is generally necessary to denoise the noise in the signal. In order to effectively remove the noise in the original random signal of the MEMS gyroscope, and consider various signal forms such as static signal, constant rate dynamic signal, arbitrary dynamic signal, etc., a hybrid random signal denoising method is proposed. Use two different methods to obtain two serial number parameters, divide each order IMF into three different intervals: noise IMF, mixed IMF, and information IMF, and directly discard, further process, and directly retain the different intervals Operation. The IMFs after removing the noise IMF are added together to form a preliminary signal denoising signal; the purpose is to judge the motion shape of the current signal. The AMA-based sampling variance method i...
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The invention discloses an MEMS gyroscope signal denoising processing method based on a mixed method. The method comprises the following steps: carrying out decomposition on an original random signalbased on EMD to obtain a series of IMFs, and through two serial number parameters M1 and M2( M1<M2), dividing each order of IMF into three portions: a noise IMF, which is lower than M1 and can be directly rejected, an information IMF, which is higher than M2 and can be directly kept, and a mixed IMF, which is between the M1 and M2; calculating sample variance of a signal formed after recombinationof the mixed IMF and the information IMF based on an AMA method, and carrying out de-noising processing on the mixed IMF through an appropriate de-noising method according to the value of the samplevariance; and recombining the information IMF and the mixed IMF obtained after de-noising to obtain a final signal. The method can carry out effective de-noising processing on noise in random signalsunder different motion states.
Description
Technical field [0001] The invention relates to the fields of signal processing technology, inertial measurement technology, and micromechanical measurement technology, and more specifically, to a MEMS gyroscope signal denoising processing method based on a hybrid method. Background technique [0002] A micro-electromechanical system (MEMS) gyroscope can be used to measure the angular velocity of a moving object, and the posture information of the target object can be obtained through the integration of time. Because of its light weight, small size, low price, and strong autonomy, it is widely used in many occasions such as drone flight control, tracking and positioning of computer-assisted medical surgery, pilot helmet positioning, and limb movement tracking. [0003] One of the biggest problems with cheap MEMS gyroscopes is that the original signal output contains a variety of noises. On the one hand, the presence of noise reduces the measurement accuracy of the object's angular...
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IPC IPC(8): G06K9/00
CPCG06F2218/04
Inventor 孙长库郭肖亭王鹏黄璐
Owner TIANJIN UNIV