EEMD Interval Threshold De-noising Method for Inertial Navigation

The stochastic error of gyro is the significant factor that affect the precision of inertial navigation system (INS).On the basis of empirical mode decomposition (EMD) method and threshold de-noising method, proposed an ensemble empirical mode decomposition(EEMD) interval threshold de-noising method for gyro signal.The gyro signal is decomposed into several intrinsic mode function(IMF) components and one residual component, then rejecting the IMFs that contain pure noise by the 2-norm measures between the probability density function of IMFs and signal, using an improved interval threshold de-noising method to complete the signal de-noising process.Simulation and real test experiments show that the proposed method can not only effectively restrain the mode mixing phenomenon in EMD, but also effectively reducing the stochastic error of gyro, thus improving the precision and reliability of INS.