Abstract:Aiming at the problem that the noise of the gyro output signal is serious in the vibration environment, an improved wavelet threshold denoising algorithm based on the random error term is proposed. Through the wavelet decomposition of the gyroscope signal, the signal is decomposed into multiple layers according to the frequency components. Then, the random error term is identified for the signals decomposed at each layer; and then the noise threshold of each layer is obtained by using the random error term coefficients. Finally, the obtained threshold is used for wavelet denoising. The proposed threshold is proposed to solve the problem of noise wrong judgment or noise residue due to excessive or too small thresholds selection in the Donoho global threshold, so that the noise removal is more thorough. Through the experimental analysis, it is proved the algorithm can not only effectively remove the signal noise and solve the problem of noise residue, but also keep the effective signal of the output and solve the problem of noise wrong judgment.