Abstract
To overcome the negative influences of exceptional fiber optic gyro (FOG) signal on the performances of INS/GPS integrated navigation system, a FOG signal de-noising method in the time–frequency domain is proposed based on the empirical mode decomposition and Allan variance (EMDAV) in this paper. Initially, the FOG output signal is decomposed with empirical mode decomposition (EMD), and then the decomposed signal is analyzed by Allan variance. The noise is removed based on the error characteristics analysis of FOG signal in time–frequency domain. Real FOG data is processed by the de-noising method based on EMDAV, and the results show that, the mean and variance of the signal de-noised by proposed method can be reduced with 2 orders of magnitude than the wavelet method. The experiment of INS/GPS integrated navigation system under GPS failure indicates that, DEMAV can improve the navigation accuracy effectively.
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