Noise Reduction for MEMS Gyroscope Signal: A Novel Method Combining ACMP with Adaptive Multiscale SG Filter Based on AMA

In this paper, a novel hybrid method combining adaptive chirp mode pursuit (ACMP) with an adaptive multiscale Savitzky–Golay filter (AMSGF) based on adaptive moving average (AMA) is proposed for offline denoising micro-electromechanical system (MEMS) gyroscope signal. The denoising scheme includes preliminary denoising and further denoising. At the preliminary denoising stage, the original gyroscope signal is decomposed into signal modes one by one using ACMP with modified stopping criterion based on mutual information. Useful information is extracted while most noise is discarded in the residue at this stage. Then, AMSGF is proposed to further denoise the signal modes. Sample variance based on AMA is used to adjust the window size of AMSGF adaptively. Practical MEMS gyroscope signal denoising results under different motion conditions show the superior performance of the proposed method over empirical mode decomposition (EMD)-based denoising, discrete wavelet threshold denoising, and variational mode decomposition (VMD)-based denoising. Moreover, AMSGF is proven to gain a better denoising effect than some other common smoothing methods.