The application of wavelet filtering on denoising hemispherical resonator gyro signal

Being affected by materials of manufacturing and transmitting, materials processing and working environment, Hemispherical resonator gyro (HRG) inevitable contains severe noise which serious contaminates the gyro accuracy. In this paper, the HRG noise performances are described by using two different techniques, Power Spectral Density (PSD) and Allan Variance, after analyzing the HRG output signal. On this basis, the theory of wavelet filtering is proposed to process the gyro signal and the filtering effects of different methods are compared each other. The result indicates that the wavelet filtering effectively denoises the gyro output signal and improves the gyro accuracy.