CEEMDAN-LWT De-Noising Method for Pipe-Jacking Inertial Guidance System Based on Fiber Optic Gyroscope

An inertial guidance system based on a fiber optic gyroscope (FOG) is an effective way to guide long-distance curved pipe jacking. However, environmental disturbances such as vibration, electromagnetism, and temperature will cause the FOG signal to generate significant random noise. The random noise will overwhelm the effective signal. Therefore, it is necessary to eliminate the random noise. This study proposes a hybrid de-noising method, namely complete ensemble empirical mode decomposition with adaptive noise (CEEMDAN)-lifting wavelet transform (LWT). Firstly, the FOG signal is extracted using a sliding window and decomposed by CEEMDAN to obtain the intrinsic modal function (IMF) with N different scales and one residual. Subsequently, the effective IMF components are selected according to the correlation coefficient between the IMF components and the FOG signal. Due to the low resolution of the CEEMDAN method for high-frequency components, the selected high-frequency IMF components are decomposed with lifting wavelet transform to increase the resolution of the signal. The detailed signals of the LWT decomposition are de-noised using the soft threshold de-noising method, and then the signal is reconstructed. Finally, pipe-jacking dynamic and environmental interference experiments were conducted to verify the effectiveness of the CEEMDAN-LWT de-noising method. The de-noising effect of the proposed method was evaluated by SNR, RMSE, and Deviation and compared with the CEEMDAN and LWT de-noising methods. The results show that the CEEMDAN-LWT de-noising method has the best de-noising effect with good adaptivity and high accuracy. The navigation results of the pipe-jacking attitude before and after de-noising were compared and analyzed in the environmental interference experiment. The results show that the absolute error of the pipe-jacking pitch, roll, and heading angles is reduced by 39.86%, 59.45%, and 14.29% after de-noising. The maximum relative error of the pitch angle is improved from -0.74% to -0.44%, the roll angle is improved from 2.07% to 0.79%, and the heading angle is improved from -0.07% to -0.06%. Therefore, the CEEMDAN-LWT method can effectively suppress the random errors of the FOG signal caused by the environment and improve the measurement accuracy of the pipe-jacking attitude.