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Journal of Sensors
Volume 2016, Article ID 3613878, 7 pages
Research Article

A Gyro Signal Characteristics Analysis Method Based on Empirical Mode Decomposition

1Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics and Astronautics, 29 Jiangjun Road, Nanjing 211106, China
2Navigation Research Center, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 29 Jiangjun Road, Nanjing 211106, China
3AVIC Luoyang Electro-Optical Equipment Research Institute, Luoyang 471009, China

Received 9 March 2016; Revised 14 June 2016; Accepted 22 June 2016

Academic Editor: Andrea Cusano

Copyright © 2016 Qinghua Zeng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


It is difficult to analyze the nonstationary gyro signal in detail for the Allan variance (AV) analysis method. A novel approach in the time-frequency domain for gyro signal characteristics analysis is proposed based on the empirical mode decomposition and Allan variance (EMDAV). The output signal of gyro is decomposed by empirical mode decomposition (EMD) first, and then the decomposed signal is analyzed by AV algorithm. Consequently, the gyro noise characteristics are demonstrated in the time-frequency domain with a three-dimensional (3D) manner. Practical data of fiber optic gyro (FOG) and MEMS gyro are processed by the AV method and the EMDAV algorithm separately. The results indicate that the details of gyro signal characteristics in different frequency bands can be described with the help of EMDAV, and the analysis dimensions are extended compared with the common AV. The proposed EMDAV, as a complementary tool of the AV, which provides a theoretical reference for the gyro signal preprocessing, is a general approach for the analysis and evaluation of gyro performance.