Hybrid noise removal to improve the accuracy of inertial sensors using lifting wavelet transform optimized by genetic algorithm

Abstract

An Inertial Navigation System (INS) is a standalone system that provides continuous navigation information on the position, velocity, and attitude in various conditions. Gyroscopes and accelerometers are essential components of INS. However, these sensors are prone to errors that accumulate over time and degrade the accuracy of the INS. Therefore, enhancing the performance of INS is a challenging problem. This paper aims to address this problem by proposing a method to reduce errors in real-time processing. The method uses Lifting Wavelet Transform (LWT), a popular denoising technique that belongs to the wavelet family and has an advantage over the classic wavelets in terms of time and computation complexity. Moreover, the method employs an optimization technique based on the Genetic algorithm as an intelligent averaging for combining different multi-level LWTs, which significantly improves the accuracy and efficiency of INSs. Finally, a new and implementable structure is introduced for denoising inertial sensors. The results show that the proposed method achieves an 83% and 59% improvement in gyroscope and accelerometer data for dynamic data, compared with raw data. Besides, for static data, there are 71% and 36% improvements in gyroscope and accelerometer data, respectively.

Keywords

• INS
• Wavelet transform
• Lifting scheme
• Genetic algorithm
• Allan variance