基于经验模态分解的三维成像激光雷达信号去噪方法
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摘要
利用梯度法对激光雷达信号进行处理,检测出突变部分的幅度和位置,根据梯度信息计算相应的平移序列,加入到原始信号中,使所得信号中不包含突变信息。利用经验模态分解(EMD)方法对去突变信号进行分解和去噪就可以避免模态混叠和突变位置附近出现的局部振荡现象。将该方法应用于实际激光雷达数据去噪过程中,实验结果表明,该方法能消除由突变引起的重构信号局部振荡现象,对信号平稳部分的噪声能有效地滤除,又能较好地保留信号的突变信息。
A grads method is used to process lidar signal,by which the scopes and positions of abrupt change can be detected.Based on these grads messages,a translation sequence can be calculated and is added to original lidar signal,which makes the parts of abrupt change in original lidar signal removed.The abrupt change removed signal is decomposed and denoised by empirical mode decomposition,which can avoid mode mix and local surge phenomena.This denoising method is applied to real lidar data denoising.The experiment results show the effectiveness of this method.It can remove noise in signal effectively in flat part and keep abrupt change well in signal.
A grads method is used to process lidar signal,by which the scopes and positions of abrupt change can be detected.Based on these grads messages,a translation sequence can be calculated and is added to original lidar signal,which makes the parts of abrupt change in original lidar signal removed.The abrupt change removed signal is decomposed and denoised by empirical mode decomposition,which can avoid mode mix and local surge phenomena.This denoising method is applied to real lidar data denoising.The experiment results show the effectiveness of this method.It can remove noise in signal effectively in flat part and keep abrupt change well in signal.
引文
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3Zhou Xiaolin,Sun Dongsong,Zhong Zhiqing et al..Lidar signalsubsection denoising based on multi-dimension EMD[J].Infrared and Laser Engineering,2006,35(s):477～482周小林,孙东松,钟志庆等.基于多尺度EMD的激光雷达信号分段去噪[J].红外与激光工程,2006,35(s):477～482
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8Cai Jianhua,Wang Xianchun.Near-infrared spectrumpretreatment based on empirical mode decomposition[J].ActaOptica Sinica,2010,30(1):267～271蔡剑华,王先春.基于经验模态分解的近红外光谱预处理方法[J].光学学报,2010,30(1):267～271
9Pan Qi,Wang Shimin.Study on optical particle measurementbased on rainbow phenomena[J].Acta Optica Sinica,2009,29(2):388～393潘琦,王式民.基于彩虹现象的光学测粒技术研究[J].光学学报,2009,29(2):388～393
10Li Qiang,Wu Jian,Xu Zhengwen et al..Extraction of periodiccomponents in the solar activity using EMD method[J].ChineseJ.Space Science,2007,27(1):1～6李强,吴健,许正文等.利用EMD方法提取太阳活动周期成分[J].空间科学学报,2007,27(1):1～6
11Li Yongqin,Wang Qing,Deng Qinkai.Research on EMD and itsapplication in biomedical signal processing[J].J.BiomedicalEngineering,2005,22(5):1058～1062李永勤,王清,邓亲恺.EMD及其在生物医学信号处理中的应用研究[J].生物医学工程学杂志,2005,22(5):1058～1062
12Chen Zixiong,Wu Chen,Zhou Ruizhong.Hilbert-Huangtransform spectrum and its application in seismic signal analysis[J].J.Fuzhou University(Natural Science),2006,34(2):260～264陈子雄,吴琛,周瑞忠.希尔伯特-黄变换谱及其在地震信号分析中的应用[J].福州大学学报(自然科学版),2006,34(2):260～264
13Z.S.Lin,S.G.Wang.EMD analysis of solar insolation[J].Meteorology and Atmospheric Physics,2006,93(1-2):123～128
14Ding Kang,Chen Jianlin,Su Xiangrong.Development invibration signal analysis and processing methods[J].J.Vibration Engineering,2003,16(1):1～10丁康,陈建林,苏向荣.平稳和非平稳振动信号的若干处理方法及发展[J].振动工程学报,2003,16(1):1～10
15Shen Guoji,Tao Limin,Chen Zhongsheng.Theoretical researchon empirical mode decomposition of multi-frequency signal and itsapplication[J].J.Vibration Engineering,2005,18(1):91～94沈国际,陶利民,陈仲生.多频信号经验模态分解的理论研究及应用[J].振动工程学报,2005,18(1):91～94
16Xu Baojie,Zhang Jianmin,Xu Xiaoli et al..A study on themethod of restraining the ending effect of empirical modedecomposition(EMD)[J].Transactions of Beijing Institute ofTechnology,2006,26(3):196～200许宝杰,张建民,许小力等.抑制EMD端点效应方法的研究[J].北京理工大学学报,2006,26(3):196～200
2Liu Zengdong,Liu Jianguo,Lu Yihuai et al..De-noising lidarsignal based on EMD method[J].Opto-Electronic Engineering,2008,35(6):79～83刘增东,刘建国,陆亦怀等.基于EMD的激光雷达信号去噪方法[J].光电工程,2008,35(6):79～83
3Zhou Xiaolin,Sun Dongsong,Zhong Zhiqing et al..Lidar signalsubsection denoising based on multi-dimension EMD[J].Infrared and Laser Engineering,2006,35(s):477～482周小林,孙东松,钟志庆等.基于多尺度EMD的激光雷达信号分段去噪[J].红外与激光工程,2006,35(s):477～482
4Wei Gong,Jun Li,Feiyue Mao et al..Comparison ofsimultaneous signals obtained from a dual-field-of-view lidar andits application to noise reduction based on empirical modedecomposition[J].Chin.Opt.Lett.,2011,9(5):050101
5N.E.Huang,Z.Shen,S.R.Long et al..The empirical modedecomposition and the Hilbert spectrum for nonlinear andnonstationary time series analysis[J].Proc.Royal Soc.Lond.A,1998,454(1971):903～995
6Zheng Fatai,Hua Dengxin,Zhou Awei.Empirical modedecomposition algorithm research&application of Mie lidaratmospheric backscattering signal[J].Chinese J.Lasers,2009,36(5):1068～1074郑发泰,华灯鑫,周阿维.Mie散射激光雷达大气回波信号经验模式分解算法的研究与应用[J].中国激光,2009,36(5):1068～1074
7Han Min,Peng Yuhua,Zhang Shunli et al..Iris recognitionbased on empirical mode decomposition[J].Acta Optica Sinica,2010,30(2):364～368韩民,彭玉华,张顺利等.基于经验模态分解的虹膜识别[J].光学学报,2010,30(2):364～368
8Cai Jianhua,Wang Xianchun.Near-infrared spectrumpretreatment based on empirical mode decomposition[J].ActaOptica Sinica,2010,30(1):267～271蔡剑华,王先春.基于经验模态分解的近红外光谱预处理方法[J].光学学报,2010,30(1):267～271
9Pan Qi,Wang Shimin.Study on optical particle measurementbased on rainbow phenomena[J].Acta Optica Sinica,2009,29(2):388～393潘琦,王式民.基于彩虹现象的光学测粒技术研究[J].光学学报,2009,29(2):388～393
10Li Qiang,Wu Jian,Xu Zhengwen et al..Extraction of periodiccomponents in the solar activity using EMD method[J].ChineseJ.Space Science,2007,27(1):1～6李强,吴健,许正文等.利用EMD方法提取太阳活动周期成分[J].空间科学学报,2007,27(1):1～6
11Li Yongqin,Wang Qing,Deng Qinkai.Research on EMD and itsapplication in biomedical signal processing[J].J.BiomedicalEngineering,2005,22(5):1058～1062李永勤,王清,邓亲恺.EMD及其在生物医学信号处理中的应用研究[J].生物医学工程学杂志,2005,22(5):1058～1062
12Chen Zixiong,Wu Chen,Zhou Ruizhong.Hilbert-Huangtransform spectrum and its application in seismic signal analysis[J].J.Fuzhou University(Natural Science),2006,34(2):260～264陈子雄,吴琛,周瑞忠.希尔伯特-黄变换谱及其在地震信号分析中的应用[J].福州大学学报(自然科学版),2006,34(2):260～264
13Z.S.Lin,S.G.Wang.EMD analysis of solar insolation[J].Meteorology and Atmospheric Physics,2006,93(1-2):123～128
14Ding Kang,Chen Jianlin,Su Xiangrong.Development invibration signal analysis and processing methods[J].J.Vibration Engineering,2003,16(1):1～10丁康,陈建林,苏向荣.平稳和非平稳振动信号的若干处理方法及发展[J].振动工程学报,2003,16(1):1～10
15Shen Guoji,Tao Limin,Chen Zhongsheng.Theoretical researchon empirical mode decomposition of multi-frequency signal and itsapplication[J].J.Vibration Engineering,2005,18(1):91～94沈国际,陶利民,陈仲生.多频信号经验模态分解的理论研究及应用[J].振动工程学报,2005,18(1):91～94
16Xu Baojie,Zhang Jianmin,Xu Xiaoli et al..A study on themethod of restraining the ending effect of empirical modedecomposition(EMD)[J].Transactions of Beijing Institute ofTechnology,2006,26(3):196～200许宝杰,张建民,许小力等.抑制EMD端点效应方法的研究[J].北京理工大学学报,2006,26(3):196～200
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