Abstract: IMU (Inertial Measurement Unit) is often disturbed by the ground vibration when it is calibrated outside. This vibration disturbing will have great influence on the calibrating precision of the IMU. In this paper, the mathematical model for the vibration signal is established. Then, based on the difference of singularity of vibration signal and noise signal, the output signal of the IMU is analyzed by using wavelet modulus maximum method. Finally, the algorithm to restrain the noise disturbance and to extract the vibration signal is deduced. Simulation shows that this arithmetic has very good ability to detect the vibration disturbing.

Key words: vibration and wave, IMU calibration, vibration model, wavelet analysis, modulus maximum method

摘要： 惯组（即惯性器件组合）在外场进行标定时常常会受到地基振动的干扰，这种干扰会对惯组的测试精度造成极大的影响。首先建立振动信号的数学模型，然后根据振动信号与噪声信号奇异性的差异，利用小波模极大值法对惯组的输出信号进行分析，并推导抑制噪声干扰、提取振动信号的算法。仿真实验表明该算法对振动干扰具有很好的检测能力。

关键词: 振动与波, 惯组标定, 振动模型, 小波分析, 模极大值法