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To suppress the random drift error of a gyroscope signal, this paper proposes a novel denoising method, which is based on processing the intrinsic mode functions (IMFs) obtained by empirical mode decomposition (EMD). Considering that a gyroscope signal contains colored noise in addition to Gaussian white noise, fractal Gaussian noise (FGN) was introduced to quantify the noise in the gyroscope data. The proposed denoising method combines the FGN energy model and the modified method of Hausdorff distance (HD) to adaptively divide the IMFs into three categories (pure noise, pure information, and mixed components of noise and information). Then, the information IMFs and the mixed components after thresholding were selected to give the optimal signal reconstruction. Static and dynamic signal tests of the fiber optic gyroscope (FOG) were carried out to illustrate the performance of the proposed method, and compared with other traditional EMD denoising methods, such as the Euclidean norm measure method (EMD-l2-norm) and the sliding average filtering method (EMD-SA). The results of the analysis of both the static and dynamic signal tests indicate the effectiveness of the proposed method.

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Conventional wavelet transform (WT) filters have less effect on de-noising and correction of a north-seeking gyroscope sensor exposed to vibration, since the optimal wavelet decomposed level for de-noising is difficult to determine. To solve this problem, this paper proposes an optimized WT filter which is suited to the magnetic levitation gyroscope (GAT). The proposed method was tested on an equivalent mock-up network of the tunnels associated with the Hong Kong‒Zhuhai‒Macau Bridge. The gyro-observed signals exposed to vibration were collected in our experiment, and the empirical values of the optimal wavelet decomposed levels (from 6 to 10) for observed signals were constrained and validated by the high-precision Global Navigation Satellite System (GNSS) network. The result shows that the lateral breakthrough error of the tunnel was reduced from 12.1 to 3.8 mm with a ratio of 68.7%, which suggests that the method is able to correct the abnormal signal of a north-seeking gyroscope sensor exposed to vibration.

Lunar dust is regarded as the most crucial environmental problem on the Moon, and related research has crucially important scientific and technological interests. Here, we first reported the in situ measurements of lunar dust at the Chang'E‐3 landing site in the northern Mare Imbrium using temperature‐controlled sticky quartz crystal microbalance. The results showed that a total deposition mass at a height of 190 cm above the lunar surface during 12 lunar daytimes in the northern Mare Imbrium was about 0.0065 mg/cm2, corresponding to an annual deposition rate of ~21.4 μg/cm2, which is comparable with that of Apollo's result to some extent. The present researches are strategically important for future human and robotic lunar expeditions, and can provide a valuable reference for the design of dust protection for onboard payloads long‐term exposure to the lunar environment.