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。 The laser radar signal is processed by the gradient method to detect the amplitude and position of the abrupt part. The corresponding translation sequence is calculated according to the gradient information and added to the original signal so that the resulting signal does not contain abrupt change information. Using the EMD method to decompose and de-noising the de-mutated signal can avoid the phenomenon of local oscillations appearing in the vicinity of the mode-aliasing and mutation sites. The experimental results show that this method can eliminate the local oscillatory phenomenon of the reconstructed signal caused by the mutation and can effectively filter the noise of the stationary part of the signal, Keep the signal mutation information.