A Denoising Method for Scanning Lidar Mie Scattering Echo Signal Based on MSW

In order to eliminate the noise in the Mie scattering echo signal of scanning lidar, the MSW (Median Absolute Deviation, Savitzky-Golay filtering and Wavelet threshold method) method is proposed, which combines the median absolute deviation (MAD) algorithm, Savitzky-Golay filtering and wavelet threshold theory. In this method, the MAD algorithm is firstly used to segmented detect and process the outliers with noisy signals, and then Savitzky-Golay segmented filter and wavelet threshold denoising method are used to denoise the signals. Finally, the performance of the method is evaluated by the evaluation index. The simulation experiment result show that the method MSW can effectively eliminate the noise information in the noisy echo signal, and the denoising effect is better than the empirical mode decomposition (EMD), ensemble empirical mode decomposition (EEMD), complete ensemble empirical mode decomposition with adaptive noise (CEEMDAN), Savitzky-Golay filtering and wavelet threshold denoising methods.