The signal measured by the maglev gyro sensor is sensitive to the influence of the instantaneous disturbance torque caused by the instantaneous strong wind or the ground vibration, which reduced the north-seeking accuracy of the instrument. To address this issue, we proposed a novel method combining the heuristic segmentation algorithm (HSA) and the two-sample Kolmogorov-Smirnov (KS) test (named HSA-KS method) to process the gyro signals and improve the north-seeking accuracy of the gyro. There were two key steps in the HSA-KS method: (i) all the potential change points were automatically and accurately detected by HSA, and (ii) the jumps in the signal caused by the instantaneous disturbance torque were quickly located and eliminated by the two-sample KS test. The effectiveness of our method was verified through a field experiment on a high-precision global positioning system (GPS) baseline at the 5th sub-tunnel of the Qinling water conveyance tunnel of the Hanjiang-to-Weihe River Diversion Project in Shaanxi Province, China. Our results from the autocorrelograms indicated that the jumps in the gyro signals can be automatically and accurately eliminated by the HSA-KS method. After processing, the absolute difference between the gyro and high-precision GPS north azimuths was enhanced by 53.5%, which was superior to the optimized wavelet transform and the optimized Hilbert-Huang transform.

High-precision tunnel breakthroughs depend critically on the north-seeking accuracy of maglev gyroscopes. However, external disturbances during underground construction often introduce abrupt jumps into rotor current signals, significantly reducing the orientation reliability. Existing signal-processing methods either require manually defined segmentation windows or apply identical denoising strategies to both stationary and disturbed signal intervals, resulting in limited adaptability and suboptimal denoising performance. To overcome these limitations, this study proposes an improved rotor current denoising algorithm based on the MAF-ARIMA framework by incorporating the Bayesian ensemble algorithm for abrupt change, seasonality, and trend (BEAST) and an optimized wavelet transform (OWT). First, the BEAST is employed to automatically detect the structural change point of the rotor current signal, enabling the adaptive segmentation of stationary and jump intervals without manual intervention. Subsequently, empirical mode decomposition is performed, and the OWT applies different denoising parameters to the dominant components of the stationary and jump segments according to their distinct fluctuation characteristics. Finally, moving-average smoothing is adopted to preserve the signal continuity at the segmentation boundary, while the autoregressive integrated moving average (ARIMA) model reconstructs the missing trend component of the jump interval to obtain the complete denoised signal. Comparative experiments using 12 field-collected rotor current datasets demonstrated that the proposed method reduced the standard deviation of the denoised signal by 70.96% and the absolute azimuth error by 50.36% compared with the raw signal, outperforming the optimized Hilbert–Huang transform, HSA-KS, and the original MAF-ARIMA algorithm. By introducing adaptive change-point detection and segment-specific denoising into the existing MAF-ARIMA framework, the proposed method significantly improves the adaptability and denoising performance of maglev gyro rotor current processing under complex tunnel construction environments while preserving the signal continuity and reconstruction accuracy.

To eliminate the noise interference caused by continuous external environmental disturbances on the rotor signals of a maglev gyroscope, this study proposes a noise reduction method that integrates an adaptive particle swarm optimization variational modal decomposition algorithm with a strategy for error compensation of the trend term in reconstructed signals, significantly improving the azimuth measurement accuracy of the gyroscope torque sensor. The optimal parameters for the variational modal decomposition algorithm were determined using the adaptive particle swarm optimization algorithm, allowing for the accurate decomposition of noisy rotor signals. Additionally, using multi-scale permutation entropy as a criterion for discriminant, the signal components were filtered and summed to obtain the denoised reconstructed signal. Furthermore, an empirical mode decomposition algorithm was employed to extract the trend term of the reconstructed signal, which was then used to compensate for the errors in the reconstructed signal, achieving significant noise reduction. On-site experiments were conducted on the high-precision GNSS baseline of the Xianyang Yuan Tunnel in the second phase of the project to divert water from the Han River to the Wei River, where this method was applied to process and analyze multiple sets of rotor signals. The experimental results show that this method effectively suppresses continuous external environmental interference, reducing the average standard deviation of the compensated signals by 46.10% and the average measurement error of the north azimuth by 45.63%. Its noise reduction performance surpasses that of the other four algorithms.

The maglev gyroscope torque feedback orientation measurement system, equipped with abundant sampling data and high directional accuracy, plays a crucial role in underground engineering construction. However, when subjected to external instantaneous vibration interference, the gyroscope rotor signal frequently exhibits abnormal jumps, leading to significant errors in azimuth measurement results. To solve this problem, we propose a novel noise reduction algorithm that integrates Moving Average Filtering with Autoregressive Integrated Moving Average (MAF-ARIMA), based on the noise characteristics of the rotor jump signal. This algorithm initially adaptively decomposes the rotor signal, subsequently extracting the effective components of the north-seeking torque with precision and applying MAF processing to effectively filter out noise interference. Furthermore, we utilize the stable sampling trend data of the rotor signal as sample data, employing the ARIMA model to accurately predict the missing abnormal jump trend data, thereby ensuring the completeness and coherence of the rotor signal trend information. Experimental results demonstrate that, compared to the original rotor signal, the reconstructed signal processed by the MAF-ARIMA algorithm exhibits an average reduction of 70.58% in standard deviation and an average decrease of 47.31% in the absolute error of azimuth measurement results. These findings fully underscore the high efficiency and stability of the MAF-ARIMA algorithm in processing gyroscope rotor jump signals.