An adaptive multi-scale method based on the combination generalized morphological filter (CGMF) is presented for de-noising of the output signal from a MEMS gyroscope. A variational mode decomposition is employed to decompose the original signal into multi-scale modes. After choosing a length selection for the structure element (SE), the adaptive multi-scale CGMF method reduces the noise corresponding to the different modes, after which a reconstruction of the de-noised signal is obtained. From
