Mud pulse telemetry (MPT) enables real-time transmission of downhole data during drilling operations. As the transmission distance increases, the received continuous pressure signals undergo significant attenuation. Moreover, strong periodic pump interference, random noise, and complex multipath propagation in the MPT system introduce three major challenges: (1) dynamic spectral overlap between signal and noise, (2) periodic disturbances with spectral drift, and (3) complex multi-scale temporal-frequency characteristics of the noise. These effects severely degrade signal quality, making accurate recovery particularly difficult for traditional model-based and learning-based denoising methods. To address these challenges, a lightweight neural network architecture named WaveU-Net is proposed. It consists of three major aspects: (1) To address dynamic spectral overlap between signal and noise, a learnable wavelet denoising network (LWDNet) is incorporated. By adaptively learning wavelet filters, LWDNet enables the model to track and separate time-varying overlapping frequency bands, thereby enhancing the extraction of weak signals from strong, spectrally mixed interference; (2) To cope with periodic noise and spectral drift, a frequency-domain contrast regularization (FCR) loss is introduced. This loss explicitly enforces separation between signal and noise in the frequency domain, improving the model’s ability to distinguish useful components even under shifting interference; (3) To effectively exploit information at multiple temporal and frequency scales, a compact U-Net architecture with frequency-aware skip connections is employed, which facilitates adaptive multi-scale feature fusion, further improving denoising performance. Experimental results on field-collected datasets demonstrate that WaveU-Net achieves an average reduction of 38.85% in mean squared error (MSE) compared to standard U-Net models. Moreover, WaveU-Net outperforms recent state-of-the-art (SOTA) models in terms of signal reconstruction quality, while requiring significantly fewer parameters and reducing computational complexity.
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