To solve the influence of vibration on the hemispherical resonator gyro (HRG) navigation accuracy, the wavelet threshold de-noising algorithm is used to study HRG vibration signal. Aiming at the shortcomings of classical hard threshold function and soft threshold function, a threshold function with adjustable parameters is obtained, which makes up the deficiency of hard threshold function and soft threshold function in de-noising. The validity and superiority of the threshold function are proved by the simulation data and the verification of the measured vibration data of HRG.