Data smoothing methods for DVL

The outliers contained in the DVL output data might cause the divergence of the Kalman filter of the integrated navigation system.Four data smoothing methods(moving window averaging,moving window weighted averaging,moving window median filtering and moving window robust averaging) are described in this paper.Simulation results indicate that the output of the moving window robust averaging is not influenced by a small fraction of outliers and the processing gain is approximately equal to the theoretical limit.