Ship swaying data denoising via multiscale manifold representation

A method for ship swaying data(pitch, roll and heading) denosing using multiscale manifold representation is proposed. Combining the lifting scheme and computation of means on manifold, the method implements an adaptive wavelet transform which decomposes a time series on the special orthogonal group SO(3). We demonstrate through simulations with the swaying data contaminated by additive white Gaussian noise that the performance of this method surpasses that of traditional method.