Vibration noise smoothing method and system for attitude time series data

The invention provides a vibration noise smoothing method and system for attitude time series data. The method comprises the following steps of dividing original attitude time sequence data accordingto a preset time window to form the multiple segments of attitude time sub-sequence data, conducting vibration noise smoothing processing on each segment of attitude time sub-sequence data at the sametime. The processing efficiency can be improved, high real-time performance is achieved, the vibration noise in the attitude time sub-sequence data can be restrained, and smooth transition of continuous same-working-condition and different-attitude data is supported. 本发明提供一种姿态时间序列数据的振动噪声平滑处理方法及系统，将原始姿态时间序列数据按照预设时间窗口进行划分，形成多段姿态时间子序列数据，可以同时对每一段姿态时间子序列数据进行振动噪声平滑的处理，能够提高处理效率，具有较高的实时性，本发明的方法能够抑制姿态时间序列数据中的振动噪声，支持连续同工况、不同姿态数据的平滑过度。