To reduce the influence from the measurement noise of sensors signal on the Kalman filter precision, de?nosing on sensors signals is studied by using the wavelet value.

• 采用小波去噪中的阈值方法对舰船传感器的量测信息进行了去噪处理,从而降低了量测信息中噪声对卡尔曼滤波精度的影响。