An Acceleration Denoising Method Based on an Adaptive Kalman Filter for Trajectory in Merging Zones

Table 1

Jerk analysis results.

Variable		Raw data	Kalman filter	Simple moving average	Proposed method
Jerk	Std	28.55	10.53	1.51	0.46
	Mean	0.01	0.01	0.00	0.00
	Max	4960.72	1475.16	198.46	47.14
	Min	−4927.78	−1765.94	−197.33	−44.92
Jerk values higher than ± 15 (%)	Std	0.15	0.39	0.18	0.09
	Mean	0.05	0.13	0.06	0.02
	Max	2.35	2.26	1.05	1.96
	Min	0	0	0	0
1-s window with more than one sign inversion of jerk (%)	Std	5.69	7.81	21.73	14.30
	Mean	99.67	88.20	70.89	73.61
	Max	100	100	100	100
	Min	0	0	0	0