基于平移不变小波变换的多普勒速度声纳输出信号处理.针对水下航行器组合导航系统所使用的多普勒速度声纳输出信号的特点,采用了平移不变小波变换的多分辨率分析的方法,利用Daubechies小波函数,采用了半软阈值去噪的方法,能够在低信噪比的情况下准确地估计多普勒声纳的频移,从含有噪声的多普勒输出信号中提取出原始信号.通过仿真实验表明:采用4层小波分解,算法计算量减小,有效地消除多普勒噪声,从而提高水下组合导航系统的精度. -Doppler speed the sonar output signal processing based on translation invariant wavelet transform. Integrated navigation system for underwater vehicle using the Doppler-velocity sonar output signal using translation invariant wavelet transform multiresolution analysis method using Daubechies wavelet function, using a semi-soft threshold denoising method to accurately estimate the Doppler sonar frequency shift in the case of low signal-to-noise ratio output signal with noise from the Doppler extract the original signal. Simulation results show that: 4 layer wavelet decomposition algorithm to calculate the amount decreases, effectively eliminate the Doppler noise, thereby improving the accuracy of the underwater integrated navigation system.