Table 2. Denoising models comparison.

Data	Noise measurement	Original	CNN	Improvement CNN	GRU	Improvement GRU	WT	Impro-vement WT	WT +GRU	Improvement WT+GRU
Position	Noise level	0.038	0.014	64.3%	0.013	65.3%	0.015	60.5%	0.010	74.5%
	Fluctuation level	36.32	4.924	86.4%	3.25	91.1%	6.758	81.4%	1.094	97.0%
Velocity	Noise level	36.322	0.79	97.8%	0.79	97.8%	5.904	83.7%	0.570	98.4%
	Fluctuation level	152.50	1.096	99.3%	1.001	99.3%	16.273	89.4%	1.043	99.3%
Orientation	Noise level	0.056	0.024	57.3%	0.043	22.4%	0.028	50.4%	0.025	54.7%
	Fluctuation level	4.37	0.70	83.9%	1.54	64.7%	1.514	65.3%	0.443	89.8%