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A comprehensive methodology is provided for smoothing noisy, irregularlysampled data with non-Gaussian noise using smoothing splines. We demonstratehow the spline order and tension parameter can be chosen a priori from physicalreasoning. We also show how to allow for non-Gaussian noise and outliers whichare typical in GPS signals. We demonstrate the effectiveness of our methods onGPS trajectory data obtained from oceanographic floating instruments known asdrifters.

Smoothing and Interpolating Noisy GPS Data with Smoothing Splines