ar_track_alvar noise

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I am using ar_track_alvar pkg for a docking algorithm but at long distances and during rotations, there is noise.

I need the exact value of ar tag's yaw value relative to my robot's and due to that noise I cannot get that desired value so, my docking is not precise enough.

Is there a way or a method I can use to reduce this noise by any means? Or are there any other packages that I can use for ar tag/apriltag detection, which will give me better results?