An asphalt density estimation system includes a measurement device configured to output a measurement signal; a time synchronization unit configured to sample the measurement signal to obtain a sampled measurement signal and identify periodic sampling points of the sampled measurement signal across a plurality of periods. The system also includes a time synchronous averaging unit configured to construct a modified measurement signal in the time domain by: for at least one sampling point within the period, averaging a plurality of the periodic sampling points across periods to obtain an average periodic data point for the at least one sampling point, and constructing the modified measurement signal using the average periodic data point for the at least one sampling point. The system further includes a density calculation unit configured to determine asphalt density values based on the modified measurement signal; and a display unit configured to display the determined asphalt density values.