Mitigating Runge Effect for Highly-dynamic Motion Computation

Polynomial interpolation is a common technique of recovering the gyroscope signal but is subject to a fundamentally numerical stability problem due to the Runge effect on equispaced samples. This paper reviews the theoretical results of Runge phenomenon in related areas and proposes a straightforwar...

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Bibliographic Details
Published inInternational Symposium on Inertial Sensors and Systems (Print) pp. 1 - 15
Main Authors Wu, Yuanxin, Zhu, Maoran
Format Conference Proceeding
LanguageEnglish
Published IEEE 29.09.2021
Subjects
Angular velocity
Gyroscopes
Inertial navigation
Inertial sensors
Interpolation
Motion segmentation
Velocity measurement
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ISSN2377-3480
DOI10.1109/ISS52949.2021.9619808

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Summary:Polynomial interpolation is a common technique of recovering the gyroscope signal but is subject to a fundamentally numerical stability problem due to the Runge effect on equispaced samples. This paper reviews the theoretical results of Runge phenomenon in related areas and proposes a straightforward borrowing-and-cutting (BAC) strategy to depress it. It employs the neighboring samples for higher-order polynomial interpolation but only uses the middle polynomial segment in the actual time interval. The BAC strategy has been incorporated into attitude computation by functional iteration, leading to accuracy benefit of several orders of magnitude under the classical coning motion.
ISSN:2377-3480
DOI:10.1109/ISS52949.2021.9619808