Attitude Reconstruction from Inertial Measurement: Mitigating Runge Effect for Dynamic Applications

Time-equispaced inertial measurements are practically used as inputs for motion determination. Polynomial interpolation is a common technique of recovering the gyroscope signal but subject to fundamentally numerical stability problem due Runge effect on equispaced samples. This paper reviews theoretical results phenomenon in related areas and proposes straightforward borrowing-and-cutting (BAC) strategy depress it. It employs neighboring samples higher-order polynomial only uses middle segment actual time interval. The BAC has been incorporated into attitude computation by functional iteration, leading accuracy benefit several orders magnitude under classical coning motion. would potentially bring significant benefits navigation sustained dynamic motions.