ABSTRACT
Projective Velocity Blending Let’s try a different approach. Our basic problem is that we need to resolve two realities (the current 0P and the last known 0P ). Instead of creating a spline segment, let’s try a straightforward blend. We create two projections, one with the current and one with the last known kinematic state. Then, we simply blend the two together using a standard linear interpolation (lerp). The first attempt looks like this:
ˆt t t t T Q P P P (combined). This gives tQ , the dead-reckoned location at a specified time. (Time values such as tT and Tˆ are explained in Section 18.4.) Note that both projection equations above use the last known value of acceleration 0A . In theory, the current projection tP should use the previous acceleration 0A to maintain 2C continuity. However, in practice, 0A converges to the true path much quicker and reduces oscillation.
