Rigid Body Inertia Estimation Using Extended Kalman and Savitzky-Golay Filters

Table 2

Convolution coefficients for quartic polynomial.

Number of sampled data	4	6	8		2
−3			−7		−7
−2		−5	−5		−5
−1	−3	−3	−3		−3
0	−1	−1	−1		−1
1	1	1	1		1
2	3	3	3		3
3		5	5		5
4			7		7
Normalization	10	35	84