Aerospace Instrument-Making Annotation << Back Ensuring of velocity estimation accuracy on discrete noising readings of coordinate at restricted dispersion of acceleration А.В. Лопарев, А.В. Небылов The algorithms of digital differentiation of continuous signals with bounded second derivative dispersions are considered. The differentiating filter synthesis is performed by the highest guaranteed accuracy criterion. The construction methodology for optimal differentiation algorithms described by subtractive equations of given order is stated. Comparative analysis of recursive and non-recursive algorithms of differentiation is made. The form of the most disadvantageous input action maximizing the differentiation error dispersion is determined.