De Boor递推算法

最新推荐文章于 2024-02-18 00:14:53 发布
最新推荐文章于 2024-02-18 00:14:53 发布
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分类专栏： B样条 De-Boor递推算法 德布尔递推算法 文章标签： 几何学 算法
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De Boor算法

设 u ∈ [ u j , u j + 1 ) u\in\left[u_j,u_{j+1}\right) u∈[uj​,uj+1​)， V i , 0 = V i V_{i,0}=V_i Vi,0​=Vi​，对于 i = j − p , ⋯   , j i=j-p,\cdots,j i=j−p,⋯,j

令
V i , k = u i + p + 1 − k − u u i + p + 1 − k − u i V i − 1 , k − 1 + u − u i u i + p + 1 − k − u i V i , k − 1 , k = 1 , ⋯   , p , i = j − p + k , ⋯   , j V_{i,k}=\dfrac{u_{i+p+1-k}-u}{u_{i+p+1-k}-u_i}V_{i-1,k-1}+\dfrac{u-u_i}{u_{i+p+1-k}-u_i}V_{i,k-1},\quad k=1,\cdots,p,\quad i=j-p+k,\cdots,j Vi,k​=ui+p+1−k​−ui​ui+p+1−k​−u​Vi−1,k−1​+ui+p+1−k​−ui​u−ui​​Vi,k−1​,k=1,⋯,p,i=j−p+k,⋯,j
其中 V i V_i Vi​为控制点， p p p为B样条的幂次， P ( u ) P(u) P(u)为B样条曲线，则
P ( u ) = V j , p . P(u)=V_{j,p}. P(u)=Vj,p​.

De Boor递推算法求B样条曲线上的点

设 u ∈ [ u j , u j + 1 ) u\in\left[u_j,u_{j+1}\right) u∈[uj​,uj+1​)，则
P ( u ) = ∑ i = 0 n N i , p ( u ) V i = ∑ i = j − p j N i , p ( u ) V i = ∑ i = j − p j ( u − u i u i + p − u i N i , p − 1 ( u ) + u i + p + 1 − u u i + p + 1 − u i + 1 N i + 1 , p − 1 ( u ) ) V i = ∑ i = j − p j u − u i u i + p − u i N i , p − 1 ( u ) V i + ∑ i = j − p j u i + p + 1 − u u i + p + 1 − u i + 1 N i + 1 , p − 1 ( u ) V i = ∑ i = j − p + 1 j u − u i u i + p − u i N i , p − 1 ( u ) V i + ∑ i = j − p + 1 j u i + p − u u i + p − u i N i , p − 1 ( u ) V i − 1 = ∑ i = j − p + 1 j ( u − u i u i + p − u i V i + u i + p − u u i + p − u i V i − 1 ) N i , p − 1 ( u ) . \begin{aligned} P\left(u\right)=& \sum\limits_{i=0}^{n}N_{i,p}(u)V_i =\sum\limits_{i=j-p}^{j}N_{i,p}(u)V_i \\ =& \sum\limits_{i=j-p}^{j}\left(\dfrac{u-u_i}{u_{i+p}-u_i}N_{i,p-1}(u)+\dfrac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}N_{i+1,p-1}(u)\right)V_i \\ =& \sum\limits_{i=j-p}^{j}\dfrac{u-u_i}{u_{i+p}-u_i}N_{i,p-1}(u)V_i +\sum\limits_{i=j-p}^{j}\dfrac{u_{i+p+1}-u}{u_{i+p+1}-u_{i+1}}N_{i+1,p-1}(u)V_i \\ =& \sum\limits_{i=j-p+1}^{j}\dfrac{u-u_i}{u_{i+p}-u_i}N_{i,p-1}(u)V_i +\sum\limits_{i=j-p+1}^{j}\dfrac{u_{i+p}-u}{u_{i+p}-u_i}N_{i,p-1}(u)V_{i-1} \\ = &\sum\limits_{i=j-p+1}^{j}\left(\dfrac{u-u_i}{u_{i+p}-u_i}V_i+\dfrac{u_{i+p}-u}{u_{i+p}-u_i}V_{i-1}\right)N_{i,p-1}(u). \end{aligned} P(u)=====​i=0∑n​Ni,p​(u)Vi​=i=j−p∑j​Ni,p​(u)Vi​i=j−p∑j​(ui+p​−ui​u−ui​​Ni,p−1​(u)+ui+p+1​−ui+1​ui+p+1​−u​Ni+1,p−1​(u))Vi​i=j−p∑j​ui+p​−ui​u−ui​​Ni,p−1​(u)Vi​+i=j−p∑j​ui+p+1​−ui+1​ui+p+1​−u​Ni+1,p−1​(u)Vi​i=j−p+1∑j​ui+p​−ui​u−ui​​Ni,p−1​(u)Vi​+i=j−p+1∑j​ui+p​−ui​ui+p​−u​Ni,p−1​(u)Vi−1​i=j−p+1∑j​(ui+p​−ui​u−ui​​Vi​+ui+p​−ui​ui+p​−u​Vi−1​)Ni,p−1​(u).​
令
V i , k = { V i , k = 0 u i + p + 1 − k − u u i + p + 1 − k − u i V i − 1 , k − 1 + u − u i u i + p + 1 − k − u i V i , k − 1 , k = 1 , ⋯   , p \begin{aligned} V_{i,k}=\begin{cases} V_i,\quad k=0 \\ \dfrac{u_{i+p+1-k}-u}{u_{i+p+1-k}-u_i}V_{i-1,k-1}+\dfrac{u-u_i}{u_{i+p+1-k}-u_i}V_{i,k-1},\quad k=1,\cdots,p \end{cases} \end{aligned} Vi,k​=⎩⎨⎧​Vi​,k=0ui+p+1−k​−ui​ui+p+1−k​−u​Vi−1,k−1​+ui+p+1−k​−ui​u−ui​​Vi,k−1​,k=1,⋯,p​​
则
P ( u ) = ∑ i = j − p + k j N i , p − k ( u ) V i , k = V j , p P\left(u\right)=\sum\limits_{i=j-p+k}^{j}N_{i,p-k}(u)V_{i,k}=V_{j,p} P(u)=i=j−p+k∑j​Ni,p−k​(u)Vi,k​=Vj,p​

De Boor递推算法求B样条曲线的一阶导矢

设 u ∈ [ u j , u j + 1 ) u\in\left[u_j,u_{j+1}\right) u∈[uj​,uj+1​)，则
P ′ ( u ) = ∑ i = 0 n N i , p ′ ( u ) V i = ∑ i = j − p j N i , p ′ ( u ) V i = ∑ i = j − p j ( p u i + p − u i N i , p − 1 ( u ) − p u i + p + 1 − u i + 1 N i + 1 , p − 1 ( u ) ) V i = ∑ i = j − p j p u i + p − u i N i , p − 1 ( u ) V i − ∑ i = j − p j p u i + p + 1 − u i + 1 N i + 1 , p − 1 ( u ) V i = ∑ i = j − p + 1 j p u i + p − u i N i , p − 1 ( u ) V i − ∑ i = j − p + 1 j p u i + p − u i N i , p − 1 ( u ) V i − 1 = p ∑ i = j − p + 1 j V i − V i − 1 u i + p − u i N i , p − 1 ( u ) . \begin{aligned} P^{'}\left(u\right)=& \sum\limits_{i=0}^{n}N^{'}_{i,p}(u)V_i=\sum\limits_{i=j-p}^{j}N^{'}_{i,p}(u)V_i \\ =&\sum\limits_{i=j-p}^{j}\left(\dfrac{p}{u_{i+p}-u_i}N_{i,p-1}(u)-\dfrac{p}{u_{i+p+1}-u_{i+1}}N_{i+1,p-1}(u)\right)V_i \\ =&\sum\limits_{i=j-p}^{j}\dfrac{p}{u_{i+p}-u_i}N_{i,p-1}(u)V_i-\sum\limits_{i=j-p}^{j}\dfrac{p}{u_{i+p+1}-u_{i+1}}N_{i+1,p-1}(u)V_i \\ =&\sum\limits_{i=j-p+1}^{j}\dfrac{p}{u_{i+p}-u_i}N_{i,p-1}(u)V_i-\sum\limits_{i=j-p+1}^{j}\dfrac{p}{u_{i+p}-u_i}N_{i,p-1}(u)V_{i-1} \\ =&p\sum\limits_{i=j-p+1}^{j}\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}N_{i,p-1}(u). \end{aligned} P′(u)=====​i=0∑n​Ni,p′​(u)Vi​=i=j−p∑j​Ni,p′​(u)Vi​i=j−p∑j​(ui+p​−ui​p​Ni,p−1​(u)−ui+p+1​−ui+1​p​Ni+1,p−1​(u))Vi​i=j−p∑j​ui+p​−ui​p​Ni,p−1​(u)Vi​−i=j−p∑j​ui+p+1​−ui+1​p​Ni+1,p−1​(u)Vi​i=j−p+1∑j​ui+p​−ui​p​Ni,p−1​(u)Vi​−i=j−p+1∑j​ui+p​−ui​p​Ni,p−1​(u)Vi−1​pi=j−p+1∑j​ui+p​−ui​Vi​−Vi−1​​Ni,p−1​(u).​
记
Δ = ∑ i = j − p + 1 j V i − V i − 1 u i + p − u i N i , p − 1 ( u ) = ∑ i = j − p + 1 j V i − V i − 1 u i + p − u i ( u − u i u i + p − 1 − u i N i , p − 2 ( u ) + u i + p − u u i + p − u i + 1 N i + 1 , p − 2 ( u ) ) = ∑ i = j − p + 1 j V i − V i − 1 u i + p − u i u − u i u i + p − 1 − u i N i , p − 2 ( u ) + ∑ i = j − p + 1 j V i − V i − 1 u i + p − u i u i + p − u u i + p − u i + 1 N i + 1 , p − 2 ( u ) = ∑ i = j − p + 2 j V i − V i − 1 u i + p − u i u − u i u i + p − 1 − u i N i , p − 2 ( u ) + ∑ i = j − p + 2 j V i − 1 − V i − 2 u i + p − 1 − u i − 1 u i + p − 1 − u u i + p − 1 − u i N i , p − 2 ( u ) = ∑ i = j − p + 2 j ( V i − V i − 1 u i + p − u i u − u i u i + p − 1 − u i + V i − 1 − V i − 2 u i + p − 1 − u i − 1 u i + p − 1 − u u i + p − 1 − u i ) N i , p − 2 ( u ) . \begin{aligned} \Delta=& \sum\limits_{i=j-p+1}^{j}\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}N_{i,p-1}(u) \\ =& \sum\limits_{i=j-p+1}^{j}\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}\left(\dfrac{u-u_i}{u_{i+p-1}-u_i}N_{i,p-2}(u)+ \dfrac{u_{i+p}-u}{u_{i+p}-u_{i+1}}N_{i+1,p-2}(u)\right) \\ =& \sum\limits_{i=j-p+1}^{j}\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}\dfrac{u-u_i}{u_{i+p-1}-u_i}N_{i,p-2}(u) +\sum\limits_{i=j-p+1}^{j}\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}\dfrac{u_{i+p}-u}{u_{i+p}-u_{i+1}}N_{i+1,p-2}(u) \\ =& \sum\limits_{i=j-p+2}^{j}\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}\dfrac{u-u_i}{u_{i+p-1}-u_i}N_{i,p-2}(u) +\sum\limits_{i=j-p+2}^{j}\dfrac{V_{i-1}-V_{i-2}}{u_{i+p-1}-u_{i-1}}\dfrac{u_{i+p-1}-u}{u_{i+p-1}-u_{i}}N_{i,p-2}(u) \\ =& \sum\limits_{i=j-p+2}^{j}\left(\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}\dfrac{u-u_i}{u_{i+p-1}-u_i}+ \dfrac{V_{i-1}-V_{i-2}}{u_{i+p-1}-u_{i-1}}\dfrac{u_{i+p-1}-u}{u_{i+p-1}-u_i}\right)N_{i,p-2}(u). \end{aligned} Δ=====​i=j−p+1∑j​ui+p​−ui​Vi​−Vi−1​​Ni,p−1​(u)i=j−p+1∑j​ui+p​−ui​Vi​−Vi−1​​(ui+p−1​−ui​u−ui​​Ni,p−2​(u)+ui+p​−ui+1​ui+p​−u​Ni+1,p−2​(u))i=j−p+1∑j​ui+p​−ui​Vi​−Vi−1​​ui+p−1​−ui​u−ui​​Ni,p−2​(u)+i=j−p+1∑j​ui+p​−ui​Vi​−Vi−1​​ui+p​−ui+1​ui+p​−u​Ni+1,p−2​(u)i=j−p+2∑j​ui+p​−ui​Vi​−Vi−1​​ui+p−1​−ui​u−ui​​Ni,p−2​(u)+i=j−p+2∑j​ui+p−1​−ui−1​Vi−1​−Vi−2​​ui+p−1​−ui​ui+p−1​−u​Ni,p−2​(u)i=j−p+2∑j​(ui+p​−ui​Vi​−Vi−1​​ui+p−1​−ui​u−ui​​+ui+p−1​−ui−1​Vi−1​−Vi−2​​ui+p−1​−ui​ui+p−1​−u​)Ni,p−2​(u).​
因此
P ′ ( u ) = p ∑ i = j − p + 1 j V i − V i − 1 u i + p − u i N i , p − 1 ( u ) = p ∑ i = j − p + 2 j ( V i − V i − 1 u i + p − u i u − u i u i + p − 1 − u i + V i − 1 − V i − 2 u i + p − 1 − u i − 1 u i + p − 1 − u u i + p − 1 − u i ) N i , p − 2 ( u ) . \begin{aligned} P^{'}\left(u\right)=& p\sum\limits_{i=j-p+1}^{j}\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}N_{i,p-1}(u) \\ =& p\sum\limits_{i=j-p+2}^{j}\left(\dfrac{V_i-V_{i-1}}{u_{i+p}-u_i}\dfrac{u-u_i}{u_{i+p-1}-u_i}+ \dfrac{V_{i-1}-V_{i-2}}{u_{i+p-1}-u_{i-1}}\dfrac{u_{i+p-1}-u}{u_{i+p-1}-u_i}\right)N_{i,p-2}(u). \end{aligned} P′(u)==​pi=j−p+1∑j​ui+p​−ui​Vi​−Vi−1​​Ni,p−1​(u)pi=j−p+2∑j​(ui+p​−ui​Vi​−Vi−1​​ui+p−1​−ui​u−ui​​+ui+p−1​−ui−1​Vi−1​−Vi−2​​ui+p−1​−ui​ui+p−1​−u​)Ni,p−2​(u).​
令
Q i , k = { V i − V i − 1 u i + p − u i , k = 1 u i + p + 1 − k − u u i + p + 1 − k − u i Q i − 1 , k − 1 + u − u i u i + p + 1 − k − u i Q i , k − 1 , k = 2 , ⋯   , p \begin{aligned} Q_{i,k}=\begin{cases} \dfrac{V_i-V_{i-1}}{u_{i+p}-u_i},\quad k=1 \\ \dfrac{u_{i+p+1-k}-u}{u_{i+p+1-k}-u_i}Q_{i-1,k-1} +\dfrac{u-u_i}{u_{i+p+1-k}-u_i}Q_{i,k-1},\quad k=2,\cdots,p \end{cases} \end{aligned} Qi,k​=⎩⎪⎨⎪⎧​ui+p​−ui​Vi​−Vi−1​​,k=1ui+p+1−k​−ui​ui+p+1−k​−u​Qi−1,k−1​+ui+p+1−k​−ui​u−ui​​Qi,k−1​,k=2,⋯,p​​
下面用数学归纳法证明
Q i , k = V i , k − 1 − V i − 1 , k − 1 u i + p + 1 − k − u i , k = 1 , ⋯   , p . Q_{i,k}=\dfrac{V_{i,k-1}-V_{i-1,k-1}}{u_{i+p+1-k}-u_i},\quad k=1,\cdots,p. Qi,k​=ui+p+1−k​−ui​Vi,k−1​−Vi−1,k−1​​,k=1,⋯,p.
当 k = 1 k=1 k=1时， Q i , k = V i , k − 1 − V i − 1 , k − 1 u i + p + 1 − k − u i Q_{i,k}=\dfrac{V_{i,k-1}-V_{i-1,k-1}}{u_{i+p+1-k}-u_i} Qi,k​=ui+p+1−k​−ui​Vi,k−1​−Vi−1,k−1​​，于是有
Q i , k + 1 = u i + p − k − u u i + p − k − u i Q i − 1 , k + u − u i u i + p − k − u i Q i , k = u i + p − k − u u i + p − k − u i V i − 1 , k − 1 − V i − 2 , k − 1 u i + p − k − u i + u − u i u i + p − k − u i V i , k − 1 − V i − 1 , k − 1 u i + p + 1 − k − u i = 1 u i + p − k − u i [ u i + p − k − u u i + p − k − u i ( V i − 1 , k − 1 − V i − 2 , k − 1 ) + u − u i u i + p + 1 − k − u i ( V i , k − 1 − V i − 1 , k − 1 ) ] . \begin{aligned} Q_{i,k+1}=& \dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}Q_{i-1,k}+ \dfrac{u-u_i}{u_{i+p-k}-u_i}Q_{i,k} \\ =& \dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}\dfrac{V_{i-1,k-1}-V_{i-2,k-1}}{u_{i+p-k}-u_i} +\dfrac{u-u_i}{u_{i+p-k}-u_i}\dfrac{V_{i,k-1}-V_{i-1,k-1}}{u_{i+p+1-k}-u_i} \\ =& \dfrac{1}{u_{i+p-k}-u_i}\left[\dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}\left(V_{i-1,k-1}-V_{i-2,k-1}\right) +\dfrac{u-u_i}{u_{i+p+1-k}-u_i}\left(V_{i,k-1}-V_{i-1,k-1}\right)\right]. \end{aligned} Qi,k+1​===​ui+p−k​−ui​ui+p−k​−u​Qi−1,k​+ui+p−k​−ui​u−ui​​Qi,k​ui+p−k​−ui​ui+p−k​−u​ui+p−k​−ui​Vi−1,k−1​−Vi−2,k−1​​+ui+p−k​−ui​u−ui​​ui+p+1−k​−ui​Vi,k−1​−Vi−1,k−1​​ui+p−k​−ui​1​[ui+p−k​−ui​ui+p−k​−u​(Vi−1,k−1​−Vi−2,k−1​)+ui+p+1−k​−ui​u−ui​​(Vi,k−1​−Vi−1,k−1​)].​
又
V i , k − V i − 1 , k = u i + p + 1 − k − u u i + p + 1 − k − u i V i − 1 , k − 1 + u − u i u i + p + 1 − k − u i V i , k − 1 − u i + p − k − u u i + p − k − u i V i − 2 , k − 1 − u − u i u i + p − k − u i V i − 1 , k − 1 = ( V i − 1 , k − 1 + u i − u u i + p + 1 − k − u i V i − 1 , k − 1 ) − u − u i u i + p − k − u i V i − 1 , k − 1 + u − u i u i + p + 1 − k − u i V i , k − 1 − u i + p − k − u u i + p − k − u i V i − 2 , k − 1 = ( V i − 1 , k − 1 − u − u i u i + p − k − u i V i − 1 , k − 1 ) + u i − u u i + p + 1 − k − u i V i − 1 , k − 1 + u − u i u i + p + 1 − k − u i V i , k − 1 − u i + p − k − u u i + p − k − u i V i − 2 , k − 1 = u i + p − k − u u i + p − k − u i V i − 1 , k − 1 − u − u i u i + p + 1 − k − u i V i − 1 , k − 1 + u − u i u i + p + 1 − k − u i V i , k − 1 − u i + p − k − u u i + p − k − u i V i − 2 , k − 1 = u i + p − k − u u i + p − k − u i ( V i − 1 , k − 1 − V i − 2 , k − 1 ) + u − u i u i + p + 1 − k − u i ( V i , k − 1 − V i − 1 , k − 1 ) . \begin{aligned} V_{i,k}-V_{i-1,k}=& \dfrac{u_{i+p+1-k}-u}{u_{i+p+1-k}-u_i}V_{i-1,k-1} +\dfrac{u-u_i}{u_{i+p+1-k}-u_i}V_{i,k-1} \\ &-\dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}V_{i-2,k-1} -\dfrac{u-u_i}{u_{i+p-k}-u_i}V_{i-1,k-1} \\ =& \left(V_{i-1,k-1} +\dfrac{u_i-u}{u_{i+p+1-k}-u_i}V_{i-1,k-1}\right) -\dfrac{u-u_i}{u_{i+p-k}-u_i}V_{i-1,k-1} \\ &+\dfrac{u-u_i}{u_{i+p+1-k}-u_i}V_{i,k-1} -\dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}V_{i-2,k-1} \\ =& \left(V_{i-1,k-1} -\dfrac{u-u_i}{u_{i+p-k}-u_i}V_{i-1,k-1}\right) +\dfrac{u_i-u}{u_{i+p+1-k}-u_i}V_{i-1,k-1} \\ &+\dfrac{u-u_i}{u_{i+p+1-k}-u_i}V_{i,k-1} -\dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}V_{i-2,k-1} \\ =& \dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}V_{i-1,k-1} -\dfrac{u-u_i}{u_{i+p+1-k}-u_i}V_{i-1,k-1} \\ &+\dfrac{u-u_i}{u_{i+p+1-k}-u_i}V_{i,k-1} -\dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}V_{i-2,k-1} \\ =& \dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}\left(V_{i-1,k-1}-V_{i-2,k-1}\right) +\dfrac{u-u_i}{u_{i+p+1-k}-u_i}\left(V_{i,k-1}-V_{i-1,k-1}\right). \end{aligned} Vi,k​−Vi−1,k​=====​ui+p+1−k​−ui​ui+p+1−k​−u​Vi−1,k−1​+ui+p+1−k​−ui​u−ui​​Vi,k−1​−ui+p−k​−ui​ui+p−k​−u​Vi−2,k−1​−ui+p−k​−ui​u−ui​​Vi−1,k−1​(Vi−1,k−1​+ui+p+1−k​−ui​ui​−u​Vi−1,k−1​)−ui+p−k​−ui​u−ui​​Vi−1,k−1​+ui+p+1−k​−ui​u−ui​​Vi,k−1​−ui+p−k​−ui​ui+p−k​−u​Vi−2,k−1​(Vi−1,k−1​−ui+p−k​−ui​u−ui​​Vi−1,k−1​)+ui+p+1−k​−ui​ui​−u​Vi−1,k−1​+ui+p+1−k​−ui​u−ui​​Vi,k−1​−ui+p−k​−ui​ui+p−k​−u​Vi−2,k−1​ui+p−k​−ui​ui+p−k​−u​Vi−1,k−1​−ui+p+1−k​−ui​u−ui​​Vi−1,k−1​+ui+p+1−k​−ui​u−ui​​Vi,k−1​−ui+p−k​−ui​ui+p−k​−u​Vi−2,k−1​ui+p−k​−ui​ui+p−k​−u​(Vi−1,k−1​−Vi−2,k−1​)+ui+p+1−k​−ui​u−ui​​(Vi,k−1​−Vi−1,k−1​).​
因此，可得
Q i , k + 1 = V i , k − V i − 1 , k u i + p − k − u i . Q_{i,k+1}=\dfrac{V_{i,k}-V_{i-1,k}}{u_{i+p-k}-u_i}. Qi,k+1​=ui+p−k​−ui​Vi,k​−Vi−1,k​​.
证毕。

利用上面的结果，可以得到
P ′ ( u ) = p ∑ i = j − p + k j N i , p − k ( u ) Q i , k = p Q j , p = p V j , p − 1 − V j − 1 , p − 1 u j + 1 − u j . P^{'}\left(u\right)=p\sum\limits_{i=j-p+k}^{j}N_{i,p-k}(u)Q_{i,k}=pQ_{j,p}=p\dfrac{V_{j,p-1}-V_{j-1,p-1}}{u_{j+1}-u_j}. P′(u)=pi=j−p+k∑j​Ni,p−k​(u)Qi,k​=pQj,p​=puj+1​−uj​Vj,p−1​−Vj−1,p−1​​.

De Boor递推算法求B样条曲线的二阶导矢

设 u ∈ [ u j , u j + 1 ) u\in\left[u_j,u_{j+1}\right) u∈[uj​,uj+1​)，则
P ′ ′ ( u ) = ( P ( u ) ) ′ = ( ∑ i = j − p j N i , p ′ ( u ) V i ) ′ = ( ∑ i = j − p j p V i u i + p − u i N i , p − 1 ( u ) − ∑ i = j − p j p V i u i + p + 1 − u i + 1 N i + 1 , p − 1 ( u ) ) ′ = ∑ i = j − p j p V i u i + p − u i N i , p − 1 ′ ( u ) − ∑ i = j − p j p V i u i + p + 1 − u i + 1 N i + 1 , p − 1 ′ ( u ) = ∑ i = j − p j p V i u i + p − u i ( p − 1 u i + p − 1 − u i N i , p − 2 ( u ) − p − 1 u i + p − u i + 1 N i + 1 , p − 2 ( u ) ) − ∑ i = j − p j p V i u i + p + 1 − u i + 1 ( p − 1 u i + p − u i + 1 N i + 1 , p − 2 ( u ) − p − 1 u i + p + 1 − u i + 2 N i + 2 , p − 2 ( u ) ) = p ( p − 1 ) ∑ i = j − p j [ V i u i + p − u i 1 u i + p − 1 − u i N i , p − 2 ( u ) − V i u i + p − u i 1 u i + p − u i + 1 N i + 1 , p − 2 ( u ) − V i u i + p + 1 − u i + 1 1 u i + p − u i + 1 N i + 1 , p − 2 ( u ) + V i u i + p + 1 − u i + 1 1 u i + p + 1 − u i + 2 N i + 2 , p − 2 ( u ) ] . \begin{aligned} P^{''}\left(u\right)=& \left(P\left(u\right)\right)^{'} =\left(\sum\limits_{i=j-p}^{j}N^{'}_{i,p}(u)V_i\right)^{'} \\ =& \left(\sum\limits_{i=j-p}^{j}\dfrac{pV_i}{u_{i+p}-u_i}N_{i,p-1}(u) -\sum\limits_{i=j-p}^{j}\dfrac{pV_i}{u_{i+p+1}-u_{i+1}}N_{i+1,p-1}(u)\right)^{'} \\ =& \sum\limits_{i=j-p}^{j}\dfrac{pV_i}{u_{i+p}-u_i}N^{'}_{i,p-1}(u) -\sum\limits_{i=j-p}^{j}\dfrac{pV_i}{u_{i+p+1}-u_{i+1}}N^{'}_{i+1,p-1}(u) \\ =& \sum\limits_{i=j-p}^{j}\dfrac{pV_i}{u_{i+p}-u_i}\left(\dfrac{p-1}{u_{i+p-1}-u_i}N_{i,p-2}(u) -\dfrac{p-1}{u_{i+p}-u_{i+1}}N_{i+1,p-2}(u)\right) \\ &-\sum\limits_{i=j-p}^{j}\dfrac{pV_i}{u_{i+p+1}-u_{i+1}}\left(\dfrac{p-1}{u_{i+p}-u_{i+1}}N_{i+1,p-2}(u) -\dfrac{p-1}{u_{i+p+1}-u_{i+2}}N_{i+2,p-2}(u)\right) \\ =& p\left(p-1\right)\sum\limits_{i=j-p}^{j}\left[\dfrac{V_i}{u_{i+p}-u_i}\dfrac{1}{u_{i+p-1}-u_i}N_{i,p-2}(u) -\dfrac{V_i}{u_{i+p}-u_i}\dfrac{1}{u_{i+p}-u_{i+1}}N_{i+1,p-2}(u)\right. \\ &\left.-\dfrac{V_i}{u_{i+p+1}-u_{i+1}}\dfrac{1}{u_{i+p}-u_{i+1}}N_{i+1,p-2}(u) +\dfrac{V_i}{u_{i+p+1}-u_{i+1}}\dfrac{1}{u_{i+p+1}-u_{i+2}}N_{i+2,p-2}(u)\right]. \end{aligned} P′′(u)=====​(P(u))′=(i=j−p∑j​Ni,p′​(u)Vi​)′(i=j−p∑j​ui+p​−ui​pVi​​Ni,p−1​(u)−i=j−p∑j​ui+p+1​−ui+1​pVi​​Ni+1,p−1​(u))′i=j−p∑j​ui+p​−ui​pVi​​Ni,p−1′​(u)−i=j−p∑j​ui+p+1​−ui+1​pVi​​Ni+1,p−1′​(u)i=j−p∑j​ui+p​−ui​pVi​​(ui+p−1​−ui​p−1​Ni,p−2​(u)−ui+p​−ui+1​p−1​Ni+1,p−2​(u))−i=j−p∑j​ui+p+1​−ui+1​pVi​​(ui+p​−ui+1​p−1​Ni+1,p−2​(u)−ui+p+1​−ui+2​p−1​Ni+2,p−2​(u))p(p−1)i=j−p∑j​[ui+p​−ui​Vi​​ui+p−1​−ui​1​Ni,p−2​(u)−ui+p​−ui​Vi​​ui+p​−ui+1​1​Ni+1,p−2​(u)−ui+p+1​−ui+1​Vi​​ui+p​−ui+1​1​Ni+1,p−2​(u)+ui+p+1​−ui+1​Vi​​ui+p+1​−ui+2​1​Ni+2,p−2​(u)].​
于是
P ′ ′ ( u ) p ( p − 1 ) = ∑ i = j − p j V i ( u i + p − u i ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) − ∑ i = j − p j V i ( u i + p − u i ) ( u i + p − u i + 1 ) N i + 1 , p − 2 ( u ) − ∑ i = j − p j V i ( u i + p + 1 − u i + 1 ) ( u i + p − u i + 1 ) N i + 1 , p − 2 ( u ) + ∑ i = j − p j V i ( u i + p + 1 − u i + 1 ) ( u i + p + 1 − u i + 2 ) N i + 2 , p − 2 ( u ) = ∑ i = j − p + 2 j V i ( u i + p − u i ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) − ∑ i = j − p + 1 j + 1 V i − 1 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) − ∑ i = j − p + 1 j + 1 V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) + ∑ i = j − p + 2 j + 2 V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) = ∑ i = j − p + 2 j V i ( u i + p − u i ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) − ∑ i = j − p + 2 j V i − 1 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) − ∑ i = j − p + 2 j V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) + ∑ i = j − p + 2 j V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) = ∑ i = j − p + 2 j N i , p − 2 ( u ) [ V i − V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) − V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) ] . \begin{aligned} \dfrac{P^{''}\left(u\right)}{p\left(p-1\right)}=& \sum\limits_{i=j-p}^{j}\dfrac{V_i}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ &-\sum\limits_{i=j-p}^{j}\dfrac{V_i}{\left(u_{i+p}-u_i\right)\left(u_{i+p}-u_{i+1}\right)}N_{i+1,p-2}(u) \\ &-\sum\limits_{i=j-p}^{j}\dfrac{V_i}{\left(u_{i+p+1}-u_{i+1}\right)\left(u_{i+p}-u_{i+1}\right)}N_{i+1,p-2}(u) \\ &+\sum\limits_{i=j-p}^{j}\dfrac{V_i}{\left(u_{i+p+1}-u_{i+1}\right)\left(u_{i+p+1}-u_{i+2}\right)}N_{i+2,p-2}(u) \\ =& \sum\limits_{i=j-p+2}^{j}\dfrac{V_i}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ &-\sum\limits_{i=j-p+1}^{j+1}\dfrac{V_{i-1}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ &-\sum\limits_{i=j-p+1}^{j+1}\dfrac{V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ &+\sum\limits_{i=j-p+2}^{j+2}\dfrac{V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ =& \sum\limits_{i=j-p+2}^{j}\dfrac{V_i}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ &-\sum\limits_{i=j-p+2}^{j}\dfrac{V_{i-1}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ &-\sum\limits_{i=j-p+2}^{j}\dfrac{V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ &+\sum\limits_{i=j-p+2}^{j}\dfrac{V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ =& \sum\limits_{i=j-p+2}^{j}N_{i,p-2}(u)\left[\dfrac{V_i-V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)} -\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}\right]. \end{aligned} p(p−1)P′′(u)​====​i=j−p∑j​(ui+p​−ui​)(ui+p−1​−ui​)Vi​​Ni,p−2​(u)−i=j−p∑j​(ui+p​−ui​)(ui+p​−ui+1​)Vi​​Ni+1,p−2​(u)−i=j−p∑j​(ui+p+1​−ui+1​)(ui+p​−ui+1​)Vi​​Ni+1,p−2​(u)+i=j−p∑j​(ui+p+1​−ui+1​)(ui+p+1​−ui+2​)Vi​​Ni+2,p−2​(u)i=j−p+2∑j​(ui+p​−ui​)(ui+p−1​−ui​)Vi​​Ni,p−2​(u)−i=j−p+1∑j+1​(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​​Ni,p−2​(u)−i=j−p+1∑j+1​(ui+p​−ui​)(ui+p−1​−ui​)Vi−1​​Ni,p−2​(u)+i=j−p+2∑j+2​(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−2​​Ni,p−2​(u)i=j−p+2∑j​(ui+p​−ui​)(ui+p−1​−ui​)Vi​​Ni,p−2​(u)−i=j−p+2∑j​(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​​Ni,p−2​(u)−i=j−p+2∑j​(ui+p​−ui​)(ui+p−1​−ui​)Vi−1​​Ni,p−2​(u)+i=j−p+2∑j​(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−2​​Ni,p−2​(u)i=j−p+2∑j​Ni,p−2​(u)[(ui+p​−ui​)(ui+p−1​−ui​)Vi​−Vi−1​​−(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​−Vi−2​​].​
记
Δ 1 = ∑ i = j − p + 2 j V i − V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) = ∑ i = j − p + 2 j V i − V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) ( u − u i u i + p − 2 − u i N i , p − 3 ( u ) + u i + p − 1 − u u i + p − 1 − u i + 1 N i + 1 , p − 3 ( u ) ) = ∑ i = j − p + 3 j V i − V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) u − u i u i + p − 2 − u i N i , p − 3 ( u ) + ∑ i = j − p + 3 j V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 2 − u i − 1 ) u i + p − 2 − u u i + p − 2 − u i N i , p − 3 ( u ) . \begin{aligned} \Delta_1=& \sum\limits_{i=j-p+2}^{j}\dfrac{V_i-V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ =&\sum\limits_{i=j-p+2}^{j}\dfrac{V_i-V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}\left(\dfrac{u-u_i}{u_{i+p-2}-u_i}N_{i,p-3}(u) +\dfrac{u_{i+p-1}-u}{u_{i+p-1}-u_{i+1}}N_{i+1,p-3}(u)\right) \\ =&\sum\limits_{i=j-p+3}^{j}\dfrac{V_i-V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)}\dfrac{u-u_i}{u_{i+p-2}-u_i}N_{i,p-3}(u) \\ &+\sum\limits_{i=j-p+3}^{j}\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-2}-u_{i-1}\right)}\dfrac{u_{i+p-2}-u}{u_{i+p-2}-u_i}N_{i,p-3}(u). \end{aligned} Δ1​===​i=j−p+2∑j​(ui+p​−ui​)(ui+p−1​−ui​)Vi​−Vi−1​​Ni,p−2​(u)i=j−p+2∑j​(ui+p​−ui​)(ui+p−1​−ui​)Vi​−Vi−1​​(ui+p−2​−ui​u−ui​​Ni,p−3​(u)+ui+p−1​−ui+1​ui+p−1​−u​Ni+1,p−3​(u))i=j−p+3∑j​(ui+p​−ui​)(ui+p−1​−ui​)Vi​−Vi−1​​ui+p−2​−ui​u−ui​​Ni,p−3​(u)+i=j−p+3∑j​(ui+p−1​−ui−1​)(ui+p−2​−ui−1​)Vi−1​−Vi−2​​ui+p−2​−ui​ui+p−2​−u​Ni,p−3​(u).​

Δ 2 = ∑ i = j − p + 2 j V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) N i , p − 2 ( u ) = ∑ i = j − p + 2 j V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) ( u − u i u i + p − 2 − u i N i , p − 3 ( u ) + u i + p − 1 − u u i + p − 1 − u i + 1 N i + 1 , p − 3 ( u ) ) = ∑ i = j − p + 3 j V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) u − u i u i + p − 2 − u i N i , p − 3 ( u ) + ∑ i = j − p + 3 j V i − 2 − V i − 3 ( u i + p − 2 − u i − 2 ) ( u i + p − 2 − u i − 1 ) u i + p − 2 − u u i + p − 2 − u i N i , p − 3 ( u ) . \begin{aligned} \Delta_2=& \sum\limits_{i=j-p+2}^{j}\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}N_{i,p-2}(u) \\ =&\sum\limits_{i=j-p+2}^{j}\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)} \left(\dfrac{u-u_i}{u_{i+p-2}-u_i}N_{i,p-3}(u) +\dfrac{u_{i+p-1}-u}{u_{i+p-1}-u_{i+1}}N_{i+1,p-3}(u)\right) \\ =&\sum\limits_{i=j-p+3}^{j}\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}\dfrac{u-u_i}{u_{i+p-2}-u_i}N_{i,p-3}(u) \\ &+\sum\limits_{i=j-p+3}^{j}\dfrac{V_{i-2}-V_{i-3}}{\left(u_{i+p-2}-u_{i-2}\right)\left(u_{i+p-2}-u_{i-1}\right)}\dfrac{u_{i+p-2}-u}{u_{i+p-2}-u_i}N_{i,p-3}(u). \end{aligned} Δ2​===​i=j−p+2∑j​(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​−Vi−2​​Ni,p−2​(u)i=j−p+2∑j​(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​−Vi−2​​(ui+p−2​−ui​u−ui​​Ni,p−3​(u)+ui+p−1​−ui+1​ui+p−1​−u​Ni+1,p−3​(u))i=j−p+3∑j​(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​−Vi−2​​ui+p−2​−ui​u−ui​​Ni,p−3​(u)+i=j−p+3∑j​(ui+p−2​−ui−2​)(ui+p−2​−ui−1​)Vi−2​−Vi−3​​ui+p−2​−ui​ui+p−2​−u​Ni,p−3​(u).​

因此，得到
P ′ ′ ( u ) p ( p − 1 ) = ∑ i = j − p + 2 j N i , p − 2 ( u ) [ V i − V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) − V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) ] = ∑ i = j − p + 3 j N i , p − 3 ( u ) ⋅ { [ V i − V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) − V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) ] u − u i u i + p − 2 − u i + [ V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 2 − u i − 1 ) − V i − 2 − V i − 3 ( u i + p − 2 − u i − 2 ) ( u i + p − 2 − u i − 1 ) ] u i + p − 2 − u u i + p − 2 − u i } . \begin{aligned} \dfrac{P^{''}\left(u\right)}{p\left(p-1\right)}=& \sum\limits_{i=j-p+2}^{j}N_{i,p-2}(u)\left[\dfrac{V_i-V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)} -\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}\right] \\ =&\sum\limits_{i=j-p+3}^{j}N_{i,p-3}(u) \cdot \\ &\left\{\left[\dfrac{V_i-V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)} -\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)}\right]\dfrac{u-u_i}{u_{i+p-2}-u_i}\right. \\ &\left. +\left[\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-2}-u_{i-1}\right)} -\dfrac{V_{i-2}-V_{i-3}}{\left(u_{i+p-2}-u_{i-2}\right)\left(u_{i+p-2}-u_{i-1}\right)}\right]\dfrac{u_{i+p-2}-u}{u_{i+p-2}-u_i}\right\}. \end{aligned} p(p−1)P′′(u)​==​i=j−p+2∑j​Ni,p−2​(u)[(ui+p​−ui​)(ui+p−1​−ui​)Vi​−Vi−1​​−(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​−Vi−2​​]i=j−p+3∑j​Ni,p−3​(u)⋅{[(ui+p​−ui​)(ui+p−1​−ui​)Vi​−Vi−1​​−(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​−Vi−2​​]ui+p−2​−ui​u−ui​​+[(ui+p−1​−ui−1​)(ui+p−2​−ui−1​)Vi−1​−Vi−2​​−(ui+p−2​−ui−2​)(ui+p−2​−ui−1​)Vi−2​−Vi−3​​]ui+p−2​−ui​ui+p−2​−u​}.​
令
Q i , k = { V i − V i − 1 ( u i + p − u i ) ( u i + p − 1 − u i ) − V i − 1 − V i − 2 ( u i + p − 1 − u i − 1 ) ( u i + p − 1 − u i ) , k = 2 u i + p + 1 − k − u u i + p + 1 − k − u i Q i − 1 , k − 1 + u − u i u i + p + 1 − k − u i Q i , k − 1 , k = 3 , ⋯   , p \begin{aligned} Q_{i,k}=\begin{cases} \dfrac{V_i-V_{i-1}}{\left(u_{i+p}-u_i\right)\left(u_{i+p-1}-u_i\right)} -\dfrac{V_{i-1}-V_{i-2}}{\left(u_{i+p-1}-u_{i-1}\right)\left(u_{i+p-1}-u_i\right)},\quad k=2 \\ \dfrac{u_{i+p+1-k}-u}{u_{i+p+1-k}-u_i}Q_{i-1,k-1} +\dfrac{u-u_i}{u_{i+p+1-k}-u_i}Q_{i,k-1},\quad k=3,\cdots,p \end{cases} \end{aligned} Qi,k​=⎩⎪⎨⎪⎧​(ui+p​−ui​)(ui+p−1​−ui​)Vi​−Vi−1​​−(ui+p−1​−ui−1​)(ui+p−1​−ui​)Vi−1​−Vi−2​​,k=2ui+p+1−k​−ui​ui+p+1−k​−u​Qi−1,k−1​+ui+p+1−k​−ui​u−ui​​Qi,k−1​,k=3,⋯,p​​
下面用数学归纳法证明
Q i , k = V i , k − 2 − V i − 1 , k − 2 ( u i + p + 2 − k − u i ) ( u i + p + 1 − k − u i ) − V i − 1 , k − 2 − V i − 2 , k − 2 ( u i + p + 1 − k − u i − 1 ) ( u i + p + 1 − k − u i ) , k = 2 , ⋯   , p Q_{i,k}=\dfrac{V_{i,k-2}-V_{i-1,k-2}}{\left(u_{i+p+2-k}-u_i\right)\left(u_{i+p+1-k}-u_i\right)} -\dfrac{V_{i-1,k-2}-V_{i-2,k-2}}{\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p+1-k}-u_i\right)},\quad k=2,\cdots,p Qi,k​=(ui+p+2−k​−ui​)(ui+p+1−k​−ui​)Vi,k−2​−Vi−1,k−2​​−(ui+p+1−k​−ui−1​)(ui+p+1−k​−ui​)Vi−1,k−2​−Vi−2,k−2​​,k=2,⋯,p
当 k = 2 k=2 k=2时，
Q i , k = V i , k − 2 − V i − 1 , k − 2 ( u i + p + 2 − k − u i ) ( u i + p + 1 − k − u i ) − V i − 1 , k − 2 − V i − 2 , k − 2 ( u i + p + 1 − k − u i − 1 ) ( u i + p + 1 − k − u i ) . Q_{i,k}=\dfrac{V_{i,k-2}-V_{i-1,k-2}}{\left(u_{i+p+2-k}-u_i\right)\left(u_{i+p+1-k}-u_i\right)} -\dfrac{V_{i-1,k-2}-V_{i-2,k-2}}{\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p+1-k}-u_i\right)}. Qi,k​=(ui+p+2−k​−ui​)(ui+p+1−k​−ui​)Vi,k−2​−Vi−1,k−2​​−(ui+p+1−k​−ui−1​)(ui+p+1−k​−ui​)Vi−1,k−2​−Vi−2,k−2​​.
于是有
Q i , k + 1 = u i + p − k − u u i + p − k − u i Q i − 1 , k + u − u i u i + p − k − u i Q i , k = u i + p − k − u u i + p − k − u i [ V i − 1 , k − 2 − V i − 2 , k − 2 ( u i + p + 1 − k − u i − 1 ) ( u i + p − k − u i − 1 ) − V i − 2 , k − 2 − V i − 3 , k − 2 ( u i + p − k − u i − 2 ) ( u i + p − k − u i − 1 ) ] + u − u i u i + p − k − u i [ V i , k − 2 − V i − 1 , k − 2 ( u i + p + 2 − k − u i ) ( u i + p + 1 − k − u i ) − V i − 1 , k − 2 − V i − 2 , k − 2 ( u i + p + 1 − k − u i − 1 ) ( u i + p + 1 − k − u i ) ] = u i + p − k − u ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p − k − u i − 1 ) ( V i − 1 , k − 2 − V i − 2 , k − 2 ) − u i + p − k − u ( u i + p − k − u i ) ( u i + p − k − u i − 2 ) ( u i + p − k − u i − 1 ) ( V i − 2 , k − 2 − V i − 3 , k − 2 ) + u − u i ( u i + p − k − u i ) ( u i + p + 2 − k − u i ) ( u i + p + 1 − k − u i ) ( V i , k − 2 − V i − 1 , k − 2 ) − u − u i ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p + 1 − k − u i ) ( V i − 1 , k − 2 − V i − 2 , k − 2 ) . \begin{aligned} Q_{i,k+1}=& \dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i}Q_{i-1,k} +\dfrac{u-u_i}{u_{i+p-k}-u_i}Q_{i,k} \\ =&\dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_i} \left[\dfrac{V_{i-1,k-2}-V_{i-2,k-2}}{\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p-k}-u_{i-1}\right)} -\dfrac{V_{i-2,k-2}-V_{i-3,k-2}}{\left(u_{i+p-k}-u_{i-2}\right)\left(u_{i+p-k}-u_{i-1}\right)}\right] \\ &+\dfrac{u-u_i}{u_{i+p-k}-u_i}\left[\dfrac{V_{i,k-2}-V_{i-1,k-2}}{\left(u_{i+p+2-k}-u_i\right)\left(u_{i+p+1-k}-u_i\right)} -\dfrac{V_{i-1,k-2}-V_{i-2,k-2}}{\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p+1-k}-u_i\right)}\right] \\ =& \dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p-k}-u_{i-1}\right)}\left(V_{i-1,k-2}-V_{i-2,k-2}\right) \\ &-\dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-2}\right)\left(u_{i+p-k}-u_{i-1}\right)}\left(V_{i-2,k-2}-V_{i-3,k-2}\right) \\ &+\dfrac{u-u_i}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+2-k}-u_i\right)\left(u_{i+p+1-k}-u_i\right)}\left(V_{i,k-2}-V_{i-1,k-2}\right) \\ &-\dfrac{u-u_i}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p+1-k}-u_i\right)}\left(V_{i-1,k-2}-V_{i-2,k-2}\right). \end{aligned} Qi,k+1​===​ui+p−k​−ui​ui+p−k​−u​Qi−1,k​+ui+p−k​−ui​u−ui​​Qi,k​ui+p−k​−ui​ui+p−k​−u​[(ui+p+1−k​−ui−1​)(ui+p−k​−ui−1​)Vi−1,k−2​−Vi−2,k−2​​−(ui+p−k​−ui−2​)(ui+p−k​−ui−1​)Vi−2,k−2​−Vi−3,k−2​​]+ui+p−k​−ui​u−ui​​[(ui+p+2−k​−ui​)(ui+p+1−k​−ui​)Vi,k−2​−Vi−1,k−2​​−(ui+p+1−k​−ui−1​)(ui+p+1−k​−ui​)Vi−1,k−2​−Vi−2,k−2​​](ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p−k​−ui−1​)ui+p−k​−u​(Vi−1,k−2​−Vi−2,k−2​)−(ui+p−k​−ui​)(ui+p−k​−ui−2​)(ui+p−k​−ui−1​)ui+p−k​−u​(Vi−2,k−2​−Vi−3,k−2​)+(ui+p−k​−ui​)(ui+p+2−k​−ui​)(ui+p+1−k​−ui​)u−ui​​(Vi,k−2​−Vi−1,k−2​)−(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p+1−k​−ui​)u−ui​​(Vi−1,k−2​−Vi−2,k−2​).​
记
Δ = V i , k − 1 − V i − 1 , k − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) − V i − 1 , k − 1 − V i − 2 , k − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) = V i , k − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) − V i − 1 , k − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) − V i − 1 , k − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) + V i − 2 , k − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) = 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) [ u i + p + 2 − k − u u i + p + 2 − k − u i V i − 1 , k − 2 + u − u i u i + p + 2 − k − u i V i , k − 2 ] − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) [ u i + p + 1 − k − u u i + p + 1 − k − u i − 1 V i − 2 , k − 2 + u − u i − 1 u i + p + 1 − k − u i − 1 V i − 1 , k − 2 ] − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) [ u i + p + 1 − k − u u i + p + 1 − k − u i − 1 V i − 2 , k − 2 + u − u i − 1 u i + p + 1 − k − u i − 1 V i − 1 , k − 2 ] + 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) [ u i + p − k − u u i + p − k − u i − 2 V i − 3 , k − 2 + u − u i − 2 u i + p − k − u i − 2 V i − 2 , k − 2 ] = u i + p + 2 − k − u ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 2 − k − u i ) V i − 1 , k − 2 + u − u i ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 2 − k − u i ) V i , k − 2 − u i + p + 1 − k − u ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) V i − 2 , k − 2 − u − u i − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) V i − 1 , k − 2 − u i + p + 1 − k − u ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) V i − 2 , k − 2 − u − u i − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) V i − 1 , k − 2 + u i + p − k − u ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p − k − u i − 2 ) V i − 3 , k − 2 + u − u i − 2 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p − k − u i − 2 ) V i − 2 , k − 2 . \begin{aligned} \Delta=& \dfrac{V_{i,k-1}-V_{i-1,k-1}}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)} -\dfrac{V_{i-1,k-1}-V_{i-2,k-1}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)} \\ =& \dfrac{V_{i,k-1}}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)} -\dfrac{V_{i-1,k-1}}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)} \\ &-\dfrac{V_{i-1,k-1}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)} +\dfrac{V_{i-2,k-1}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)} \\ =&\dfrac{1}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)} \left[\dfrac{u_{i+p+2-k}-u}{u_{i+p+2-k}-u_i}V_{i-1,k-2} +\dfrac{u-u_i}{u_{i+p+2-k}-u_i}V_{i,k-2}\right] \\ &-\dfrac{1}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)} \left[\dfrac{u_{i+p+1-k}-u}{u_{i+p+1-k}-u_{i-1}}V_{i-2,k-2} +\dfrac{u-u_{i-1}}{u_{i+p+1-k}-u_{i-1}}V_{i-1,k-2}\right] \\ &-\dfrac{1}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)} \left[\dfrac{u_{i+p+1-k}-u}{u_{i+p+1-k}-u_{i-1}}V_{i-2,k-2} +\dfrac{u-u_{i-1}}{u_{i+p+1-k}-u_{i-1}}V_{i-1,k-2}\right] \\ &+\dfrac{1}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)} \left[\dfrac{u_{i+p-k}-u}{u_{i+p-k}-u_{i-2}}V_{i-3,k-2} +\dfrac{u-u_{i-2}}{u_{i+p-k}-u_{i-2}}V_{i-2,k-2}\right] \\ =& \dfrac{u_{i+p+2-k}-u}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+2-k}-u_i\right)}V_{i-1,k-2} \\ &+\dfrac{u-u_i}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+2-k}-u_i\right)}V_{i,k-2} \\ &-\dfrac{u_{i+p+1-k}-u}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)}V_{i-2,k-2} \\ &-\dfrac{u-u_{i-1}}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)}V_{i-1,k-2} \\ &-\dfrac{u_{i+p+1-k}-u}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)}V_{i-2,k-2} \\ &-\dfrac{u-u_{i-1}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)}V_{i-1,k-2} \\ &+\dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-2}\right)}V_{i-3,k-2} \\ &+\dfrac{u-u_{i-2}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-2}\right)}V_{i-2,k-2}. \end{aligned} Δ====​(ui+p+1−k​−ui​)(ui+p−k​−ui​)Vi,k−1​−Vi−1,k−1​​−(ui+p−k​−ui−1​)(ui+p−k​−ui​)Vi−1,k−1​−Vi−2,k−1​​(ui+p+1−k​−ui​)(ui+p−k​−ui​)Vi,k−1​​−(ui+p+1−k​−ui​)(ui+p−k​−ui​)Vi−1,k−1​​−(ui+p−k​−ui−1​)(ui+p−k​−ui​)Vi−1,k−1​​+(ui+p−k​−ui−1​)(ui+p−k​−ui​)Vi−2,k−1​​(ui+p+1−k​−ui​)(ui+p−k​−ui​)1​[ui+p+2−k​−ui​ui+p+2−k​−u​Vi−1,k−2​+ui+p+2−k​−ui​u−ui​​Vi,k−2​]−(ui+p+1−k​−ui​)(ui+p−k​−ui​)1​[ui+p+1−k​−ui−1​ui+p+1−k​−u​Vi−2,k−2​+ui+p+1−k​−ui−1​u−ui−1​​Vi−1,k−2​]−(ui+p−k​−ui−1​)(ui+p−k​−ui​)1​[ui+p+1−k​−ui−1​ui+p+1−k​−u​Vi−2,k−2​+ui+p+1−k​−ui−1​u−ui−1​​Vi−1,k−2​]+(ui+p−k​−ui−1​)(ui+p−k​−ui​)1​[ui+p−k​−ui−2​ui+p−k​−u​Vi−3,k−2​+ui+p−k​−ui−2​u−ui−2​​Vi−2,k−2​](ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+2−k​−ui​)ui+p+2−k​−u​Vi−1,k−2​+(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+2−k​−ui​)u−ui​​Vi,k−2​−(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)ui+p+1−k​−u​Vi−2,k−2​−(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)u−ui−1​​Vi−1,k−2​−(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)ui+p+1−k​−u​Vi−2,k−2​−(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)u−ui−1​​Vi−1,k−2​+(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p−k​−ui−2​)ui+p−k​−u​Vi−3,k−2​+(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p−k​−ui−2​)u−ui−2​​Vi−2,k−2​.​
令 Q i , k + 1 − Δ = α 1 V i , k − 2 + α 2 V i − 1 , k − 2 + α 3 V i − 2 , k − 2 + α 4 V i − 3 , k − 2 Q_{i,k+1}-\Delta=\alpha_1V_{i,k-2}+\alpha_2V_{i-1,k-2}+\alpha_3V_{i-2,k-2}+\alpha_4V_{i-3,k-2} Qi,k+1​−Δ=α1​Vi,k−2​+α2​Vi−1,k−2​+α3​Vi−2,k−2​+α4​Vi−3,k−2​，则有
α 1 = u − u i ( u i + p − k − u i ) ( u i + p + 2 − k − u i ) ( u i + p + 1 − k − u i ) − u − u i ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 2 − k − u i ) = 0 , \begin{aligned} \alpha_1=& \dfrac{u-u_i}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+2-k}-u_i\right)\left(u_{i+p+1-k}-u_i\right)} \\ &-\dfrac{u-u_i}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+2-k}-u_i\right)} \\ =&0, \end{aligned} α1​==​(ui+p−k​−ui​)(ui+p+2−k​−ui​)(ui+p+1−k​−ui​)u−ui​​−(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+2−k​−ui​)u−ui​​0,​

α 2 = u i + p − k − u ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p − k − u i − 1 ) − u − u i ( u i + p − k − u i ) ( u i + p + 2 − k − u i ) ( u i + p + 1 − k − u i ) − u − u i ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p + 1 − k − u i ) − u i + p + 2 − k − u ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 2 − k − u i ) + u − u i − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) + u − u i − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) = − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) + 1 ( u i + p + 1 − k − u i − 1 ) ( u i + p − k − u i ) − u − u i ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p + 1 − k − u i ) + u − u i − 1 + u i + p + 1 − k − u i + p + 1 − k ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) = u − u i + p + 1 − k − u + u i ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) + 1 ( u i + p + 1 − k − u i − 1 ) ( u i + p − k − u i ) = 0 , \begin{aligned} \alpha_2=& \dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p-k}-u_{i-1}\right)} \\ &-\dfrac{u-u_i}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+2-k}-u_i\right)\left(u_{i+p+1-k}-u_i\right)} \\ &-\dfrac{u-u_i}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p+1-k}-u_i\right)} \\ &-\dfrac{u_{i+p+2-k}-u}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+2-k}-u_i\right)} \\ &+\dfrac{u-u_{i-1}}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ &+\dfrac{u-u_{i-1}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ =&-\dfrac{1}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)} \\ &+\dfrac{1}{\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)} \\ &-\dfrac{u-u_i}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p+1-k}-u_i\right)} \\ &+\dfrac{u-u_{i-1}+u_{i+p+1-k}-u_{i+p+1-k}}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ =&\dfrac{u-u_{i+p+1-k}-u+u_i}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ &+\dfrac{1}{\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)} \\ =&0, \end{aligned} α2​====​(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p−k​−ui−1​)ui+p−k​−u​−(ui+p−k​−ui​)(ui+p+2−k​−ui​)(ui+p+1−k​−ui​)u−ui​​−(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p+1−k​−ui​)u−ui​​−(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+2−k​−ui​)ui+p+2−k​−u​+(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)u−ui−1​​+(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)u−ui−1​​−(ui+p+1−k​−ui​)(ui+p−k​−ui​)1​+(ui+p+1−k​−ui−1​)(ui+p−k​−ui​)1​−(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p+1−k​−ui​)u−ui​​+(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)u−ui−1​+ui+p+1−k​−ui+p+1−k​​(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)u−ui+p+1−k​−u+ui​​+(ui+p+1−k​−ui−1​)(ui+p−k​−ui​)1​0,​

α 3 = − u i + p − k − u ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p − k − u i − 1 ) − u i + p − k − u ( u i + p − k − u i ) ( u i + p − k − u i − 2 ) ( u i + p − k − u i − 1 ) + u − u i ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p + 1 − k − u i ) + u i + p + 1 − k − u ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) + u i + p + 1 − k − u ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) − u − u i − 2 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p − k − u i − 2 ) = − 1 ( u i + p − k − u i ) ( u i + p − k − u i − 1 ) + 1 ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) − u i + p − k − u ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) ( u i + p − k − u i − 1 ) + u i + p + 1 − k − u − u i − 1 + u i − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) = u i − 1 − u − u i + p − k + u ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) + 1 ( u i + p − k − u i ) ( u i + p + 1 − k − u i − 1 ) = 0 , \begin{aligned} \alpha_3=& -\dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p-k}-u_{i-1}\right)} \\ &-\dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-2}\right)\left(u_{i+p-k}-u_{i-1}\right)} \\ &+\dfrac{u-u_i}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p+1-k}-u_i\right)} \\ &+\dfrac{u_{i+p+1-k}-u}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ &+\dfrac{u_{i+p+1-k}-u}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ &-\dfrac{u-u_{i-2}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-2}\right)} \\ =&-\dfrac{1}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-1}\right)} \\ &+\dfrac{1}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ &-\dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)\left(u_{i+p-k}-u_{i-1}\right)} \\ &+\dfrac{u_{i+p+1-k}-u-u_{i-1}+u_{i-1}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ =&\dfrac{u_{i-1}-u-u_{i+p-k}+u}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ &+\dfrac{1}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p+1-k}-u_{i-1}\right)} \\ =&0, \end{aligned} α3​====​−(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p−k​−ui−1​)ui+p−k​−u​−(ui+p−k​−ui​)(ui+p−k​−ui−2​)(ui+p−k​−ui−1​)ui+p−k​−u​+(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p+1−k​−ui​)u−ui​​+(ui+p+1−k​−ui​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)ui+p+1−k​−u​+(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)ui+p+1−k​−u​−(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p−k​−ui−2​)u−ui−2​​−(ui+p−k​−ui​)(ui+p−k​−ui−1​)1​+(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)1​−(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)(ui+p−k​−ui−1​)ui+p−k​−u​+(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)ui+p+1−k​−u−ui−1​+ui−1​​(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)ui−1​−u−ui+p−k​+u​+(ui+p−k​−ui​)(ui+p+1−k​−ui−1​)1​0,​

α 4 = u i + p − k − u ( u i + p − k − u i ) ( u i + p − k − u i − 2 ) ( u i + p − k − u i − 1 ) − u i + p − k − u ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) ( u i + p − k − u i − 2 ) = 0. \begin{aligned} \alpha_4=& \dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-2}\right)\left(u_{i+p-k}-u_{i-1}\right)} \\ &-\dfrac{u_{i+p-k}-u}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)\left(u_{i+p-k}-u_{i-2}\right)} \\ =&0. \end{aligned} α4​==​(ui+p−k​−ui​)(ui+p−k​−ui−2​)(ui+p−k​−ui−1​)ui+p−k​−u​−(ui+p−k​−ui−1​)(ui+p−k​−ui​)(ui+p−k​−ui−2​)ui+p−k​−u​0.​

从而，得到
Q i , k + 1 = Δ = V i , k − 1 − V i − 1 , k − 1 ( u i + p + 1 − k − u i ) ( u i + p − k − u i ) − V i − 1 , k − 1 − V i − 2 , k − 1 ( u i + p − k − u i − 1 ) ( u i + p − k − u i ) . \begin{aligned} Q_{i,k+1}=\Delta=\dfrac{V_{i,k-1}-V_{i-1,k-1}}{\left(u_{i+p+1-k}-u_i\right)\left(u_{i+p-k}-u_i\right)} -\dfrac{V_{i-1,k-1}-V_{i-2,k-1}}{\left(u_{i+p-k}-u_{i-1}\right)\left(u_{i+p-k}-u_i\right)}. \end{aligned} Qi,k+1​=Δ=(ui+p+1−k​−ui​)(ui+p−k​−ui​)Vi,k−1​−Vi−1,k−1​​−(ui+p−k​−ui−1​)(ui+p−k​−ui​)Vi−1,k−1​−Vi−2,k−1​​.​
证毕。

利用上面的结果，可以得到
P ′ ′ ( u ) = p ( p − 1 ) ∑ i = j − p + k j N i , p − k ( u ) Q i , k = p ( p − 1 ) Q j , p = p ( p − 1 ) [ V j , p − 2 − V j − 1 , p − 2 ( u j + 2 − u j ) ( u j + 1 − u j ) − V j − 1 , p − 2 − V j − 2 , p − 2 ( u j + 1 − u j − 1 ) ( u j + 1 − u j ) ] . \begin{aligned} P^{''}\left(u\right)=& p\left(p-1\right)\sum\limits_{i=j-p+k}^{j}N_{i,p-k}(u)Q_{i,k}=p\left(p-1\right)Q_{j,p} \\ =& p\left(p-1\right)\left[\dfrac{V_{j,p-2}-V_{j-1,p-2}}{\left(u_{j+2}-u_j\right)\left(u_{j+1}-u_j\right)} -\dfrac{V_{j-1,p-2}-V_{j-2,p-2}}{\left(u_{j+1}-u_{j-1}\right)\left(u_{j+1}-u_j\right)}\right]. \end{aligned} P′′(u)==​p(p−1)i=j−p+k∑j​Ni,p−k​(u)Qi,k​=p(p−1)Qj,p​p(p−1)[(uj+2​−uj​)(uj+1​−uj​)Vj,p−2​−Vj−1,p−2​​−(uj+1​−uj−1​)(uj+1​−uj​)Vj−1,p−2​−Vj−2,p−2​​].​

De Boor递推算法求NURBS 曲线上的点

设 u ∈ [ u j , u j + 1 ) u\in\left[u_j,u_{j+1}\right) u∈[uj​,uj+1​)，则
P ( u ) = V j , p . P\left(u\right)=V_{j,p}. P(u)=Vj,p​.
其中
V i , k = { V i , k = 0 ( 1 − α i , k ) ω i − 1 , k − 1 ω i , k V i − 1 , k − 1 + α i , k ω i , k − 1 ω i , k V i , k − 1 , k = 1 , ⋯   , p , i = j − p + k , ⋯   , j ω i , k = { ω i , k = 0 ( 1 − α i , k ) ω i − 1 , k − 1 + α i , k ω i , k − 1 , k = 1 , ⋯   , p , i = j − p + k , ⋯   , j α i , k = u − u i u i + p + 1 − k − u i , k = 1 , ⋯   , p , i = j − p + k , ⋯   , j \begin{aligned} V_{i,k}=& \begin{cases} V_i,\quad k=0 \\ \left(1-\alpha_{i,k}\right)\dfrac{\omega_{i-1,k-1}}{\omega_{i,k}}V_{i-1,k-1} +\alpha_{i,k}\dfrac{\omega_{i,k-1}}{\omega_{i,k}}V_{i,k-1},\quad k=1,\cdots,p,\quad i=j-p+k,\cdots,j \end{cases} \\ \omega_{i,k}=& \begin{cases} \omega_i,\quad k=0 \\ \left(1-\alpha_{i,k}\right)\omega_{i-1,k-1} +\alpha_{i,k}\omega_{i,k-1},\quad k=1,\cdots,p,\quad i=j-p+k,\cdots,j \end{cases} \\ \alpha_{i,k}=& \dfrac{u-u_i}{u_{i+p+1-k}-u_i},\quad k=1,\cdots,p,\quad i=j-p+k,\cdots,j \end{aligned} Vi,k​=ωi,k​=αi,k​=​⎩⎨⎧​Vi​,k=0(1−αi,k​)ωi,k​ωi−1,k−1​​Vi−1,k−1​+αi,k​ωi,k​ωi,k−1​​Vi,k−1​,k=1,⋯,p,i=j−p+k,⋯,j​{ωi​,k=0(1−αi,k​)ωi−1,k−1​+αi,k​ωi,k−1​,k=1,⋯,p,i=j−p+k,⋯,j​ui+p+1−k​−ui​u−ui​​,k=1,⋯,p,i=j−p+k,⋯,j​

De Boor递推算法求NURBS 曲线的一阶导矢

设 u ∈ [ u j , u j + 1 ) u\in\left[u_j,u_{j+1}\right) u∈[uj​,uj+1​)，则
P ′ ( u ) = p u j + 1 − u j ω j − 1 , p − 1 ω j , p − 1 ω j , p 2 ( V j , p − 1 − V j − 1 , p − 1 ) . P^{'}\left(u\right)=\dfrac{p}{u_{j+1}-u_j}\dfrac{\omega_{j-1,p-1}\omega_{j,p-1}}{\omega_{j,p}^{2}}\left(V_{j,p-1}-V_{j-1,p-1}\right). P′(u)=uj+1​−uj​p​ωj,p2​ωj−1,p−1​ωj,p−1​​(Vj,p−1​−Vj−1,p−1​).
其中
V i , k = { V i , k = 0 ( 1 − α i , k ) ω i − 1 , k − 1 ω i , k V i − 1 , k − 1 + α i , k ω i , k − 1 ω i , k V i , k − 1 , k = 1 , ⋯   , p , i = j − p + k , ⋯   , j ω i , k = { ω i , k = 0 ( 1 − α i , k ) ω i − 1 , k − 1 + α i , k ω i , k − 1 , k = 1 , ⋯   , p , i = j − p + k , ⋯   , j α i , k = u − u i u i + p + 1 − k − u i , k = 1 , ⋯   , p , i = j − p + k , ⋯   , j \begin{aligned} V_{i,k}=& \begin{cases} V_i,\quad k=0 \\ \left(1-\alpha_{i,k}\right)\dfrac{\omega_{i-1,k-1}}{\omega_{i,k}}V_{i-1,k-1} +\alpha_{i,k}\dfrac{\omega_{i,k-1}}{\omega_{i,k}}V_{i,k-1},\quad k=1,\cdots,p,\quad i=j-p+k,\cdots,j \end{cases} \\ \omega_{i,k}=& \begin{cases} \omega_i,\quad k=0 \\ \left(1-\alpha_{i,k}\right)\omega_{i-1,k-1} +\alpha_{i,k}\omega_{i,k-1},\quad k=1,\cdots,p,\quad i=j-p+k,\cdots,j \end{cases} \\ \alpha_{i,k}=& \dfrac{u-u_i}{u_{i+p+1-k}-u_i},\quad k=1,\cdots,p,\quad i=j-p+k,\cdots,j \end{aligned} Vi,k​=ωi,k​=αi,k​=​⎩⎨⎧​Vi​,k=0(1−αi,k​)ωi,k​ωi−1,k−1​​Vi−1,k−1​+αi,k​ωi,k​ωi,k−1​​Vi,k−1​,k=1,⋯,p,i=j−p+k,⋯,j​{ωi​,k=0(1−αi,k​)ωi−1,k−1​+αi,k​ωi,k−1​,k=1,⋯,p,i=j−p+k,⋯,j​ui+p+1−k​−ui​u−ui​​,k=1,⋯,p,i=j−p+k,⋯,j​

莱布尼茨公式求NURBS曲线的高阶导矢

令 P ( u ) = ∑ i = 0 n N i , p ( u ) ω i V i ∑ i = 0 n N i , p ( u ) ω i = A ( u ) W ( u ) P\left(u\right)=\dfrac{\sum\limits_{i=0}^{n}N_{i,p}(u)\omega_iV_i}{\sum\limits_{i=0}^{n}N_{i,p}(u)\omega_i} =\dfrac{A\left(u\right)}{W\left(u\right)} P(u)=i=0∑n​Ni,p​(u)ωi​i=0∑n​Ni,p​(u)ωi​Vi​​=W(u)A(u)​，利用求积的高阶导的莱布尼茨公式，得到
P ( k ) ( u ) = A ( k ) ( u ) − ∑ i = 1 k C k i W ( i ) ( u ) P ( k − i ) ( u ) W ( u ) . P^{\left(k\right)}\left(u\right)=\dfrac{A^{\left(k\right)}\left(u\right) -\sum\limits_{i=1}^{k} C_{k}^{i} W^{\left(i\right)}\left(u\right) P^{\left(k-i\right)}\left(u\right)}{W\left(u\right)}. P(k)(u)=W(u)A(k)(u)−i=1∑k​Cki​W(i)(u)P(k−i)(u)​.
特别的，
P ′ ( u ) = A ′ ( u ) − W ′ ( u ) P ( u ) W ( u ) = A ′ ( u ) W ( u ) − A ( u ) W ′ ( u ) W 2 ( u ) , P ′ ′ ( u ) = A ′ ′ ( u ) − 2 W ′ ( u ) P ′ ( u ) − W ′ ′ ( u ) P ( u ) W ( u ) = A ′ ′ ( u ) W ( u ) − 2 W ′ ( u ) W ( u ) P ′ ( u ) − W ′ ′ ( u ) A ( u ) W 2 ( u ) . \begin{aligned} P^{'}\left(u\right)=&\dfrac{A^{'}\left(u\right)-W^{'}\left(u\right)P\left(u\right)}{W\left(u\right)} =\dfrac{A^{'}\left(u\right)W\left(u\right)-A\left(u\right)W^{'}\left(u\right)}{W^{2}\left(u\right)}, \\ P^{''}\left(u\right)=&\dfrac{A^{''}\left(u\right)-2W^{'}\left(u\right)P^{'}\left(u\right)-W^{''}\left(u\right)P\left(u\right)}{W\left(u\right)} \\ =&\dfrac{A^{''}\left(u\right)W\left(u\right)-2W^{'}\left(u\right)W\left(u\right)P^{'}\left(u\right) -W^{''}\left(u\right)A\left(u\right)}{W^{2}\left(u\right)}. \end{aligned} P′(u)=P′′(u)==​W(u)A′(u)−W′(u)P(u)​=W2(u)A′(u)W(u)−A(u)W′(u)​,W(u)A′′(u)−2W′(u)P′(u)−W′′(u)P(u)​W2(u)A′′(u)W(u)−2W′(u)W(u)P′(u)−W′′(u)A(u)​.​

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我们希望求出参数u处的B样条值来。为了方便后续讨论，我们这里设B样条曲线有n+1个控制点，阶数为p。由公式直接算值虽然简单直观，但是程序复杂度太高，所以有人又提出了一种更快速的Evaluate方法-deboor计算方法。的值算出来，这个计算过程可以用下图理解，计算复杂度为O(n*(n+n+1))=O(np)。由B样条曲线的表达式可以看出来，最简单的Evaluate方法就是先由。（由于网站要梯子，所以这里附EvaluateDeboor的代码：）在实际使用中，如果已知所有的控制点。
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