Run 7 (Insertion)

2 sec of observations (in 5 sec run). Observations are of both angles, but not their speeds. This is as run 4, but some observations have been moved well away from the exact solution - as in run 5 (note that insertion runs take no account of the observation error).

Graph A: Primary angle of double pendulum vs time

Key:
Green points mark the assimilation cycle boundaries.
Blue is the exact solution.
Red are the observations used.
Magenta is the '4d'-Var. assimilated solution.
Light green is the insertion run solution.

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