位置： x ( t ) = a 0 + a 1 t + a 2 t 2 + a 3 t 3 + a 4 t 4 + a t 5 x(t) = a_0 + a_1t + a_2 t^2 + a_3 t^3 + a_4 t^4 + a_ t^5 x(t)=a0​+a1​t+a2​t2+a3​t3+a4​t4+at5​ y ( t ) = b 0 + b 1 t + b 2 t 2 + b 3 t 3 + b 4 t 4 + b t 5 y(t) = b_0 + b_1t + b_2 t^2 + b_3 t^3 + b_4 t^4 + b_ t^5 y(t)=b0​+b1​t+b2​t2+b3​t3+b4​t4+bt5​

速度： x ′ ( t ) = a 1 + 2 a 2 t + 3 a 3 t 2 + 4 a 4 t 3 + 5 a t 4 x'(t) = a_1 + 2a_2 t + 3a_3 t^2 + 4a_4 t^3 + 5a_ t^4 x′(t)=a1​+2a2​t+3a3​t2+4a4​t3+5at4​ y ′ ( t ) = b 1 + 2 b 2 t + 3 b 3 t 2 + 4 b 4 t 3 + 5 b t 4 y'(t) = b_1 + 2b_2 t + 3b_3 t^2 + 4b_4 t^3 + 5b_ t^4 y′(t)=b1​+2b2​t+3b3​t2+4b4​t3+5bt4​

加速度： x ′ ′ ( t ) = 2 a 2 + 6 a 3 t + 12 a 4 t 2 + 20 a t 3 x''(t) = 2a_2 + 6a_3 t + 12a_4 t^2 + 20a_ t^3 x′′(t)=2a2​+6a3​t+12a4​t2+20at3​ y ′ ′ ( t ) = 2 b 2 + 6 b 3 t + 12 b 4 t 2 + 20 b t 3 y''(t) = 2b_2 + 6b_3 t + 12b_4 t^2 + 20b_ t^3 y′′(t)=2b2​+6b3​t+12b4​t2+20bt3​