Alternative to linear approximation for multiple points?

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as a linear approximation is used to approximate a point between two points. how can we apply linear or other approximation when multiple points are given and we have to approximate a single point using all of them. For example as in linked picture green points are the point i know already and i want estimate points at 10 ms , 20 ms and 30 ms ... e.g, for 10 ms point i want to use all point between 0-20 ms to estimate 10 ms point and so on enter image description here