  Quantum error mitigation is a key concept for the development of practical
applications based on current noisy intermediate scale quantum (NISQ) devices.
One of the most promising methods is Richardson extrapolation to the zero noise
limit. While its main idea is rather simple, the full potential of Richardson
extrapolation has not been completely uncovered yet. We give an in-depth
analysis of the relevant parameters of Richardson extrapolation and propose an
optimized protocol for its implementation. This protocol allows for a precise
control of the increase in statistical uncertainty and lays the foundation for
a significant improvement of the mitigation performance achieved by increasing
the number of nodes. Furthermore, we present a novel set of nodes that, on
average, outperforms the linear, exponential or Chebyshev nodes frequently used
for Richardson extrapolation without requiring any additional resources.
