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Sensors 2018, 18(8), 2721; https://doi.org/10.3390/s18082721

IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

1,* , 1
,
1
and
2
1
College of Artificial Intelligence, National University of Defense Technology, Changsha 410073, China
2
College of Systems Engineering, National University of Defense Technology, Changsha 410073, China
*
Author to whom correspondence should be addressed.
Received: 16 July 2018 / Revised: 14 August 2018 / Accepted: 15 August 2018 / Published: 18 August 2018
(This article belongs to the Section Physical Sensors)
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Abstract

This paper focuses on the problem of high-update-rate and high accuracy inertial measurement unit signal generation. In order to be in accordance with the vehicle’s kinematic and dynamic characteristics as well as the characteristics of pseudorange of post-processed global navigation satellite system and their rate measurements, a novel dual quaternion interpolation and analytic integration algorithm based on actual flight data is proposed. The proposed method can simplify the piecewise analytical expressions of angular rates, angular increments and specific force integral increments. Norm corrections are adopted as constraint conditions to guarantee the accuracy of the signals. Numerical simulations are conducted to validate the method’s performance. View Full-Text
Keywords: IMU signal generator; dual quaternion; integration simulation; spline interpolation IMU signal generator; dual quaternion; integration simulation; spline interpolation
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Liu, K.; Wu, W.; Tang, K.; He, L. IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation. Sensors 2018, 18, 2721.

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