IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

Sensors

Ke Liu¹  Wenqi Wu¹  Kanghua Tang¹  Lei He² 

[1] College of Artificial Intelligence, National University of Defense Technology, Changsha 410073, China;College of Systems Engineering, National University of Defense Technology, Changsha 410073, China;

关键词: IMU signal generator;    dual quaternion;    integration simulation;    spline interpolation;   

DOI  :  10.3390/s18082721

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown