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IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation.

Ke Liu1, Wenqi Wu2, Kanghua Tang3

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This study introduces a new dual quaternion algorithm for generating accurate inertial measurement unit signals. This method enhances vehicle navigation by simplifying complex calculations and ensuring high signal precision.

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Area of Science:

  • Aerospace Engineering
  • Navigation Systems
  • Signal Processing

Background:

  • High-update-rate and high-accuracy inertial measurement unit (IMU) signal generation is critical for advanced navigation systems.
  • Existing methods often struggle to reconcile IMU data with Global Navigation Satellite System (GNSS) measurements, especially concerning kinematic and dynamic characteristics.
  • Accurate integration of IMU data is essential for robust vehicle state estimation.

Purpose of the Study:

  • To propose a novel dual quaternion interpolation and analytic integration algorithm for IMU signal generation.
  • To ensure the generated IMU signals align with vehicle kinematic/dynamic characteristics and post-processed GNSS pseudorange rate measurements.
  • To simplify the analytical expressions for angular rates, increments, and specific force integral increments.

Main Methods:

  • A novel dual quaternion interpolation and analytic integration algorithm is developed using actual flight data.
  • Piecewise analytical expressions for angular rates, angular increments, and specific force integral increments are simplified.
  • Norm corrections are implemented as constraint conditions to maintain signal accuracy.

Main Results:

  • The proposed algorithm effectively generates high-update-rate and high-accuracy IMU signals.
  • The method simplifies complex analytical expressions, improving computational efficiency.
  • Numerical simulations confirm the algorithm's ability to guarantee signal accuracy through norm corrections.

Conclusions:

  • The dual quaternion interpolation and analytic integration algorithm provides a robust solution for IMU signal generation.
  • This approach enhances the compatibility between IMU data and GNSS measurements for improved vehicle navigation.
  • The method offers a promising technique for achieving high-accuracy navigation in dynamic environments.