IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

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.