IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

Liu, Ke; Wu, Wenqi; Tang, Kanghua; He, Lei

doi:10.3390/s18082721

Cited by 6 publications

(4 citation statements)

References 15 publications

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“…Walker et al [56] applied dual quaternions to estimate the pose of an object using visual data and [44] used them to interpolate rigid-body motion. Both became more active areas of research recently, the first (visual data processing and cloud points registration) being followed by [57][58][59][60] and the second (interpolation of rigid-body motion) followed by [61][62][63][64] (alternatively to motion interpolation, ref. [65] uses differential geometry and dual curvature theory).…”

Section: General Overviewmentioning

confidence: 99%

A Review on the Applications of Dual Quaternions

Farias,

De Pieri,

Martins

2024

Machines

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This work explores dual quaternions and their applications. First, a theoretical construction begins at dual numbers, extends to dual vectors, and culminates in dual quaternions. The physical foundations behind the developed theory lie in two important fundamentals: Chasles’ Theorem and the Transference Principle. The former addresses how to represent rigid-body motion whereas the latter provides a method for operating on it. This combination presents dual quaternions as a framework for modeling rigid mechanical systems, both kinematically and kinetically, in a compact, elegant and performant way. Next, a review on the applications of dual quaternions is carried out, providing a general overview of all applications. Important subjects are further detailed, these being the kinematics and dynamics of rigid bodies and mechanisms (both serial and parallel), control and motion interpolation. Discussions regarding dual quaternions and their applications are undertaken, highlighting open questions and research gaps. The advantages and disadvantages of using dual quaternions are summarized. Lastly, conclusions and future directions of research are presented.

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Section: General Overviewmentioning

confidence: 99%

A Review on the Applications of Dual Quaternions

Farias,

De Pieri,

Martins

2024

Machines

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“…In [19] the authors propose an analytical IMU signal generation algorithm, which can boast higher accuracy than competitive modern algorithms. The algorithm utilizes dual quaternion interpolation and involves sophisticated equations.…”

Section: Related Workmentioning

confidence: 99%

A Potrace-based Tracing Algorithm for Prescribing Two-dimensional Trajectories in Inertial Sensors Simulation Software

Ціж¹,

Biotechnologies²,

Marusenkova³

2021

IJMECS

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Inertial measurement units based on microelectromechanical systems are perspectives for motion capture applications due to their numerous advantages. A motion trajectory is restored using a well-known navigation algorithm, which assumes integration of the signals from accelerometers and gyroscopes. Readings of both sensors contain errors, which quickly accumulate due to integration. The applicability of an inertial measurement unit for motion capture depends on the trajectory being tracked and can be predicted due to the simulation of signals from inertial sensors. The first simulation step is prescribing a motion trajectory and corresponding velocities. The existing simulation software provides no user-friendly graphical tools for the completion of this step. This work introduces an algorithm for the simulation of accelerometer signals upon a two-dimensional trajectory drawn with a computer mouse and then vectorized. We propose a modification of the Potrace algorithm for tracing motion trajectories. Thus, a trajectory and velocities can be set simultaneously. The obtained results form a basis for simulating three-dimensional motion trajectories since the latter can be represented by three mutually orthogonal two-dimensional projections.

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“…A trajectory generator is a key component in the research and testing of the SINS/GNSS algorithm. Many approaches have been developed for the trajectory generator over the decades, which can be classified into three general categories [ 8 ]: (1) The first approach is based on pure mathematical models of SINS equations [ 9 ]. Profile generation (PROFGEN) [ 10 ] is the most traditional trajectory generator in this category, which can provide information on flight parameters such as position, velocity, attitude, angular velocity, and specific force.…”

Section: Introductionmentioning

confidence: 99%

“…PROFGEN can support four flight maneuvers: vertical turns, horizontal turns, sinusoidal heading changes, and straight flight. (2) The second approach is based on actual flight data [ 8 , 11 , 12 , 13 , 14 ]. The simulated signals of gyroscopes and accelerometers are correlated not only with the vehicle’s kinematics and dynamic characteristics but also with the characteristics of post-processed GNSS’s pseudo-ranges and pseudo-range rate measurements.…”

Section: Introductionmentioning

confidence: 99%

Simulation Platform for SINS/GPS Integrated Navigation System of Hypersonic Vehicles Based on Flight Mechanics

Chen

Shen

Zhou

et al. 2020

Sensors

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In this study, a simulation platform for an integrated navigation algorithm for hypersonic vehicles based on flight mechanics is designed. In addition, the generation method of inertial measurement unit data and satellite receiver data is introduced. First, the interface relationship between a high-precision six-degree-of-freedom (6DoF) model and the simulation platform in the launch-centered Earth-fixed frame is introduced. Three-axis theoretical specific force and angular velocity are output by the 6DoF model. Accelerometer and gyroscope error models are added, and integral processing of the specific force and angular velocity is performed to obtain velocity increment of the accelerometer and the angular increment of the gyroscope. These data are quantified to obtain the accelerometer and gyroscope pulses. The satellite’s pseudo-range and pseudo-range rate as well as its position and velocity are obtained from the theoretical position, velocity, the attitude of the hypersonic vehicle’s 6DoF model output, and the global positioning system (GPS) satellite broadcast ephemeris. The simulation data can be used for the verification of the loose and tight coupling integrated navigation algorithms. The simulation test verifies the accuracy of the designed method.

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IMU Signal Generator Based on Dual Quaternion Interpolation for Integration Simulation

Cited by 6 publications

References 15 publications

A Review on the Applications of Dual Quaternions

A Review on the Applications of Dual Quaternions

A Potrace-based Tracing Algorithm for Prescribing Two-dimensional Trajectories in Inertial Sensors Simulation Software

Simulation Platform for SINS/GPS Integrated Navigation System of Hypersonic Vehicles Based on Flight Mechanics

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