IMU Data Generation from the Defined Motion Using the NDI Controller Design Technique

Ozgur Atesoglu

Abstract:	This paper focuses on the six degree of freedom inertial measurement unit (IMU) sensor data generation from the defined motion, trajectory and attitude of a vehicle. The defined trajectory is given by the latitude, longitude and altitude and the desired motion is given by the velocity and attitude of the vehicle with respect to time. In order to generate the sensor data the desired trajectory and motion are treated as the reference inputs and the nonlinear equations describing the navigation kinematics are treated as the plant dynamics. Hence, a controller is designed, by using the nonlinear dynamic inversion (NDI) design technique, to calculate the gyroscope and accelerometer sensor data. The proposed algorithm is simulated for different motions and trajectories and the results are presented.
Published in:	Proceedings of IEEE/ION PLANS 2006 April 25 - 27, 2006 Loews Coronado Resort Hotel San Diego, CA
Pages:	80 - 85
Cite this article:	Atesoglu, Ozgur, "IMU Data Generation from the Defined Motion Using the NDI Controller Design Technique," Proceedings of IEEE/ION PLANS 2006, San Diego, CA, April 2006, pp. 80-85. https://doi.org/10.1109/PLANS.2006.1650590
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