Re: help with quaternions! a.k.a combining IMU and GPS data

Hi Sam,

I'm combining inertial data from an IMU with data from GPS... the
quanternions are normally used to describe the attitude of the vehicle
rather than using euler angles as that later can cause singularities in
the equations under some conditions.

Simply, from the INU you get accelerations and angular accelerations,
and from the GPS you get velocities and position... the big "problem"
is how to combine these measurements in the "optimal" way. The normal
approach is to use a Kalman filter, but embedded in this process you
need to take the output of the INU and convert them into velocities in
the earth frame and this is where the quanternions come into play.

so I'm looking for some simple code that takes:

-an input of 3 accelerations and 3 angular velocities from the
acceleometers and gyros. Where the acclerations and angular velocites
are in the vehicle frame as this is a so called "strap down" IMU.
-Outputs X,Y,Z velocity in the earth frame

Does that make any more sense...? ..reading the above back, possibly
not ;o)

Thanks

Jim

.

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