Strapdown Inertial Navigation System Simulation Using Quaternion Method

In this paper, we present a comprehensive simulation of a strapdown inertial navigation system utilizing the quaternion method. Our research focuses on analyzing gyroscope and accelerometer data, which we generated through custom simulation routines. The simulation captures one minute of inertial measurement data to enable thorough system analysis and evaluation. We employ quaternion mathematics for attitude representation, which avoids gimbal lock issues and provides computational efficiency compared to Euler angles. The implementation includes sensor data generation algorithms that model realistic gyroscope drift and accelerometer noise characteristics. Key functions in our simulation framework involve quaternion normalization, attitude update integration using angular rate measurements, and coordinate transformation calculations. We provide detailed explanations of our simulation methodology and present comprehensive data analysis results. Additionally, we discuss the potential impact of our findings on future research in related domains. We believe our research outcomes will serve as valuable references for the design and development of strapdown inertial navigation systems, particularly in applications requiring robust attitude estimation and sensor fusion algorithms.