I'm building a project that uses an IMU (Inertial Measurement Unit). The project involves the device to be
mounted inside a vehicle and I should provide the
angular velocity and
Euler angles of the vehicle (and not the device).
After a few reading I understand that I must rotate the 3D axis of acceleration from the device frame (
reference frame) into the
Earth frame. To do this I can use quaternion rotation as described here (SO Question). But what about angular velocity? Can the gyroscope axis rotations also be rotated using quaternions?
And as I'm a bit confused, once I rotate the axes, I can calculate the Euler angles from the quaternions. Am I right?
I have come across many algorithms that calculate the quaterions (Madwick's Algo). After the calculation of the quaternions can I use "SO question"'s approach to rotate the device frame into Earth frame?
I need to get accelerometer, gyroscope, Euler angle data for the earth plane. I'm a bit confused and so this question is just to understand the best approach for this problem.