After some digging on the internet, I was able to look at some source code from another research paper.
The corrections that needed to be made are:
R = Q^{-1}_{i}Q_{c}
and
\vec{a_{c}} = <-x,-y,z>
Strangely, I don't understand why x and y become opposites but it does work. Any...
During the course of working with inertial measurement units (IMU) I have run into a problem.
The issue is that an IMU reports accelerations relative to the IMU's orientation rather than it's initial orientation. The IMU's initial orientation is the identity quaternion (1,0,0,0). All changes...