How to simulate IMU data using position and orientation?

Question

I want to make a simulator to verify that my imu algorithm is working.

I am given:

$p_0$ - starting position

$p_1$ - final position

$q_0$ - starting orientation

$q_1$ - final orientation

I want to start from $(p_0, q_0)$ and move to $(p_1, q_1)$ using imu information $(gx, gy, gz, ax, ay, az)$. How can I convert the data I have into gyroscope $(gx, gy, gz)$ and accelerometer $(ax, ay, az)$ data of an imu.

Answer 1

The solution is to use a 4x4 affine matrix that represent all the transformation on the sensor. After apply each transformation we get the position and orientation and thus get angular velocity and acceleration that an IMU would give out.