Treballs Finals de Grau de Matemàtiques, Facultat de Matemàtiques, Universitat de Barcelona, Any: 2017, Director: Àlex Haro[en] This work addresses the problem of trajectory interpolation for inertial measurement simulation. We have discarded the traditional interpolation procedures in order to implement more physically accurate techniques. Thus, we have adapted the work of the robotic community to our purposes, designing a quite innovative proceeding. Indeed, we have tested the proposed algorithm with a real 4 hours trajectory, obtaining satisfactory results.