车载惯性/卫星组合导航实验，起始时刻车辆停止不动，但车身有一定干扰晃动，10分钟后车辆行驶，采集惯导系统IMU数据、车辆里程计数据、GPS数据等。采用前2分钟数据进行粗对准，后8分钟数据进行精对准，分别得到惯性导航、惯性/GPS组合导航、惯性/里程计组合导航的导航结果。(Vehicle-mounted inertial/satellite integrated navigation experiment: the vehicle stops at the initial moment, but there is some disturbance and shaking of the vehicle body. After 10 minutes, the vehicle moves, and IMU data of the inertial navigation system, vehicle odometer data, GPS data and so on are collected. The first 2 minutes' data were used for rough alignment, and the last 8 minutes' data were used for fine alignment. The navigation results of inertial navigation, inertial /GPS combined navigation, and inertial/odometer combined navigation were obtained respectively.)