一、数据说明：

1：惯导系统为指北方位的捷连系统。初始经度为116.344695283度、纬度为39.975172度,高度h为30米。

初速度为v0=[0.000048637 0.000206947 0.007106781]，飞行高度不变。

2：jlfw中为600秒的数据，陀螺仪和加速度计采样周期分别为为1/80秒和1/80秒。

3：初始姿态角为[0.120992605 0.010445947 91.637207]（俯仰，横滚，航向,单位为度）,

jlfw中保存的为比力信息f_INSc(单位m/s^2)、陀螺仪角速率信息wib_INSc(单位rad/s)，排列顺序为 一~三行分别为东、北、天向信息.

4: 航向角以逆时针为正。

5:地球椭球长半径re=6378245 地球自转角速度wie=7.292115147e-5 重力加速度g=g0*(1+gk1*c33^2)*(1-2*h/re)/sqrt(1-gk2*c33^2)；

g0=9.7803267714 gk1=0.00193185138639 gk2=0.00669437999013 c33=sin(lat纬度) -First, data on:

1: inertial navigation system that links the north bit of the Czech system. Initial longitude 116.344695283 degrees latitude 39.975172, height h is 30 meters.

　Initial speed of v0 = [0.000048637　0.000206947　0.007106781], the same altitude.

2: jlfw for 600 seconds of data, gyroscopes and accelerometers were sampling period of 1/80 sec and 1/80 seconds.

3: Initial attitude angle [0.120992605 0.010445947 91.637207] (pitch, roll, heading, in units of degrees),

　jlfw than the power saved information f_INSc (unit m/s ^ 2), angular rate gyro information wib_INSc (units of rad/s), in the order of 1 ~ three lines were east, north, days to the information.

4: The heading angle is positive counterclockwise.

5: Earth ellipsoid long radius re = 6378245　Earth s rotation angular velocity wie = 7.292115147e-5　acceleration due to gravity g = g0* (1+ gk1* c33 ^ 2)* (1-2* h/re)/sqrt (1-gk2* c33 ^ 2)　

　g0 = 9.7803267714　gk1 = 0.00193185138639　gk2 = 0.00669437999013