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

Design of an Inertial Navigation Unit Using MEMS sensors (Eskin, Master Thesis, 2006)

惯性导航技术的新进展及发展趋势，惯性导航系统 惯性测量单元 惯性传感器-Inertial navigation technology, progress and development trend of the new inertial navigation system inertial measurement unit inertial sensors

The open source project DSP_INS is an inertial navigation system on the TI DSP platform TMS320F28335 with MEMS inertial sensors and commercial GPS module. Inertial sensors are actually used only for estimating attitude, heading and velocity.