Inertial Navigation System
Data Specifications: 1. The inertial navigation system is a north-oriented strapdown system with initial longitude 116.344695283°, latitude 39.975172°, and altitude h=30m. Initial velocity v0=[0.000048637 0.000206947 0.007106781] remains constant during flight. 2. The jlfw dataset contains 600 seconds of data with gyroscope and accelerometer sampling periods both set to 1/80 second. 3. Initial attitude angles are [0.120992605 0.010445947 91.637207] (pitch, roll, heading in degrees). The jlfw file stores specific force f_INSc (m/s²) and gyroscope angular rate wib_INSc (rad/s) with rows 1-3 representing east, north, and upward components respectively.