A GNSS-IMU benchmark Dataset for tightly coupled GNSS/INS integration

Project Authors: Haitao Jiang

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The EKF_GI_IM dataset is available at Download link. This dataset has following features:

The raw GNSS data were acquired using a u-blox F9P board operating at a sampling rate of 10 Hz, while the raw IMU data was obtained through the MYNTEYE-s1030 module. The reference trajectory was computed using the post-processing kinematic mode of NovAtel Inertial Explorer software, utilizing the tactical-grade GNSS/INS POS320 system.

Figure 1. The trajectory of EKF_GI_IM_Dataset on the map.

The parameters are given in Link

The ground truth of the datasets is given in Link

Thank Key Laboratory of Satellite Navigation and Mobile Communication Fusion Technology, Ministry of Industry and Information Technology, Beihang University for support!