Adaptive Unscented Kalman Filtering based on Correlated Inference with Application in GNSS/IMU integrated Navigation

the attached file contains the raw data of simulation test adn field test. In simulation file, the data file 'simulation_data.mat' contains the simulated imu and GPS point, as well as the time information.In field data file, the GPS postion, velocity and GPS time are stored in seperated files, which are 'pos_gps.data', 'v_gps.data', and 'time.data'; the IMU data is stored in file 'project1.imu'. The data can be used for looselt coupled integration as the raw measurements of GPS is not stored<br>

附件包含仿真测试与现场测试的原始数据。仿真数据文件中，'simulation_data.mat'文件存储了仿真生成的惯性测量单元（IMU）数据、GPS点位信息及时间戳信息。现场测试数据中，GPS位置、速度与GPS时间分别存储于独立文件'pos_gps.data'、'v_gps.data'与'time.data'内；惯性测量单元（IMU）数据则存储于'project1.imu'文件中。由于该数据集未包含GPS原始观测值，因此可用于松耦合组合导航（Loosely Coupled Integration）算法的验证与开发。