Realistic GPS and IMU data

Recordings of both gps and imu during a Seafar vessel navigation.

The following values come from the gnss unit:

        "heading_degrees": 154.453,

        "rot_degrees_min": 19.9,

        "lat_degrees": 51.212967072,

        "lon_degrees": 2.995510899,

        "sog_kph": 3.37,

All the other values come from the IMU eg. 

      "roll_degrees": 2.78,

        "pitch_degrees": 0.57,

        "yaw_degrees": 158.5,

        "roll_rate_rad_min": 0.0,

        "pitch_rate_rad_min": 0.0,

        "yaw_rate_rad_min": 0.51,

        "accel_x_ms2": -0.00137,

        "accel_y_ms2": 0.00784,

        "accel_z_ms2": -0.00171,

        "yaw_rate_degrees_min": 29.2208475517

All acceleration values are gravity-compensated.