In-Motion Initial Alignment Method Based on Vector Observation and Truncated Vectorized K-matrix for SINS

These data is used to test the performance of the proposed in-motion inital alignment method. These data includes the raw data of inertial measurement units, the raw data of GPS and the reference attitude angles.All these data is simulated.The frequency of inertial measurement units and GPS are 100Hz and 1Hz, respectively.The data are explained below:imu=[gryo;acc;time]       Unit is rad; m/s; sGPS=[lat;lon;height;ve;vn;vu]; Unit is rad; rad; m; m/s; m/s; m/sRef_angle=[pitch;roll;yaw];      Unit is rad; rad; rad