Shipborne Heave Measurement Dataset for Multi Antenna GNSS and IMU Fusion

This dataset contains shipborne multi-antenna GNSS, IMU, and POS MV TrueHeave reference data used for evaluating robust heave measurement under calm-water, artificial-wake disturbance, and open-sea swell conditions. The dataset supports the manuscript titled "Robust Shipborne Heave Measurement Using a Multi-Antenna GNSS Array and an IMU-Aided Spatiotemporally Weighted Factor Graph". The released data include four-antenna rover GNSS RINEX observation and navigation files, base-station GNSS files, time-synchronized IMU measurements, POS MV TrueHeave reference outputs, IMU metadata, time-system notes, and lever-arm configuration information. Scenarios 1 and 2 share the same continuous GNSS and IMU data. The calm-water and artificial-wake intervals are distinguished by their corresponding POS MV TrueHeave reference files. Scenario 3 corresponds to the open-sea swell experiment. GNSS and IMU timestamps are given in GPST, whereas the POS MV TrueHeave timestamps are provided in UTC/UTCT. Users should convert the time systems consistently before reproducing heave-error comparisons.本数据集包含船载多天线全球导航卫星系统（GNSS）、惯性测量单元（IMU）及POS MV TrueHeave参考数据，用于评估静水环境、人工尾流扰动及公海涌浪条件下的鲁棒升沉测量性能。 本数据集为题为《基于多天线GNSS阵列与IMU辅助时空加权因子图的鲁棒船载升沉测量》的学术手稿提供数据支持。本次发布的数据包含四天线流动站GNSS的接收机独立交换格式（RINEX）观测与导航文件、基准站GNSS数据文件、时间同步的IMU测量数据、POS MV TrueHeave参考输出结果、IMU元数据、时间系统说明文档以及杆臂配置信息。 场景1与场景2采用同一套连续GNSS与IMU数据，静水环境与人工尾流扰动时段可通过各自对应的POS MV TrueHeave参考文件加以区分；场景3对应公海涌浪试验。 GNSS与IMU的时间戳采用全球定位系统时间（GPST）格式，而POS MV TrueHeave的时间戳采用协调世界时（UTC/UTCT）格式。用户在复现升沉误差对比实验前，需统一转换各数据的时间系统。