Xiaomi8_data_Tianjin

The data was acquired on July 4, 2022 (DOY 185 02:45-03:20 GPST) for about 35 minutes at the sea lake nearby the Taku Forts in Tianjin, including 30 minutes of driving on the lake (in the dynamic environment) and 5 minutes of docking on the shore (in the quasi-static environment). The experiment devices include a Xiaomi MI8 smartphone, an INS-D integrated navigation system and a Trimble GNSS antenna.本数据集采集于2022年7月4日，采集时段为GPS时间（GPST）第185日（DOY 185）的02:45至03:20，总时长约35分钟，采集地点位于天津市大沽口附近的海湖。数据集包含两类场景数据：30分钟的湖面动态行驶场景数据，以及5分钟的岸边准静态停泊场景数据。本次实验采用的设备包括小米MI8智能手机、INS-D组合导航系统以及天宝（Trimble）GNSS天线。