说明：  一、数据说明： 1：惯导系统为指北方位的捷连系统。初始经度为116.344695283度、纬度为39.975172度,高度h为30米。 初速度为v0=[0.000048637 0.000206947 0.007106781]，飞行高度不变。 2：jlfw中为600秒的数据，陀螺仪和加速度计采样周期分别为为1/80秒和1/80秒。 3：初始姿态角为[0.120992605 0.010445947 91.637207]（俯仰，横滚，航向,单位为度）, jlfw中保存的为比力信息f_INSc(单位m/s^2)、陀螺仪角速率信息wib_INSc(单位rad/s)，排列顺序为 一~三行分别为东、北、天向信息. 4: 航向角以逆时针为正。 5:地球椭球长半径re=6378245 地球自转角速度wie=7.292115147e-5 重力加速度g=g0*(1+gk1*c33^2)*(1-2*h/re)/sqrt(1-gk2*c33^2)； g0=9.7803267714 gk1=0.00193185138639 gk2=0.00669437999013 c33=sin(lat纬度)
(First, data on: 1: inertial navigation system that links the north bit of the Czech system. Initial longitude 116.344695283 degrees latitude 39.975172, height h is 30 meters. Initial speed of v0 = [0.000048637 0.000206947 0.007106781], the same altitude. 2: jlfw for 600 seconds of data, gyroscopes and accelerometers were sampling period of 1/80 sec and 1/80 seconds. 3: Initial attitude angle [0.120992605 0.010445947 91.637207] (pitch, roll, heading, in units of degrees), jlfw than the power saved information f_INSc (unit m/s ^ 2), angular rate gyro information wib_INSc (units of rad/s), in the order of 1 ~ three lines were east, north, days to the information. 4: The heading angle is positive counterclockwise. 5: Earth ellipsoid long radius re = 6378245 Earth s rotation angular velocity wie = 7.292115147e-5 acceleration due to gravity g = g0* (1+ gk1* c33 ^ 2)* (1-2* h/re)/sqrt (1-gk2* c33 ^ 2) g0 = 9.7803267714 gk1 = 0.00193185138639 gk2 = 0.00669437999013)