体系相对导航系的角速度在体系上的分量 参照捷联惯性_里程仪_伪卫星车载组合导航系统研究 locity(i,:)) ) - gn 车体相对惯性系加速度在地理坐标系上的分量，标称值 参照捷联惯性_里程仪_伪卫星车载组合导航系统研究36 --两个论文-System angular velocity relative navigation system' s components in the system, inertial reference _ OD _ Pseudo Satelli

The open source project DSP_INS is an inertial navigation system on the TI DSP platform TMS320F28335 with MEMS inertial sensors and commercial GPS module. Inertial sensors are actually used only for estimating attitude, heading and velocity.