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3个数据类型，哪些是融合后的，哪些是融合前的，哪些是参考数据？

I am new to this research area. I am curious about the IMU data is represented with angle increment and velocity increment. And the frequency is 200Hz. How to obtain the exact acceleration values and gyro values? Should I obtain them by "increment value *200"?

in readme written that imu in NED coordinate frame (z axis towards down) but in imu data file sign of z axis acceleration is negative (while expected positive )

您好，这种算法同样适用于两轮车吗，例如电动自行车这种，是否需要进行一些改进

请问能提供该数据集的GNSS的原始观测文件吗？

请问GNSS数据中的位置标准差数据是如何获取的，我的RTK设备好像不会输出这个数据

作者您好，感谢i2Nav课题组的数据和课程开源！
目前该数据集的GNSS是RTK解文件吧，请问有没有GNSS的原始观测数据（而非解文件）呢，是否方便获取：-)

即IMU X轴 Y轴 Z轴分别指向车体哪个方向？

it is indicated that dvel and dtheta are in 200 Hz, but it is not declared the raw IMU sampling rate and procedure of integration of raw imu data to achieve 200hz. please desribe integration process. if IMU is sampled at 1000Hz , please declare how timestamp of dvel or dtheta is spotted (ie, timestamp is at t5 or t2.5? or start of first IMU sample)

I found the IMU file and GNSS file in this repo. But the groundtruth described in README is missing. Could you tell
me how to obtain the groundtruth text file?