Experimental Dataset for Low-Cost Geomagnetic-Aided Inertial Navigation: 85 km Surface Vessel Trial with MEMS IMU, Fluxgate Magnetometer, and Odometry

This dataset contains time-synchronized measurements from a low-cost MEMS inertial measurement unit (IMU), a three-axis fluxgate magnetometer, and forward odometry, collected during an 85 km sea trial to validate a hybrid nonlinear observer and particle filter geomagnetic navigation system. The data includes accelerometer, gyroscope, and magnetometer readings, along with GPS ground truth for validation. The dataset supports reproducibility of the results presented in the paper "Drift-Bounded Geomagnetic Navigation Using Low-Cost Inertial Sensors and a Fluxgate Magnetometer."