Can we get INS stand-alone results when GPS signal is not lost?

I programmed a simple neural network algorithm in python, i need the INS stand-alone navigation results based on free_integration and the GPS/INS integrated results based on EKF algorithm at the same time to test the performance of the neural network.
How can i get data file includes these two results at same time?
Thanks in advance.

Hi zhendao,
We have INS application integrated results based on EKF algorithm. However firstly, you have to porting your GPS reveiver driver follow the usermanual, and then add the free_integration algo in the RunUserNavAlgorithm API, thirdly create user message of free_integration algo output through uart interface. there are four uart interface you can choose from, and user port and debug port is recommended.

@Li-YiFan Thanks for your explanation.

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