my_test.csv

[lizhaoyang12344567]

ini lat (deg),ini lon (deg),ini alt (m),ini vx_body (m/s),ini vy_body (m/s),ini vz_body (m/s),ini yaw (deg),ini pitch (deg),ini roll (deg)
32,120,0,2,0,0,0,0,0
command type,yaw (deg),pitch (deg),roll (deg),vx_body (m/s),vy_body (m/s),vz_body (m/s),command duration (s),GPS visibility
1,0,5,0,0,0,0,10,1
1,0,0,0,0,0,0,10,1
1,0,-5,0,0,0,0,10,1
1,0,0,0,0,0,0,10,1
1,0,5,0,0,0,0,10,1
1,0,0,0,0,0,0,10,1
1,0,-5,0,0,0,0,10,1
1,0,0,0,0,0,0,10,1
1,0,0,0,0,0,0,10,1

[zm0612]

看上去似乎没有什么异常，你发过来的仿真数据，gps在z方向误差比较大，第一帧数据z方向就差了10多米，通过eskf的修正迭代，慢慢的就收敛了。