Abstract: Aiming at the situation that the direct use of extended Kalman filter may lead to the loss of accuracy and the possibility of universal joint deadlock, this paper uses the method of extended Kalman filter based on error state with good linear characteristics to solve the integrated navigation of global navigation satellite system (GNSS) / inertial navigation system (INS), and compares the solution results with the high-precision solution software. In order to verify the effectiveness of the method, this paper has produced and published three sets of integrated navigation data sets, which are vehicle-borne, airborne and ship-borne. The inertial navigation equipment of the data set is Honeywell’s HG4930, and the sampling frequency of GNSS data is 5 Hz on board, 1 Hz on board and 10 Hz on board. In this paper, the method based on the error state extended Kalman filter is tested on the public data set, and the results are compared and analyzed with the results obtained by the high-precision solution software. Three sets of integrated navigation data sets have been uploaded to the journal system.