Abstract: Based on FlightGear and Matlab simulation software, a half-in-the-loop simulation experiment teaching platform for airborne inertial navigation system was designed and built. The experimental teaching platform can control the flight simulation software of FlightGear flight simulation software by controlling the flight control equipment, and generate the simulation data of the accelerometer and gyroscope sensor of the inertial navigation system in real time according to the generated flight trajectory, and simulate the inertial navigation equipment of different accuracy levels by setting different error parameters, and carry out the research of inertial navigation and inertial/satellite integrated navigation algorithms based on the simulation data. The experimental teaching platform can enhance students’ practical ability and knowledge application ability, help students deepen their in-depth understanding of the working principle and error characteristics of airborne inertial navigation system, the working principle and positioning performance of inertial/satellite integrated navigation, and can also carry out innovative experimental research on inertial-based navigation algorithms based on the experimental platform to cultivate innovation consciousness.