Abstract: Based on FlightGear and MATLAB simulation software, a hardware-in-the-loop simulation experiment teaching platform for airborne inertial navigation systems is designed and constructed. The experimental teaching platform can control the FlightGear flight simulation software by operating flight control equipment to simulate flight, and generate real-time simulation data from accelerometer and gyroscope sensors of the inertial navigation system according to the generated flight trajectory. It can simulate inertial navigation devices with different accuracy levels by setting different error parameters, and carry out the research on 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 understanding of the working principles and error characteristics of airborne inertial navigation systems, as well as the working principles and positioning performance of inertial/satellite integrated navigation. It can also carry out innovative experimental research on inertial-based navigation algorithms based on the platform to cultivate students’ innovation awareness.