It's not clear exactly what you're looking to test. IMU and equations is kind of broad. :) I personally think a real dataset would be the best (perhaps final) test.
Though working in 2d with a ground vehicle there are some unique issues that aren't really covered and/or which I wanted to investigate myself. I started with a simple simulation of various sensors and then added noise and errors (e.g., simple gyro drift). Later I collected real data from sensors and used that to prototype algorithms and whatnot.
the real data you took from your sensor is what i want! i dont have any hardware with me as of now, so i want hardware data that i could use to test my software routines!
Hope that clears the doubt!!!