This dataset contains inertial measurements data (accelerometer, gyroscope and magnetometer), recorded as a part of DoorINet research. Our dataset was recorded using two types of IMUs: Memsense MS-IMU3025 [32] and Movella Xsens DOT [33]. The Memsense MS-IMU3025 was used to generate the ground-truth (GT) readings. This IMU has a gyroscope bias instability of 0.8°/h over the axis of interest Z and was recorded at 250Hz. The Movella Xsens DOT IMUs were used as units under test. It has a gyroscope bias instability of 10°/h over the axis of interest Z and was recorded at 120Hz.