Softwares:

Wireless DAQ:

For data analysis and post processing, open source software, GNU Octave:
http://octave.sourceforge.net/

Standalone GPS, INS:

Open source software from
http://opengc.sourceforge.net/

For GPS data monitoring, logging, download "GPS COCKPIT" from:
http://www.vincotech.com/Useful_Software.0.html
http://www.vincotech.com/en/products/gps/documents.php?id=4