yaw_noise = zeros(Mi,1); roll_noise(1) = imu.ini_align(1); pitch_noise(1) = imu.ini_align(1); yaw_noise(1) = imu.ini_align(1); % Initialize biases variables gb_drift = imu.gb_drift'; ab_drift = imu.ab_drift'; gb_fix = imu.gb_fix'; ab_fix = imu.ab_fix'; 3 参...