ic biases or bias instabilities (m/s^2).</span>
<span class="comment">%   gb_corr: 1x3 gyros correlation times (seconds).</span>
<span class="comment">%   ab_corr: 1x3 accrs correlation times (seconds).</span>
<span class="comment">%    gb_psd: 1x3 gyros dynamic biases root-PSD (rad/s/root-Hz).</span>
<span class="comment">%    ab_psd: 1x3 accrs dynamic biases root-PSD (m/s^2/root-Hz);</span>
<span class="comment">%      freq: 1x1 sampling frequency (Hz).</span>
<span class="comment">% ini_align: 1x3 initia