  <span class="comment">% DCM correction</span>
        DCMbn = qua2dcm(qua);

        <span class="comment">% Attitude correction, method 1</span>
        <span class="comment">%         euler = qua2euler(qua);</span>
        <span class="comment">%         roll_e(i) = euler(1);</span>
        <span class="comment">%         pitch_e(i)= euler(2);</span>
        <span class="comment">%         yaw_e(i)  = euler(3);</span>

        <span class="comment">% Attitude correction, method 2</span>
        roll_e(i