n class="comment">% INPUT</span>
<span class="comment">%   imu, IMU data structure.</span>
<span class="comment">%         t: Ix1 time vector (seconds).</span>
<span class="comment">%        fb: Ix3 accelerations vector in body frame XYZ (m/s^2).</span>
<span class="comment">%        wb: Ix3 turn rates vector in body frame XYZ (radians/s).</span>
<span class="comment">%       arw: 1x3 angle random walks (rad/s/root-Hz).</span>
<span class="comment">%       vrw: 1x3 velocity random walks (m/s^2/root-Hz).</sp