acc_gyro.m circle_lgkt1.m circle_lgkt2.m circle_lgkt4.m error_correct.m error_function.m error_function2.m error_plot.m ImuAliment2.m Imusolve.m Imusolve2.m jing_alignmet2.m Storecircle_ture.m Storedata_circle.txt Storedata_line.txt test_error.m trajectory.m