File list (Check if you may need any files):
INS alignment
.............\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
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