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close all;
figure;
set(gcf,'color','w');
subplot(3,1,1),plot(atti(:,1)),grid on;title('roll');
ylabel('deg');
subplot(3,1,2),plot(atti(:,2)),grid on;title('yaw');
ylabel('deg');
subplot(3,1,3),plot(atti(:,3)),grid on;title('pitch');
ylabel('deg');
xlabel('time: 0.01s');
figure;
set(gcf,'color','w');
subplot(3,1,1),plot(Gyro_bias(:,1)),grid on;title('Gx-Bias');
ylabel('deg/h');
subplot(3,1,2),plot(Gyro_bias(:,2)),grid on;title('Gy-Bias');
ylabel('deg/h');
subplot(3,1,3),plot(Gyro_bias(:,3)),grid on;title('Gz-Bias');
ylabel('deg/h');
xlabel('time: 0.01s');
figure;
set(gcf,'color','w');
subplot(2,1,1),plot(Acc_bias(:,1)),grid on;title('Ax-Bias');
ylabel('ug');
subplot(2,1,2),plot(Acc_bias(:,2)),grid on;title('Az-Bias');
ylabel('ug');
xlabel('time: 0.01s');