请你帮我编一段能生成车载惯导和里程计的原始数据的MATLAB程序，要求数据真实可靠

下面是一个简单的MATLAB程序，用于生成车载惯导和里程计的原始数据：

%% 配置参数
N = 1000;                    % 时间步数
fs = 100;                    % 采样率 (Hz)
ts = 1/fs;                   % 采样时间间隔 (s)
alpha = 0.5;                 % 姿态变化的标准差 (rad)
beta = 0.001;                % 速度随机漂移的标准差 (m/s^2)
gamma = 0.01;                % 位置随机漂移的标准差 (m)
g = 9.81;                    % 重力加速度 (m/s^2)

%% 初始化
t = (0:N-1) * ts;            % 时间轴 (s)
theta = zeros(N, 3);         % 姿态角 (rad)
omega = zeros(N, 3);         % 角速度 (rad/s)
v = zeros(N, 3);             % 速度 (m/s)
p = zeros(N, 3);             % 位置 (m)
x = zeros(N, 1);             % 里程 (m)
y = zeros(N, 1);             % GPS数据 (m)

%% 生成数据
for n = 1:N
    % 姿态角变化
    dtheta = randn(3, 1) .* alpha;
    theta(n,:) = theta(n-1,:) + dtheta';
    
    % 角速度计算
    omega(n,:) = [1, sin(theta(n,1))*tan(theta(n,2)), cos(theta(n,1))*tan(theta(n,2)); ...
                  0, cos(theta(n,1)),              -sin(theta(n,1));              ...
                  0, sin(theta(n,1))/cos(theta(n,2)), cos(theta(n,1))/cos(theta(n,2))] * [randn(1)*alpha/10; randn(1)*alpha/10; randn(1)*alpha/10];
    
    % 速度随机漂移
    dv = randn(3, 1) .* beta;
    v(n,:) = v(n-1,:) + dv' * ts;
    
    % 位置随机漂移
    dp = randn(3, 1) .* gamma;
    p(n,:) = p(n-1,:) + v(n,:)*ts + 0.5*(dp'+dp)*ts;
    
    % 里程计算
    x(n) = x(n-1) + norm(v(n,:)) * ts;
    
    % GPS数据生成
    y(n) = norm(p(n,:)) + randn(1)*0.1;
end

%% 结果展示
figure
subplot(2,2,1)
plot(t, theta(:,1)*180/pi); xlabel('Time (s)'); ylabel('Yaw (deg)'); title('Yaw');
subplot(2,2,2)
plot(t, theta(:,2)*180/pi); xlabel('Time (s)'); ylabel('Pitch (deg)'); title('Pitch');
subplot(2,2,3)
plot(t, theta(:,3)*180/pi); xlabel('Time (s)'); ylabel('Roll (deg)'); title('Roll');

figure
subplot(2,2,1)
plot(t, omega(:,1)); xlabel('Time (s)'); ylabel('Yaw Rate (rad/s)'); title('Yaw Rate');
subplot(2,2,2)
plot(t, omega(:,2)); xlabel('Time (s)'); ylabel('Pitch Rate (rad/s)'); title('Pitch Rate');
subplot(2,2,3)
plot(t, omega(:,3)); xlabel('Time (s)'); ylabel('Roll Rate (rad/s)'); title('Roll Rate');

figure
subplot(2,2,1)
plot(t, v(:,1)); xlabel('Time (s)'); ylabel('North Velocity (m/s)'); title('North Velocity');
subplot(2,2,2)
plot(t, v(:,2)); xlabel('Time (s)'); ylabel('East Velocity (m/s)'); title('East Velocity');
subplot(2,2,3)
plot(t, v(:,3)); xlabel('Time (s)'); ylabel('Down Velocity (m/s)'); title('Down Velocity');

figure
subplot(2,2,1)
plot(t, p(:,1)); xlabel('Time (s)'); ylabel('North Position (m)'); title('North Position');
subplot(2,2,2)
plot(t, p(:,2)); xlabel('Time (s)'); ylabel('East Position (m)'); title('East Position');
subplot(2,2,3)
plot(t, p(:,3)); xlabel('Time (s)'); ylabel('Down Position (m)'); title('Down Position');

figure
plot(x, 'LineWidth', 2); xlabel('Time (s)'); ylabel('Distance (m)'); title('Mileage');

figure
plot(t, y, 'LineWidth', 2); xlabel('Time (s)'); ylabel('Distance (m)'); title('GPS Data');

该程序生成的数据包含车辆的姿态角、角速度、速度、位置、里程计和GPS数据。其中，姿态角和角速度是从理论值经过高斯噪声处理后生成的；速度和位置包含了随机漂移和高斯噪声；里程计是通过积分计算速度得到的；GPS数据包含随机误差。