$2\mathrm{.}2$ Given noisy initial position and orientation, accelerations, and angular velocities, investigate how to derive and achieve the real $3$D velocities, positions, and orientations, including but not limited to the follow aspects. $(50\backslash \%)2\mathrm{.}2\mathrm{.}1$ Using at $3$ different integration methods to estimate the real velocities, position, and orientation. $(20\backslash \%)2\mathrm{.}2\mathrm{.}2$ How the noise affects the estimation? $(10\backslash \%)2\mathrm{.}2\mathrm{.}3$ How the sampling rate affects the estimation? $(10\backslash \%)2\mathrm{.}2\mathrm{.}4$ How the integration methods affect the estimation? $(10\backslash \%)$