IMU and GPS Fusion for Inertial Navigation
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Brian Fanous on 11 Dec 2019
Edited: Brian Fanous on 11 Dec 2019
You can use either the insfilterMARG or the insfilterAsync without the Magnetometer. You will get drift in your orientation estimate because you are relying entirely on the gyroscope in this case. You may also get covariance growth in some of your magnetic field state estimates which you will have to account for in some way.
If you have something with a nonholonomic constraint, then insfilterNonholonomic would be a better choice.