This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of this document is to show how IMU biases can be incorporated into the framework presented in [1], while maintaining the differential Sylvester equation form of the process model.

翻译：本文是对论文《基于被动UWB收发器的多机器人相对位姿估计与IMU预积分》（见参考文献[1]）的补充说明。本文旨在展示如何在保持过程模型微分Sylvester方程形式的前提下，将IMU偏差纳入文献[1]提出的框架中。