From R2023b, you can use the Simulink block of 'IMU Filter'. More information on the 'IMU Filter' can be found by referencing the link below:
Before R2023b, the recommended workflow for using 'imufilter' in Simulink is to include it in a 'MATLAB Function' block. The inputs to the 'imufilter' object can be passed in as inputs to the 'MATLAB Function' block. It will be necessary to call 'compact' on the quaternion object produced by the filter before passing it to the output of the function block.
More information on implementing MATLAB functions in the 'MATLAB Function' block can be found by referencing this link:
