You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: noise_b_dyn.m
    path of file: ./repos/NaveGo/simulation
    
    the code of the file until where you have to start completion: function [b_dyn_n] = noise_b_dyn (b_corr, b_dyn, dt, M)
% noise_dbias: generates a dynamic bias perturbation.
%
% INPUT
%	b_corr: 1x3 correlation times.
%   b_dyn: 1x3 level of dynamic biases.
%   dt: 1x1 sampling time.
%	M: 1x2 dimensions of output vector.
%
% OUTPUT
%	b_dyb_n: M matrix with simulated dynamic biases [X Y Z].
%
%   Copyright (C) 2014, Rodrigo Gonz√°lez, all rights reserved.
%
%   This file is part of NaveGo, an open-source MATLAB toolbox for
%   simulation of integrated navigation systems.
%
%   NaveGo is free software: you can redistribute it and/or modify
%   it under the terms of the GNU Lesser General Public License (LGPL)
%   version 3 as published by the Free Software Foundation.
%
%   This program is distributed in the hope that it will be useful,
%   but WITHOUT ANY WARRANTY; without even the implied warranty of
%   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    
function [b_dyn_n] = noise_b_dyn (b_corr, b_dyn, dt, M)
% noise_dbias: generates a dynamic bias perturbation.
%
% INPUT
%	b_corr: 1x3 correlation times.
%   b_dyn: 1x3 level of dynamic biases.
%   dt: 1x1 sampling time.
%	M: 1x2 dimensions of output vector.
%
% OUTPUT
%	b_dyb_n: M matrix with simulated dynamic biases [X Y Z].
%
%   Copyright (C) 2014, Rodrigo Gonz√°lez, all rights reserved.
%
%   This file is part of NaveGo, an open-source MATLAB toolbox for
%   simulation of integrated navigation systems.
%
%   NaveGo is free software: you can redistribute it and/or modify
%   it under the terms of the GNU Lesser General Public License (LGPL)
%   version 3 as published by the Free Software Foundation.
%
%   This program is distributed in the hope that it will be useful,
%   but WITHOUT ANY WARRANTY; without even the implied warranty of
%   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%   GNU Lesser General Public License for more details.
%
%   You should have received a copy of the GNU Lesser General Public
%   License along with this program. If not, see
%   <http://www.gnu.org/licenses/>.
%
% References:
%
%   Aggarwal, P. et al. MEMS-Based Integrated Navigation. Artech
% House. 2010. 
%
%    Sameh Nassar, Klaus-Peter Schwarz, and Aboelmagd Noureldin. "Modeling 
% inertial sensor errors using autoregressive (AR) models." NAVIGATION, 
% Journal of the Institute of Navigation 51.4 (2004): 259-268.
%
% Version: 005
% Date:    2021/08/27
% Author:  Rodrigo Gonzalez <rodralez@frm.utn.edu.ar>
% URL:     https://github.com/rodralez/navego

% If correlation time is provided...
if (~isinf(b_corr))
    
    % First-order Gauss-Markov process
    b_dyn_n = zeros(M);
    N = M(1);           % Number of rows
    
    b_dyn_n(1, :) = b_dyn;
    
    for i=1:3
        
        % Method from Nassar, Eq. 2.
        % b_k+1 = (1 - beta*dt) * b_k + sqrt ( 2 * beta * sigma^2) * dt * w_k
        
%         beta  = dt / ( b_corr(i) );
%         sigma = b_dyn(i);
%         b_wn = randn(N,1);
%         a1 = sqrt (2* beta * sigma^2);
%         
%         for j=2:N
%             b_dyn_n(j, i) = (1 - beta) * b_dyn_n(j-1, i) +  a1 * dt * b_wn(j-1);
%         end