%      roll: Ix1 roll (radians).</span>
<span class="comment">%     pitch: Ix1 pitch (radians).</span>
<span class="comment">%       yaw: Ix1 yaw (radians).</span>
<span class="comment">%       vel: Ix3 NED velocities (m/s).</span>
<span class="comment">%       lat: Ix1 latitude (radians).</span>
<span class="comment">%       lon: Ix1 longitude (radians).</span>
<span class="comment">%         h: Ix1 altitude (m).</span>
<span class="comment">%        xi: Gxn Kalman filter a priori states.</span>
<span clas