 3);

<span class="comment">% Preallocation of gravity vector</span>
gn_e   = zeros (LI, 3);

<span class="comment">% Preallocation of position vectors</span>
lat_e    = zeros (LI, 1);
lon_e    = zeros (LI, 1);
h_e      = zeros (LI, 1);

<span class="comment">% Preallocation of Kalman filter matrices for later performance analysis</span>
xi = zeros(LG, n);      <span class="comment">% Evolution of Kalman filter a priori states</span>
xp = zeros(LG, n);      <span class="comment">% Evolution of Kalman filter