i)), -1]);

        <span class="comment">% Position innovations in meters with lever arm correction</span>
        zp = Tpr * ([lat_e(i); lon_e(i); h_e(i);] - [vor_dme.lat(gdx); vor_dme.lon(gdx); vor_dme.h(gdx);]) <span class="keyword">...</span>
            + (DCMbn * vor_dme.larm);

        <span class="comment">% Velocity innovations with lever arm correction</span>
        zv = (vel_e(i,:) - vor_dme.vel(gdx,:) - ((omega_ie_n + omega_en_n) * (DCMbn * vor_dme.larm ))' <span class="keyword">...</span>
   