, n*3);
            S(gdx,1:9)  = reshape(kf.S, 1, 3^2);
        end
    end
end

%% Summary from INS/vor_dme integration

nav_e.t     = imu.t(1:i, :);    % INS time vector
nav_e.tg    = vor_dme.t;           % vor_dme time vector, which is the time vector when the Kalman filter was executed
nav_e.roll  = roll_e(1:i, :);   % Roll
nav_e.pitch = pitch_e(1:i, :);  % Pitch
nav_e.yaw   = yaw_e(1:i, :);    % Yaw
nav_e.vel   = vel_e(1:i, :);    % NED velocities
nav_e.lat   = lat_e(1:i, :);    % Latitude
nav_e.lon  