"comment">% Initial attitude</span>
roll_e(1)  = imu.ini_align(1);
pitch_e(1) = imu.ini_align(2);
yaw_e(1)   = imu.ini_align(3);
DCMnb = euler2dcm([roll_e(1); pitch_e(1); yaw_e(1);]);
DCMbn = DCMnb';
qua   = euler2qua([roll_e(1) pitch_e(1) yaw_e(1)]);

<span class="comment">% Initial velocity</span>
vel_e(1,:) = vor_dme.vel(1,:);

<span class="comment">% Initial position</span>
lat_e(1) = vor_dme.lat(1);
lon_e(1) = vor_dme.lon(1);
h_e(1)   = vor_dme.h(1);

<span class="comment">% Initial dynamic biases</spa