ervable states after each vor_dme data arriving



if nargin < 3, att_mode  = 'quaternion'; end

%% ZUPT ALGORITHM

zupt_flag = false;

%% PREALLOCATION

% Kalman filter dimensions
n = 15; % number of states
r = 6;  % number of sensors
% q = 12; % number of inputs

% Constant matrices
I = eye(3);
O = zeros(3);

% Length of INS time vector
LI = length(imu.t);

% Length of vor_dme time vector
LG = length(vor_dme.t);

% Preallocation of attitude vectors
roll_e  = zeros (LI, 1);
pitch_e = zeros (LI, 1);
yaw_e  