          <span class="comment">% Alternative attitude ZUPT correction</span>
            <span class="comment">% roll_e(i)  = (roll_e(i-idz , :));</span>
            <span class="comment">% pitch_e(i) = (pitch_e(i-idz , :));</span>
            <span class="comment">% yaw_e(i)   = (yaw_e(i-idz, :));</span>
            <span class="comment">% lat_e(i) = (lat_e(i-idz:i , :));</span>
            <span class="comment">% lon_e(i) = (lon_e(i-idz:i , :));</span>
            <span class="comment">% h_e(i)   = (h_e(