  zv = (vel_e(i,:) - vor_dme.vel(gdx,:) - ((omega_ie_n + omega_en_n) * (DCMbn * vor_dme.larm ))' ...
            + (DCMbn * skewm(wb_corrected) * vor_dme.larm )' )';

        %% KALMAN FILTER

        % vor_dme sampling interval
        dtg = vor_dme.t(gdx) - vor_dme.t(gdx-1);

        % Vector to update matrix F
        upd = [vel_e(i,:) lat_e(i) h_e(i) fn' wn'];

        % Matrices F and G update
        [kf.F, kf.G] = F_update(upd, DCMbn, imu);

        % Matrix H update
        if(zupt_flag == false)
  