pdate</span>
        <span class="keyword">if</span>(zupt_flag == false)
            kf.H = [ O I O O O ;
                O O Tpr O O ; ];
            kf.R = diag([vor_dme.stdv vor_dme.stdm]).^2;
            kf.z = [ zv' zp' ]';
        <span class="keyword">else</span>
            kf.H = [ O I O O O ; ];
            kf.R = diag([vor_dme.stdv]).^2;
            kf.z = zv;
        <span class="keyword">end</span>

        <span class="comment">% a posteriori states are forced to be zero (error-state approach)