     zupt_flag = true;

            % fprintf(' z\n')       % DEBUG
        end
    end

    %% KALMAN FILTER UPDATE

    % Check if there is a new vor_dme measurement to process at current INS time
    gdx =  find (vor_dme.t >= (imu.t(i) - vor_dme.eps) & vor_dme.t < (imu.t(i) + vor_dme.eps));

    if ( ~isempty(gdx) && gdx(1) > 1)

        gdx = gdx(1);
        %  gdx       % DEBUG

        %% MEASUREMENTS
        % 

        %    For Debug:
        % 
        % % VOR hatası hesaplaması
        % vor_err