         + (DCMbn * skewm(wb_corrected) * vor_dme.larm )' )';
</pre>
<h2 id="14">KALMAN FILTER</h2>
<pre class="codeinput">        <span class="comment">% vor_dme sampling interval</span>
        dtg = vor_dme.t(gdx) - vor_dme.t(gdx-1);

        <span class="comment">% Vector to update matrix F</span>
        upd = [vel_e(i,:) lat_e(i) h_e(i) fn' wn'];

        <span class="comment">% Matrices F and G update</span>
        [kf.F, kf.G] = F_update(upd, DCMbn, imu);

        <span class="comment">% Matrix H u