n>
gb_dyn = imu.gb_dyn';
ab_dyn = imu.ab_dyn';

<span class="comment">% Turn-rates update with both updated velocity and position</span>
omega_ie_n = earth_rate(lat_e(1));
omega_en_n = transport_rate(lat_e(1), vel_e(1,1), vel_e(1,2), h_e(1));

<span class="comment">% Gravity update</span>
gn_e(1,:) = gravity(lat_e(1), h_e(1));
</pre>
<h2 id="6">INITIALIZATION OF KALMAN FILTER MATRICES</h2>
<pre class="codeinput">
<span class="comment">% Prior estimates</span>
kf.xi = [ zeros(1,9), imu.gb_dyn, imu.ab_dyn ]';