i-idz:i , :));</span>

            zupt_flag = true;

            <span class="comment">% fprintf(' z\n')       % DEBUG</span>
        <span class="keyword">end</span>
    <span class="keyword">end</span>
</pre>
<h2 id="11">KALMAN FILTER UPDATE</h2>
<pre class="codeinput">    <span class="comment">% Check if there is a new vor_dme measurement to process at current INS time</span>
    gdx =  find (vor_dme.t &gt;= (imu.t(i) - vor_dme.eps) &amp; vor_dme.t &lt; (imu.t(i) + vor_dme.eps));

    <span class="keywo