mment">% Biases estimation</span>
        gb_dyn   = -kf.xp(10:12);
        ab_dyn   = -kf.xp(13:15);

        <span class="comment">% Matrices for later Kalman filter performance analysis</span>
        xi(gdx,:) = kf.xi';
        xp(gdx,:) = kf.xp';
        b(gdx,:) = [gb_dyn', ab_dyn'];
        A(gdx,:)  = reshape(kf.A,  1, n^2);
        Pi(gdx,:) = reshape(kf.Pi, 1, n^2);
        Pp(gdx,:) = reshape(kf.Pp, 1, n^2);

        <span class="keyword">if</span>(zupt_flag == false)
            v(gdx,:)  = kf.v