1:i, :);    <span class="comment">% Yaw</span>
nav_e.vel   = vel_e(1:i, :);    <span class="comment">% NED velocities</span>
nav_e.lat   = lat_e(1:i, :);    <span class="comment">% Latitude</span>
nav_e.lon   = lon_e(1:i, :);    <span class="comment">% Longitude</span>
nav_e.h     = h_e(1:i, :);      <span class="comment">% Altitude</span>
nav_e.gn    = gn_e(1:i, :);     <span class="comment">% Gravity estimation in the nav-frame.</span>

nav_e.xi    = xi;       <span class="comment">% A priori states</span