dot on console every 10,000 INS executions
    if (mod(i,10000) == 0), fprintf('. ');  end
    % Print a return on console every 200,000 INS executions
    if (mod(i,200000) == 0), fprintf('\n'); end

    % IMU sampling interval
    dti = imu.t(i) - imu.t(i-1);

    % Inertial sensors corrected with a posteriori KF biases estimation and
    % deterministic static biases
    wb_corrected = imu.wb(i,:)' - gb_dyn - imu.gb_sta';
    fb_corrected = imu.fb(i,:)' - ab_dyn - imu.ab_sta';
    fn = DCMbn * fb_correct