span>
kf = kf_update( kf );

<span class="comment">% Initial matrices for Kalman filter performance analysis</span>
xi(1,:) = kf.xi';
xp(1,:) = kf.xp';
Pi(1,:) = reshape(kf.Pi, 1, n^2);
Pp(1,:) = reshape(kf.Pp, 1, n^2);
K(1,:)  = reshape(kf.K, 1, n*r);
S(1,:)  = reshape(kf.S, 1, r^2);
v(1,:)  = kf.v';
z(1,:)  = kf.z';
b(1,:) = [gb_dyn', ab_dyn'];
</pre>
<h2 id="7">INS (IMU) TIME IS THE MASTER CLOCK</h2>
<pre class="codeinput">
<span class="keyword">for</span> i = 2:LI
</pre>
<h2 id="9">INERTIAL NAVIGATION S