>
nav_e.xp    = xp;       <span class="comment">% A posteriori states</span>
nav_e.z     = z;        <span class="comment">% INS/vor_dme measurements</span>
nav_e.v     = v;        <span class="comment">% Kalman filter innovations</span>
nav_e.b     = b;        <span class="comment">% Biases compensations</span>

nav_e.A     = A;        <span class="comment">% Transition matrices</span>
nav_e.Pi    = Pi;       <span class="comment">% A priori covariance matrices</span>
nav_e.Pp    = Pp;       <span class="c