  vel_e(i,1) = vel_e(i,1) - kf.xp(4);
        vel_e(i,2) = vel_e(i,2) - kf.xp(5);
        vel_e(i,3) = vel_e(i,3) - kf.xp(6);

        % Position correction
        lat_e(i) = lat_e(i) - kf.xp(7);
        lon_e(i) = lon_e(i) - kf.xp(8);
        h_e(i)   = h_e(i)   - kf.xp(9);

        % Biases estimation
        gb_dyn   = -kf.xp(10:12);
        ab_dyn   = -kf.xp(13:15);

        % Matrices for later Kalman filter performance analysis
        xi(gdx,:) = kf.xi';
        xp(gdx,:) = kf.xp';
        b(gdx,:) 