s="comment">%        xp: Gxn Kalman filter a posteriori states.</span>
<span class="comment">%         z: Gxr INS/vor_dme measurements</span>
<span class="comment">%         v: Gxr Kalman filter innovations.</span>
<span class="comment">%         b: Gxr Kalman filter biases compensations, [gb_dyn ab_dyn].</span>
<span class="comment">%         A: Gxn^2 Kalman filter transition-state matrices, one matrix per</span>
<span class="comment">%            row ordered by columns.</span>
<span class="comment">%     