"comment">% q = 12; % number of inputs</span>

<span class="comment">% Constant matrices</span>
I = eye(3);
O = zeros(3);

<span class="comment">% Length of INS time vector</span>
LI = length(imu.t);

<span class="comment">% Length of vor_dme time vector</span>
LG = length(vor_dme.t);

<span class="comment">% Preallocation of attitude vectors</span>
roll_e  = zeros (LI, 1);
pitch_e = zeros (LI, 1);
yaw_e   = zeros (LI, 1);

<span class="comment">% Preallocation of velocity vector</span>
vel_e   = zeros (LI,