';
            z(gdx,:)  = kf.z';
            K(gdx,:)  = reshape(kf.K, 1, n*r);
            S(gdx,:)  = reshape(kf.S, 1, r^2);
        <span class="keyword">else</span>
            zupt_flag = false;
            z(gdx,:)  = [ kf.z' 0 0 0 ]';
            v(gdx,:)  = [ kf.v' 0 0 0 ]';
            K(gdx,1:n*3) = reshape(kf.K, 1, n*3);
            S(gdx,1:9)  = reshape(kf.S, 1, 3^2);
        <span class="keyword">end</span>
</pre>
<pre class="codeinput">    <span class="keyword">end</span>
</pre>
<pre class="c