 = zeros (LI, 1);

% Preallocation of velocity vector
vel_e   = zeros (LI, 3);

% Preallocation of gravity vector
gn_e   = zeros (LI, 3);

% Preallocation of position vectors
lat_e    = zeros (LI, 1);
lon_e    = zeros (LI, 1);
h_e      = zeros (LI, 1);

% Preallocation of Kalman filter matrices for later performance analysis
xi = zeros(LG, n);      % Evolution of Kalman filter a priori states
xp = zeros(LG, n);      % Evolution of Kalman filter a posteriori states
z = zeros(LG, r);       % INS/vor_dme measu