 IMU sampling interval</span>
    dti = imu.t(i) - imu.t(i-1);

    <span class="comment">% Inertial sensors corrected with a posteriori KF biases estimation and</span>
    <span class="comment">% deterministic static biases</span>
    wb_corrected = imu.wb(i,:)' - gb_dyn - imu.gb_sta';
    fb_corrected = imu.fb(i,:)' - ab_dyn - imu.ab_sta';
    fn = DCMbn * fb_corrected;
    wn = DCMbn * wb_corrected;


    <span class="comment">% Velocity update</span>
    vel = vel_update(fn, vel_e(i-1,:), omega_ie_n, om