vable states after each vor_dme data arriving</span>



<span class="keyword">if</span> nargin &lt; 3, att_mode  = <span class="string">'quaternion'</span>; <span class="keyword">end</span>
</pre>
<h2 id="3">ZUPT ALGORITHM</h2>
<pre class="codeinput">zupt_flag = false;
</pre>
<h2 id="4">PREALLOCATION</h2>
<pre class="codeinput">
<span class="comment">% Kalman filter dimensions</span>
n = 15; <span class="comment">% number of states</span>
r = 6;  <span class="comment">% number of sensors</span>
<span class=