Magnetometer Fusion : Optimisation of the (I - KH)P step
An optimised multiplication routine taking advantage of the zero columns in the K.H product
as used to significantly reduce the cost of the covariance update
Merge branch 'master' of github.com:priseborough/InertialNav

# By Paul Riseborough
# Via Paul Riseborough
* 'master' of github.com:priseborough/InertialNav:
  Update GenerateEquations.m