You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: zhukalman.m
    path of file: ./repos/imu_comparison_data/matlab/models
    
    the code of the file until where you have to start completion: %
% Survey of Motion Tracking Methods Based on Inertial Sensors: A Focus on Upper Limb Human Motion
% Alessan
    
function [g_out, m_out,eps,K,Ktrace]=zhukalman(g_in, m_in, w_in, dw_in, Cov,version)


% covariance matrices
% Q = [Cov.w+Cov.proc zeros(3,3); zeros(3,3) Cov.w+Cov.proc];
Q1 = cell(1,length(w_in));
for i=1:length(w_in)
    newcov_w = Cov.w;%/(0.5*(2+norm(w_in(:,i))));
    Q1{i} = [newcov_w zeros(3,3); zeros(3,3) newcov_w];
end