Error in array dimensions!

I'm implementing the Unscented Kalman Filter, and I can not figure out how to solve the kalman gain matrix error. Can anyone help?

This is the main code ...

clear 
clc

load('dados.mat')
y_total = Dados;
% y(:,1)=10^6*y_total(:,1);
y(:,2)=10^6*y_total(:,2);
y(:,3)=10^6*y_total(:,3);

betah = 0.009;
muh = 3.6530e-005;
alphah = 0.033;
deltah = 0.09;
mui = 0.38;
mun = 0.002;
betai = 0.015;
lambdai = 0.36;
lambdah = 0.0006;
H=0.000000000000000000000000000000000000000000001;

x(:,1) = [208701300 326*10e6 217*10e6 44000000 22000000 lambdah]';

f=@(x)[-betah*H*x(5)*x(1)-muh*H*x(1)+x(6)*H*x(1)+x(1)+x(6)*H*(x(3)+x(2));
    betah*H*x(5)*x(1)+x(2)-muh*H*x(2)-alphah*H*x(2)-deltah*H*x(2);
    deltah*H*x(2)+x(3)-muh*H*x(3);
    x(4)-betai*H*x(2)*x(4)+lambdai*H*x(4)-mui*H*x(4)-mun*H*x(4);
    x(5)+betai*H*x(2)*x(4)+lambdai*H*x(5)-mui*H*x(5)-mun*H*x(5);
    x(6)];

h=@(x)[-betah*H*x(5)*x(1)-muh*H*x(1)+x(2)+x(3);
    (-deltah*H-muh*H-alphah*H)*x(2)+betah*H*x(1)*x(5);
    deltah*H*x(2)-muh*H*x(3)];

Q = [10 0 0 0 0 0;
    0 10 0 0 0 0;
    0 0 10 0 0 0;
    0 0 0 15 0 0;
    0 0 0 0 33 0;
    0 0 0 0 0 18];

R = [.1 0 0;
    0 .3 0 ;
    0 0 .1];

P(:,:,1) = 1e7*eye(6);

n = 6; %entradas
m = 3; %saídas

steps=38;
fXis = zeros(n, 2*n+1);
hXis = zeros(m, 2*n+1);
x_pred(:,1) = x;
P_pred(:,:,1) = P;
Pxz(:,:,2*n+1) = zeros(n, m);
% K(:,:,2*n+1) = zeros(n, m);

for s = 2:steps
    %
    [Xis, W] = SigmaPoints(x_pred(:,s-1),P_pred(:,:,s-1),0);

      for k = 1:2*n+1
          fXis(:, k) = f(Xis(:,k));
      end

      [xp, Pp] = UT(fXis, W, Q);

      for k = 1:2*n+1
          hXis(:, k) = h(Xis(:,k));
      end

      [zp, Pz] = UT(hXis, W, R);

      %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
      %  K(:,:,2*n+1)   = zeros(n, m);
      for k = 1:2*n+1
          Pxz(:,:,k) = Pxz(:,:,k)+ W(k)*((fXis(:,k) - xp)*(hXis(:,k) - zp)');
      end

      K(:,:,s) = Pxz(:,:,s)/Pz;
      x_pred(:,s)= xp + K(:,:,s)*(y_total(s,:).' - zp);
      P_pred(:,:,s)= Pp - K(:,:,s)*Pz*K(:,:,s)';
  end

The error that appears

Index exceeds matrix dimensions.

Error in UKF_Lambdah_2 (line 81)
 K(:,:,s) = Pxz(:,:,s)/Pz;

Answer 1

[Matt J]

Pxz(:,:,s) makes no sense because it has only 13 layers, yet s runs up to 38.

[GTA]

Because in reality I would like to run for every k = 1: 38, 2n + 1 sigma points. So not to repeat the k, since it was already using within the second for I changed by s. But since I'm not a programmer, I think I did a lot wrong. How could I execute this idea correctly?

[Matt J]

Only you know what is correct, because only you know what the code is supposed to do.