%MAHALANOBIS Calculate the Mahalanobis distance.%   D = MAHALANOBIS(V,S) returns the chi square distributed Mahalanobis%   distance given the innovation vector X and the innovation covariance%   matrix S.% v.1.0, Nov.2003, Kai Arras, CAS-KTHfunction d = mahalanobis(v,S);d = v'*inv(S)*v;