function [Q, R] = updateQR(Q, R, B_new)
    % Updates the QR decomposition with a new batch of sensor readings
    % Inputs:
    %   Q, R - Current QR decomposition matrices. 
    %   B_new - New batch of sensor readings (m x n)
    % Outputs:
    %   Q, R - Updated QR decomposition matrices
        m = size(Q,1); n = size(R,2); k = size(B_new,1);
        [QB, RB] = qr(B_new);
        [Q_new, R] = qr([R; RB]);
        Q = [Q, zeros(m,k);zeros(k,m), QB] * Q_new;
end