function [C_l] = computeC_l(l_mat)
%COMPUTEC_L Summary of this function goes here
%   Detailed explanation goes here

n_meas = length(l_mat);

var_lx = var(l_mat(:,1));
var_ly = var(l_mat(:,2));
var_lz = var(l_mat(:,3));

var_l_vec = repmat([var_lx var_ly var_lz], [1 n_meas]);

C_l = diag(var_l_vec); % create C_l matrix.

end