id	sid	eid	entity	type
ajst-13261	1	1	academic journal of science and technology issn	ORG
ajst-13261	1	2	2771-3032	CARDINAL
ajst-13261	2	1	7	CARDINAL
ajst-13261	2	2	3	CARDINAL
ajst-13261	2	3	2023 131	CARDINAL
ajst-13261	2	4	penghao ji1	LOC
ajst-13261	2	5	1	CARDINAL
ajst-13261	2	6	tianjin university of technology	ORG
ajst-13261	2	7	tianjin	GPE
ajst-13261	2	8	china	GPE
ajst-13261	3	1	penghao	PERSON
ajst-13261	4	1	three-degree-of	QUANTITY
ajst-13261	5	1	5%	PERCENT
ajst-13261	5	2	three	CARDINAL
ajst-13261	7	1	1.	CARDINAL
ajst-13261	9	1	two	CARDINAL
ajst-13261	11	1	200w	PRODUCT
ajst-13261	16	1	kalman	PERSON
ajst-13261	17	1	taylor	PERSON
ajst-13261	19	1	cubature kalman	PERSON
ajst-13261	19	2	kalman	PERSON
ajst-13261	19	3	third	ORDINAL
ajst-13261	19	4	third	ORDINAL
ajst-13261	20	1	2n	CARDINAL
ajst-13261	21	1	2	CARDINAL
ajst-13261	21	2	2.1	CARDINAL
ajst-13261	24	1	1	CARDINAL
ajst-13261	24	2	3-degree-of	QUANTITY
ajst-13261	24	3	only three	CARDINAL
ajst-13261	25	1	132	CARDINAL
ajst-13261	25	2	1	CARDINAL
ajst-13261	25	3	11 12	CARDINAL
ajst-13261	25	4	22	CARDINAL
ajst-13261	25	5	11 12	DATE
ajst-13261	26	1	2	CARDINAL
ajst-13261	26	2		PERSON
ajst-13261	43	1	            (1	WORK_OF_ART
ajst-13261	43	2	、	PERSON
ajst-13261	43	3	𝑎、𝑏	ORG
ajst-13261	43	4	、	PERSON
ajst-13261	43	5	、	PERSON
ajst-13261	45	1	2.2	CARDINAL
ajst-13261	46	1	2	CARDINAL
ajst-13261	48	1	1	CARDINAL
ajst-13261	48	2	1	CARDINAL
ajst-13261	48	3	yij zij yij s	PERSON
ajst-13261	52	1	f k s   	ORG
ajst-13261	53	1	2	CARDINAL
ajst-13261	53	2	2	CARDINAL
ajst-13261	53	3	2	CARDINAL
ajst-13261	53	4	1 1	CARDINAL
ajst-13261	54	1	1 1	CARDINAL
ajst-13261	54	2	1	CARDINAL
ajst-13261	55	1	k k	PERSON
ajst-13261	58	1	 	PERSON
ajst-13261	58	2	3	CARDINAL
ajst-13261	58	3	2	CARDINAL
ajst-13261	59	1	1	CARDINAL
ajst-13261	59	2	1	CARDINAL
ajst-13261	63	1	f k s    	ORG
ajst-13261	64	1	4	CARDINAL
ajst-13261	64	2	four	CARDINAL
ajst-13261	64	3	𝐶 、𝐶	ORG
ajst-13261	64	4	1k	CARDINAL
ajst-13261	64	5	1k	CARDINAL
ajst-13261	65	1	、	ORG
ajst-13261	65	2	4	CARDINAL
ajst-13261	66	1	4	CARDINAL
ajst-13261	66	2	、	ORG
ajst-13261	68	1	3	CARDINAL
ajst-13261	68	2	4	CARDINAL
ajst-13261	69	1	four-degree-of	QUANTITY
ajst-13261	69	2	1 1 2 2 1 1 2 2	QUANTITY
ajst-13261	70	1	 	PERSON
ajst-13261	70	2		GPE
ajst-13261	70	3		GPE
ajst-13261	70	4		NORP
ajst-13261	70	5	 	PERSON
ajst-13261	72	1	ma t l l a h	PERSON
ajst-13261	75	1	ma t l l (5	PERSON
ajst-13261	75	2	11,12	CARDINAL
ajst-13261	75	3	21,22	CARDINAL
ajst-13261	75	4	2	CARDINAL
ajst-13261	75	5	2	CARDINAL
ajst-13261	75	6		NORP
ajst-13261	75	7		ORG
ajst-13261	76	1		GPE
ajst-13261	76	2	  	PERSON
ajst-13261	77	1		GPE
ajst-13261	77	2		GPE
ajst-13261	77	3	 	FAC
ajst-13261	79	1	6	CARDINAL
ajst-13261	80	1	7	CARDINAL
ajst-13261	80	2	133	CARDINAL
ajst-13261	80	3	2	CARDINAL
ajst-13261	80	4	2 2	CARDINAL
ajst-13261	81	1		GPE
ajst-13261	81	2		GPE
ajst-13261	81	3		GPE
ajst-13261	81	4		NORP
ajst-13261	81	5		ORG
ajst-13261	81	6	11 12	DATE
ajst-13261	81	7	21 2	DATE
ajst-13261	81	8		NORP
ajst-13261	83	1		GPE
ajst-13261	84	1	9	CARDINAL
ajst-13261	85	1	10	CARDINAL
ajst-13261	86	1	、	ORG
ajst-13261	87	1	three-degree-of	QUANTITY
ajst-13261	88	1	3	CARDINAL
ajst-13261	88	2	volumetric kalman	ORG
ajst-13261	88	3	3.1	CARDINAL
ajst-13261	88	4	1	CARDINAL
ajst-13261	88	5	4	CARDINAL
ajst-13261	89	1	ukf	GPE
ajst-13261	90	1	between 0.1 and 1	CARDINAL
ajst-13261	93	1	𝑤 𝑡 ，𝑣 𝑡	ORG
ajst-13261	94	1	、	ORG
ajst-13261	94	2	、	ORG
ajst-13261	94	3	four	CARDINAL
ajst-13261	95	1	1	CARDINAL
ajst-13261	95	2	0	CARDINAL
ajst-13261	95	3	11	CARDINAL
ajst-13261	95	4	⎢	GPE
ajst-13261	95	5	⎢	GPE
ajst-13261	95	6	⎢ ⎡	PERSON
ajst-13261	95	7	3,1	CARDINAL
ajst-13261	95	8	3,2	CARDINAL
ajst-13261	95	9	⎥ ⎥	ORG
ajst-13261	95	10	⎥	GPE
ajst-13261	95	11	12	CARDINAL
ajst-13261	95	12	3,2 ∗ ∗ ∗ ∗	QUANTITY
ajst-13261	95	13	3,3 ∗ ∗	QUANTITY
ajst-13261	95	14	3,4 ∗ ∗	QUANTITY
ajst-13261	95	15	1	CARDINAL
ajst-13261	95	16	0	CARDINAL
ajst-13261	96	1	0	CARDINAL
ajst-13261	96	2	0	CARDINAL
ajst-13261	96	3		ORG
ajst-13261	96	4	4x	CARDINAL
ajst-13261	96	5	1 1 1 1	CARDINAL
ajst-13261	96	6	4x	CARDINAL
ajst-13261	98	1	four	CARDINAL
ajst-13261	99	1	four	CARDINAL
ajst-13261	99	2	8)	CARDINAL
ajst-13261	100	1	fig2	ORG
ajst-13261	101	1	2	CARDINAL
ajst-13261	101	2	3.2	CARDINAL
ajst-13261	102	1	linear systems	ORG
ajst-13261	105	1	-1	ORG
ajst-13261	108	1	y k	PERSON
ajst-13261	112	1	u k	PERSON
ajst-13261	112	2	y k	PERSON
ajst-13261	113	1	w k	PERSON
ajst-13261	115	1	w k	PERSON
ajst-13261	115	2	zero	CARDINAL
ajst-13261	116	1	134	CARDINAL
ajst-13261	118	1		PERSON
ajst-13261	118	2	0	CARDINAL
ajst-13261	118	3	0	CARDINAL
ajst-13261	122	1	k ev k e w k v j k j	PERSON
ajst-13261	122	2	13	CARDINAL
ajst-13261	123	1	two	CARDINAL
ajst-13261	123	2		PERSON
ajst-13261	123	3	 	GPE
ajst-13261	125	1	t kj	PERSON
ajst-13261	126	1	k v j r  	ORG
ajst-13261	126	2	14	CARDINAL
ajst-13261	127	1	1	CARDINAL
ajst-13261	127	2	1)x k ax k bu k w	QUANTITY
ajst-13261	127	3	15	CARDINAL
ajst-13261	127	4	1	CARDINAL
ajst-13261	127	5	k ap	PERSON
ajst-13261	128	1	16	CARDINAL
ajst-13261	128	2	1ˆ	CARDINAL
ajst-13261	128	3	t tk	PERSON
ajst-13261	130	1	17	CARDINAL
ajst-13261	131	1	k x k k k y k hx k	PERSON
ajst-13261	131	2	18	CARDINAL
ajst-13261	131	3	k k k h	PERSON
ajst-13261	132	1	19	CARDINAL
ajst-13261	132	2	five	CARDINAL
ajst-13261	132	3	five	CARDINAL
ajst-13261	133	1	3.3	CARDINAL
ajst-13261	134	1	volumetric kalman	PERSON
ajst-13261	136	1	ukf	GPE
ajst-13261	138	1	third	ORDINAL
ajst-13261	139	1	2 1	DATE
ajst-13261	142	1	 	DATE
ajst-13261	142	2	20	CARDINAL
ajst-13261	142	3	1 / 2i n	QUANTITY
ajst-13261	145	1	1	CARDINAL
ajst-13261	145	2	1	CARDINAL
ajst-13261	145	3	0	CARDINAL
ajst-13261	146	1		NORP
ajst-13261	146	2		NORP
ajst-13261	146	3		GPE
ajst-13261	146	4		GPE
ajst-13261	147	1		GPE
ajst-13261	148	1		GPE
ajst-13261	148	2		GPE
ajst-13261	148	3		GPE
ajst-13261	148	4		GPE
ajst-13261	149	1		GPE
ajst-13261	150	1		GPE
ajst-13261	151	1		GPE
ajst-13261	153	1		GPE
ajst-13261	154	1		GPE
ajst-13261	154	2		GPE
ajst-13261	154	3		GPE
ajst-13261	154	4		GPE
ajst-13261	155	1		GPE
ajst-13261	156	1		GPE
ajst-13261	157	1		PERSON
ajst-13261	157	2	2n	CARDINAL
ajst-13261	158	1	20	CARDINAL
ajst-13261	158	2	1	CARDINAL
ajst-13261	158	3	1	CARDINAL
ajst-13261	158	4	1	CARDINAL
ajst-13261	158	5	1	CARDINAL
ajst-13261	158	6	1	CARDINAL
ajst-13261	158	7	 	PERSON
ajst-13261	161	1	21	CARDINAL
ajst-13261	161	2	1	CARDINAL
ajst-13261	161	3	1	CARDINAL
ajst-13261	162	1	k	PERSON
ajst-13261	162	2	22	CARDINAL
ajst-13261	162	3	2	CARDINAL
ajst-13261	164	1	23	CARDINAL
ajst-13261	164	2	2	CARDINAL
ajst-13261	164	3	1	CARDINAL
ajst-13261	164	4	1	CARDINAL
ajst-13261	164	5	1	CARDINAL
ajst-13261	168	1	k x	PERSON
ajst-13261	170	1	k x	PERSON
ajst-13261	173	1	24	CARDINAL
ajst-13261	174	1	25	CARDINAL
ajst-13261	176	1	26	CARDINAL
ajst-13261	177	1	27	CARDINAL
ajst-13261	177	2	1	CARDINAL
ajst-13261	178	1		PERSON
ajst-13261	183	1	28	CARDINAL
ajst-13261	184	1	1	CARDINAL
ajst-13261	192	1	29	CARDINAL
ajst-13261	192	2	1	CARDINAL
ajst-13261	198	1	k x	PERSON
ajst-13261	202	1	30	CARDINAL
ajst-13261	202	2	1	CARDINAL
ajst-13261	204	1	k p	PERSON
ajst-13261	205	1	31	CARDINAL
ajst-13261	205	2	135	CARDINAL
ajst-13261	206	1	k x k k k y k y k	PERSON
ajst-13261	206	2	32	CARDINAL
ajst-13261	207	1	k p	PERSON
ajst-13261	209	1	33	CARDINAL
ajst-13261	210	1	4	CARDINAL
ajst-13261	213	1	1	CARDINAL
ajst-13261	214	1	1650 kg	QUANTITY
ajst-13261	214	2	3050 mm	QUANTITY
ajst-13261	214	3	530 mm	QUANTITY
ajst-13261	214	4	353 mm	QUANTITY
ajst-13261	214	5	l 4868 mm	QUANTITY
ajst-13261	214	6	three	CARDINAL
ajst-13261	216	1	3	CARDINAL
ajst-13261	216	2	four	CARDINAL
ajst-13261	217	1	0.9	CARDINAL
ajst-13261	217	2	60 km	QUANTITY
ajst-13261	218	1	3	CARDINAL
ajst-13261	219	1	0.9	CARDINAL
ajst-13261	219	2	0.9	CARDINAL
ajst-13261	219	3	about 15s	DATE
ajst-13261	219	4	0.88-0.92	CARDINAL
ajst-13261	219	5	15s	DATE
ajst-13261	220	1	3	CARDINAL
ajst-13261	220	2	0.6	CARDINAL
ajst-13261	220	3	60 km	QUANTITY
ajst-13261	220	4	fig.	DATE
ajst-13261	221	1	4	CARDINAL
ajst-13261	221	2	0.6	CARDINAL
ajst-13261	221	3	0.6	CARDINAL
ajst-13261	221	4	about 10s	DATE
ajst-13261	221	5	0.57-0.62	MONEY
ajst-13261	221	6	10s	DATE
ajst-13261	221	7	136	CARDINAL
ajst-13261	221	8	4	CARDINAL
ajst-13261	221	9	0.3	CARDINAL
ajst-13261	221	10	60 km	QUANTITY
ajst-13261	221	11	fig.	DATE
ajst-13261	222	1	5	CARDINAL
ajst-13261	222	2	0.3	CARDINAL
ajst-13261	222	3	0.3	CARDINAL
ajst-13261	222	4	about 7s	CARDINAL
ajst-13261	222	5	0.29-0.31	CARDINAL
ajst-13261	222	6	7s	CARDINAL
ajst-13261	223	1	5	CARDINAL
ajst-13261	225	1	5	CARDINAL
ajst-13261	225	2	three-degree-of	QUANTITY
ajst-13261	225	3	0.9	CARDINAL
ajst-13261	225	4	15s	DATE
ajst-13261	225	5	0.6	CARDINAL
ajst-13261	225	6	0.57-0.62	MONEY
ajst-13261	225	7	10s	DATE
ajst-13261	225	8	0.57	CARDINAL
ajst-13261	225	9	0.3	CARDINAL
ajst-13261	225	10	about 7s	CARDINAL
ajst-13261	225	11	0.29-0.31	CARDINAL
ajst-13261	225	12	7s	CARDINAL
ajst-13261	226	1	less than 5%	PERCENT
ajst-13261	229	1	tianjin graduate student scientific research	ORG
ajst-13261	229	2	tianjin graduate student scientific research	ORG
ajst-13261	229	3	2022skyz388	CARDINAL
ajst-13261	230	1	1	CARDINAL
ajst-13261	230	2	yu zhuo-ping	PERSON
ajst-13261	230	3	zuo jian-ling	PERSON
ajst-13261	230	4	zhang li-jun	PERSON
ajst-13261	230	5	6	CARDINAL
ajst-13261	231	1	2	CARDINAL
ajst-13261	231	2	yanliang pei	PERSON
ajst-13261	231	3	shenyang university of technology	ORG
ajst-13261	231	4	2013	DATE
ajst-13261	232	1	16	CARDINAL
ajst-13261	232	2	2023	CARDINAL
ajst-13261	233	1	3	CARDINAL
ajst-13261	233	2	m. morii	PERSON
ajst-13261	233	3	h. yasuo	PERSON
ajst-13261	233	4	t. kashihara	GPE
ajst-13261	233	5	t. iwamoto	GPE
ajst-13261	233	6	m. sugimoto	PERSON
ajst-13261	233	7	120	CARDINAL
ajst-13261	234	1	4	CARDINAL
ajst-13261	234	2	wang hesen	PERSON
ajst-13261	234	3	137	CARDINAL
ajst-13261	234	4	m.s.	GPE
ajst-13261	234	5	shijiazhuang railway university	ORG
ajst-13261	234	6	2020.000191	CARDINAL
ajst-13261	235	1	5	CARDINAL
ajst-13261	235	2	jinxi chen	PERSON
ajst-13261	235	3	17	CARDINAL
ajst-13261	235	4	2023	CARDINAL
ajst-13261	236	1	6	CARDINAL
ajst-13261	236	2	g. li	PERSON
ajst-13261	236	3	r.c. xie	PERSON
ajst-13261	236	4	s.y. wei	PERSON
ajst-13261	236	5	c.f. zong	GPE
ajst-13261	236	6	two	CARDINAL
ajst-13261	236	7	china	GPE
ajst-13261	236	8	45	CARDINAL
ajst-13261	236	9	4	CARDINAL
ajst-13261	237	1	403-414	CARDINAL
ajst-13261	237	2	2015	DATE
ajst-13261	238	1	7	CARDINAL
ajst-13261	238	2	c. fernandez-prades	PERSON
ajst-13261	238	3	j. vila-valls	PERSON
ajst-13261	238	4	2010	DATE
ajst-13261	238	5	cape town	GPE
ajst-13261	238	6	south africa	GPE
ajst-13261	238	7	may 2010	DATE
ajst-13261	239	1	1-5	CARDINAL
ajst-13261	240	1	8	CARDINAL
ajst-13261	240	2	li jun tang	PERSON
ajst-13261	240	3	phd	PERSON
ajst-13261	240	4	harbin engineering university	ORG
ajst-13261	240	5	2012	DATE
ajst-13261	241	1	16	CARDINAL
ajst-13261	241	2	2023	CARDINAL
ajst-13261	242	1	9	CARDINAL
ajst-13261	242	2	m.s.	GPE
ajst-13261	242	3	chang'an university	ORG
ajst-13261	242	4	china	GPE
ajst-13261	242	5	2021	DATE