id	sid	tid	token	lemma	pos
ajst-13261	1	1	academic	academic	ADJ
ajst-13261	1	2	journal	journal	NOUN
ajst-13261	1	3	of	of	ADP
ajst-13261	1	4	science	science	NOUN
ajst-13261	1	5	and	and	CCONJ
ajst-13261	1	6	technology	technology	NOUN
ajst-13261	1	7	issn	issn	NOUN
ajst-13261	1	8	:	:	PUNCT
ajst-13261	1	9	2771	2771	NUM
ajst-13261	1	10	-	-	SYM
ajst-13261	1	11	3032	3032	NUM
ajst-13261	1	12	|	|	NOUN
ajst-13261	1	13	vol	vol	NOUN
ajst-13261	1	14	.	.	PROPN
ajst-13261	2	1	7	7	NUM
ajst-13261	2	2	,	,	PUNCT
ajst-13261	2	3	no	no	INTJ
ajst-13261	2	4	.	.	NOUN
ajst-13261	2	5	3	3	NUM
ajst-13261	2	6	,	,	PUNCT
ajst-13261	2	7	2023	2023	NUM
ajst-13261	2	8	131	131	NUM
ajst-13261	2	9	soft	soft	ADJ
ajst-13261	2	10	measurement	measurement	NOUN
ajst-13261	2	11	of	of	ADP
ajst-13261	2	12	road	road	NOUN
ajst-13261	2	13	adhesion	adhesion	NOUN
ajst-13261	2	14	coefficient	coefficient	NOUN
ajst-13261	2	15	volumetric	volumetric	NOUN
ajst-13261	2	16	kalman	kalman	NOUN
ajst-13261	2	17	filtering	filter	VERB
ajst-13261	2	18	penghao	penghao	PROPN
ajst-13261	2	19	ji1	ji1	PROPN
ajst-13261	2	20	,	,	PUNCT
ajst-13261	2	21	*	*	PUNCT
ajst-13261	2	22	,	,	PUNCT
ajst-13261	2	23	jiquan	jiquan	ADJ
ajst-13261	2	24	wu1	wu1	NOUN
ajst-13261	2	25	1	1	NUM
ajst-13261	2	26	school	school	NOUN
ajst-13261	2	27	of	of	ADP
ajst-13261	2	28	automotive	automotive	ADJ
ajst-13261	2	29	and	and	CCONJ
ajst-13261	2	30	transportation	transportation	NOUN
ajst-13261	2	31	,	,	PUNCT
ajst-13261	2	32	tianjin	tianjin	PROPN
ajst-13261	2	33	university	university	PROPN
ajst-13261	2	34	of	of	ADP
ajst-13261	2	35	technology	technology	NOUN
ajst-13261	2	36	and	and	CCONJ
ajst-13261	2	37	education	education	NOUN
ajst-13261	2	38	,	,	PUNCT
ajst-13261	2	39	tianjin	tianjin	PROPN
ajst-13261	2	40	,	,	PUNCT
ajst-13261	2	41	china	china	PROPN
ajst-13261	2	42	*	*	PUNCT
ajst-13261	2	43	corresponding	correspond	VERB
ajst-13261	2	44	author	author	NOUN
ajst-13261	2	45	:	:	PUNCT
ajst-13261	3	1	penghao	penghao	PROPN
ajst-13261	3	2	ji	ji	PROPN
ajst-13261	3	3	(	(	PUNCT
ajst-13261	3	4	email	email	NOUN
ajst-13261	3	5	:	:	PUNCT
ajst-13261	3	6	jipenghao0831@163.com	jipenghao0831@163.com	X
ajst-13261	3	7	)	)	PUNCT
ajst-13261	3	8	abstract	abstract	NOUN
ajst-13261	3	9	:	:	PUNCT
ajst-13261	3	10	in	in	ADP
ajst-13261	3	11	order	order	NOUN
ajst-13261	3	12	to	to	PART
ajst-13261	3	13	solve	solve	VERB
ajst-13261	3	14	the	the	DET
ajst-13261	3	15	problem	problem	NOUN
ajst-13261	3	16	that	that	SCONJ
ajst-13261	3	17	the	the	DET
ajst-13261	3	18	road	road	NOUN
ajst-13261	3	19	adhesion	adhesion	NOUN
ajst-13261	3	20	coefficient	coefficient	NOUN
ajst-13261	3	21	is	be	AUX
ajst-13261	3	22	not	not	PART
ajst-13261	3	23	extensive	extensive	ADJ
ajst-13261	3	24	enough	enough	ADV
ajst-13261	3	25	and	and	CCONJ
ajst-13261	3	26	difficult	difficult	ADJ
ajst-13261	3	27	to	to	PART
ajst-13261	3	28	obtain	obtain	VERB
ajst-13261	3	29	in	in	ADP
ajst-13261	3	30	practice	practice	NOUN
ajst-13261	3	31	,	,	PUNCT
ajst-13261	3	32	this	this	DET
ajst-13261	3	33	paper	paper	NOUN
ajst-13261	3	34	designs	design	VERB
ajst-13261	3	35	a	a	DET
ajst-13261	3	36	soft	soft	ADJ
ajst-13261	3	37	measurement	measurement	NOUN
ajst-13261	3	38	method	method	NOUN
ajst-13261	3	39	of	of	ADP
ajst-13261	3	40	road	road	NOUN
ajst-13261	3	41	adhesion	adhesion	NOUN
ajst-13261	3	42	coefficient	coefficient	NOUN
ajst-13261	3	43	based	base	VERB
ajst-13261	3	44	on	on	ADP
ajst-13261	3	45	the	the	DET
ajst-13261	3	46	volumetric	volumetric	NOUN
ajst-13261	3	47	kalman	kalman	NOUN
ajst-13261	3	48	filter	filter	PROPN
ajst-13261	3	49	theory	theory	NOUN
ajst-13261	3	50	.	.	PUNCT
ajst-13261	4	1	a	a	DET
ajst-13261	4	2	three	three	NUM
ajst-13261	4	3	-	-	PUNCT
ajst-13261	4	4	degree	degree	NOUN
ajst-13261	4	5	-	-	PUNCT
ajst-13261	4	6	of	of	ADP
ajst-13261	4	7	-	-	PUNCT
ajst-13261	4	8	freedom	freedom	NOUN
ajst-13261	4	9	vehicle	vehicle	NOUN
ajst-13261	4	10	estimation	estimation	NOUN
ajst-13261	4	11	model	model	NOUN
ajst-13261	4	12	using	use	VERB
ajst-13261	4	13	the	the	DET
ajst-13261	4	14	dugoff	dugoff	PROPN
ajst-13261	4	15	tyre	tyre	PROPN
ajst-13261	4	16	model	model	NOUN
ajst-13261	4	17	is	be	AUX
ajst-13261	4	18	established	establish	VERB
ajst-13261	4	19	,	,	PUNCT
ajst-13261	4	20	and	and	CCONJ
ajst-13261	4	21	the	the	DET
ajst-13261	4	22	validity	validity	NOUN
ajst-13261	4	23	and	and	CCONJ
ajst-13261	4	24	accuracy	accuracy	NOUN
ajst-13261	4	25	of	of	ADP
ajst-13261	4	26	the	the	DET
ajst-13261	4	27	algorithm	algorithm	NOUN
ajst-13261	4	28	are	be	AUX
ajst-13261	4	29	verified	verify	VERB
ajst-13261	4	30	with	with	ADP
ajst-13261	4	31	the	the	DET
ajst-13261	4	32	help	help	NOUN
ajst-13261	4	33	of	of	ADP
ajst-13261	4	34	the	the	DET
ajst-13261	4	35	joint	joint	ADJ
ajst-13261	4	36	simulation	simulation	NOUN
ajst-13261	4	37	platform	platform	NOUN
ajst-13261	4	38	of	of	ADP
ajst-13261	4	39	carsim	carsim	PROPN
ajst-13261	4	40	and	and	CCONJ
ajst-13261	4	41	matlab	matlab	PROPN
ajst-13261	4	42	/	/	SYM
ajst-13261	4	43	simulink	simulink	PROPN
ajst-13261	4	44	.	.	PUNCT
ajst-13261	5	1	the	the	DET
ajst-13261	5	2	results	result	NOUN
ajst-13261	5	3	show	show	VERB
ajst-13261	5	4	that	that	SCONJ
ajst-13261	5	5	the	the	DET
ajst-13261	5	6	estimation	estimation	NOUN
ajst-13261	5	7	error	error	NOUN
ajst-13261	5	8	of	of	ADP
ajst-13261	5	9	the	the	DET
ajst-13261	5	10	proposed	propose	VERB
ajst-13261	5	11	estimation	estimation	NOUN
ajst-13261	5	12	algorithm	algorithm	NOUN
ajst-13261	5	13	is	be	AUX
ajst-13261	5	14	within	within	ADP
ajst-13261	5	15	5	5	NUM
ajst-13261	5	16	%	%	NOUN
ajst-13261	5	17	under	under	ADP
ajst-13261	5	18	the	the	DET
ajst-13261	5	19	three	three	NUM
ajst-13261	5	20	road	road	NOUN
ajst-13261	5	21	adhesion	adhesion	NOUN
ajst-13261	5	22	coefficients	coefficient	NOUN
ajst-13261	5	23	,	,	PUNCT
ajst-13261	5	24	and	and	CCONJ
ajst-13261	5	25	the	the	DET
ajst-13261	5	26	initial	initial	ADJ
ajst-13261	5	27	design	design	NOUN
ajst-13261	5	28	can	can	AUX
ajst-13261	5	29	be	be	AUX
ajst-13261	5	30	completed	complete	VERB
ajst-13261	5	31	well	well	ADV
ajst-13261	5	32	in	in	ADP
ajst-13261	5	33	terms	term	NOUN
ajst-13261	5	34	of	of	ADP
ajst-13261	5	35	accuracy	accuracy	NOUN
ajst-13261	5	36	and	and	CCONJ
ajst-13261	5	37	real	real	ADJ
ajst-13261	5	38	-	-	PUNCT
ajst-13261	5	39	time	time	NOUN
ajst-13261	5	40	performance	performance	NOUN
ajst-13261	5	41	.	.	PUNCT
ajst-13261	6	1	keywords	keyword	NOUN
ajst-13261	6	2	:	:	PUNCT
ajst-13261	6	3	road	road	NOUN
ajst-13261	6	4	adhesion	adhesion	NOUN
ajst-13261	6	5	coefficient	coefficient	NOUN
ajst-13261	6	6	,	,	PUNCT
ajst-13261	6	7	kalman	kalman	NOUN
ajst-13261	6	8	filter	filter	PROPN
ajst-13261	6	9	,	,	PUNCT
ajst-13261	6	10	volumetric	volumetric	NOUN
ajst-13261	6	11	kalman	kalman	NOUN
ajst-13261	6	12	filter	filter	PROPN
ajst-13261	6	13	.	.	PUNCT
ajst-13261	7	1	1	1	X
ajst-13261	7	2	.	.	X
ajst-13261	7	3	introduction	introduction	NOUN
ajst-13261	7	4	the	the	DET
ajst-13261	7	5	purpose	purpose	NOUN
ajst-13261	7	6	of	of	ADP
ajst-13261	7	7	this	this	DET
ajst-13261	7	8	paper	paper	NOUN
ajst-13261	7	9	is	be	AUX
ajst-13261	7	10	to	to	PART
ajst-13261	7	11	develop	develop	VERB
ajst-13261	7	12	a	a	DET
ajst-13261	7	13	soft	soft	ADJ
ajst-13261	7	14	measurement	measurement	NOUN
ajst-13261	7	15	algorithm	algorithm	NOUN
ajst-13261	7	16	for	for	ADP
ajst-13261	7	17	road	road	NOUN
ajst-13261	7	18	surface	surface	NOUN
ajst-13261	7	19	adhesion	adhesion	NOUN
ajst-13261	7	20	coefficient	coefficient	NOUN
ajst-13261	7	21	estimation	estimation	NOUN
ajst-13261	7	22	through	through	ADP
ajst-13261	7	23	experimental	experimental	ADJ
ajst-13261	7	24	simulation	simulation	NOUN
ajst-13261	7	25	,	,	PUNCT
ajst-13261	7	26	through	through	ADP
ajst-13261	7	27	which	which	PRON
ajst-13261	7	28	a	a	DET
ajst-13261	7	29	higher	high	ADJ
ajst-13261	7	30	computational	computational	ADJ
ajst-13261	7	31	accuracy	accuracy	NOUN
ajst-13261	7	32	and	and	CCONJ
ajst-13261	7	33	faster	fast	ADJ
ajst-13261	7	34	response	response	NOUN
ajst-13261	7	35	speed	speed	NOUN
ajst-13261	7	36	can	can	AUX
ajst-13261	7	37	be	be	AUX
ajst-13261	7	38	achieved	achieve	VERB
ajst-13261	7	39	,	,	PUNCT
ajst-13261	7	40	which	which	PRON
ajst-13261	7	41	is	be	AUX
ajst-13261	7	42	conducive	conducive	ADJ
ajst-13261	7	43	to	to	ADP
ajst-13261	7	44	further	further	ADJ
ajst-13261	7	45	development	development	NOUN
ajst-13261	7	46	and	and	CCONJ
ajst-13261	7	47	research	research	NOUN
ajst-13261	7	48	in	in	ADP
ajst-13261	7	49	the	the	DET
ajst-13261	7	50	automotive	automotive	ADJ
ajst-13261	7	51	industry	industry	NOUN
ajst-13261	7	52	.	.	PUNCT
ajst-13261	8	1	meanwhile	meanwhile	ADV
ajst-13261	8	2	,	,	PUNCT
ajst-13261	8	3	the	the	DET
ajst-13261	8	4	real	real	ADJ
ajst-13261	8	5	-	-	PUNCT
ajst-13261	8	6	time	time	NOUN
ajst-13261	8	7	estimation	estimation	NOUN
ajst-13261	8	8	of	of	ADP
ajst-13261	8	9	the	the	DET
ajst-13261	8	10	road	road	NOUN
ajst-13261	8	11	surface	surface	NOUN
ajst-13261	8	12	adhesion	adhesion	NOUN
ajst-13261	8	13	coefficient	coefficient	NOUN
ajst-13261	8	14	is	be	AUX
ajst-13261	8	15	an	an	DET
ajst-13261	8	16	important	important	ADJ
ajst-13261	8	17	part	part	NOUN
ajst-13261	8	18	of	of	ADP
ajst-13261	8	19	the	the	DET
ajst-13261	8	20	safety	safety	NOUN
ajst-13261	8	21	control	control	NOUN
ajst-13261	8	22	of	of	ADP
ajst-13261	8	23	the	the	DET
ajst-13261	8	24	vehicle	vehicle	NOUN
ajst-13261	8	25	,	,	PUNCT
ajst-13261	8	26	and	and	CCONJ
ajst-13261	8	27	is	be	AUX
ajst-13261	8	28	also	also	ADV
ajst-13261	8	29	a	a	DET
ajst-13261	8	30	necessary	necessary	ADJ
ajst-13261	8	31	prerequisite	prerequisite	NOUN
ajst-13261	8	32	for	for	SCONJ
ajst-13261	8	33	the	the	DET
ajst-13261	8	34	vehicle	vehicle	NOUN
ajst-13261	8	35	to	to	PART
ajst-13261	8	36	carry	carry	VERB
ajst-13261	8	37	out	out	ADP
ajst-13261	8	38	a	a	DET
ajst-13261	8	39	series	series	NOUN
ajst-13261	8	40	of	of	ADP
ajst-13261	8	41	stability	stability	NOUN
ajst-13261	8	42	control	control	NOUN
ajst-13261	8	43	strategies	strategy	NOUN
ajst-13261	8	44	.	.	PUNCT
ajst-13261	9	1	there	there	PRON
ajst-13261	9	2	are	be	VERB
ajst-13261	9	3	many	many	ADJ
ajst-13261	9	4	methods	method	NOUN
ajst-13261	9	5	and	and	CCONJ
ajst-13261	9	6	types	type	NOUN
ajst-13261	9	7	of	of	ADP
ajst-13261	9	8	soft	soft	ADJ
ajst-13261	9	9	measurement	measurement	NOUN
ajst-13261	9	10	of	of	ADP
ajst-13261	9	11	road	road	NOUN
ajst-13261	9	12	surface	surface	NOUN
ajst-13261	9	13	adhesion	adhesion	NOUN
ajst-13261	9	14	coefficient	coefficient	NOUN
ajst-13261	9	15	in	in	ADP
ajst-13261	9	16	the	the	DET
ajst-13261	9	17	present	present	ADJ
ajst-13261	9	18	research	research	NOUN
ajst-13261	9	19	,	,	PUNCT
ajst-13261	9	20	which	which	PRON
ajst-13261	9	21	can	can	AUX
ajst-13261	9	22	be	be	AUX
ajst-13261	9	23	divided	divide	VERB
ajst-13261	9	24	into	into	ADP
ajst-13261	9	25	two	two	NUM
ajst-13261	9	26	categories	category	NOUN
ajst-13261	9	27	of	of	ADP
ajst-13261	9	28	cause	cause	NOUN
ajst-13261	9	29	-	-	PUNCT
ajst-13261	9	30	based	base	VERB
ajst-13261	9	31	and	and	CCONJ
ajst-13261	9	32	effect	effect	NOUN
ajst-13261	9	33	-	-	PUNCT
ajst-13261	9	34	based	base	VERB
ajst-13261	9	35	according	accord	VERB
ajst-13261	9	36	to	to	ADP
ajst-13261	9	37	different	different	ADJ
ajst-13261	9	38	data	datum	NOUN
ajst-13261	9	39	acquisition	acquisition	NOUN
ajst-13261	9	40	and	and	CCONJ
ajst-13261	9	41	measurement	measurement	NOUN
ajst-13261	9	42	methods[1	methods[1	NOUN
ajst-13261	9	43	]	]	X
ajst-13261	9	44	.	.	PUNCT
ajst-13261	10	1	the	the	DET
ajst-13261	10	2	cause	cause	NOUN
ajst-13261	10	3	-	-	PUNCT
ajst-13261	10	4	based	base	VERB
ajst-13261	10	5	approach	approach	NOUN
ajst-13261	10	6	applies	apply	VERB
ajst-13261	10	7	past	past	ADP
ajst-13261	10	8	experience	experience	NOUN
ajst-13261	10	9	to	to	PART
ajst-13261	10	10	estimate	estimate	VERB
ajst-13261	10	11	the	the	DET
ajst-13261	10	12	current	current	ADJ
ajst-13261	10	13	state	state	NOUN
ajst-13261	10	14	of	of	ADP
ajst-13261	10	15	the	the	DET
ajst-13261	10	16	road	road	NOUN
ajst-13261	10	17	attachment	attachment	NOUN
ajst-13261	10	18	coefficient	coefficient	NOUN
ajst-13261	10	19	,	,	PUNCT
ajst-13261	10	20	and	and	CCONJ
ajst-13261	10	21	generally	generally	ADV
ajst-13261	10	22	applies	apply	VERB
ajst-13261	10	23	conditions	condition	NOUN
ajst-13261	10	24	that	that	PRON
ajst-13261	10	25	have	have	VERB
ajst-13261	10	26	a	a	DET
ajst-13261	10	27	large	large	ADJ
ajst-13261	10	28	impact	impact	NOUN
ajst-13261	10	29	on	on	ADP
ajst-13261	10	30	the	the	DET
ajst-13261	10	31	road	road	NOUN
ajst-13261	10	32	attachment	attachment	NOUN
ajst-13261	10	33	coefficient	coefficient	NOUN
ajst-13261	10	34	to	to	ADP
ajst-13261	10	35	the	the	DET
ajst-13261	10	36	calculations	calculation	NOUN
ajst-13261	10	37	and	and	CCONJ
ajst-13261	10	38	predictions[2	predictions[2	NOUN
ajst-13261	10	39	]	]	PUNCT
ajst-13261	10	40	.	.	PUNCT
ajst-13261	11	1	for	for	ADP
ajst-13261	11	2	example	example	NOUN
ajst-13261	11	3	:	:	PUNCT
ajst-13261	11	4	optical	optical	ADJ
ajst-13261	11	5	sensors	sensor	NOUN
ajst-13261	11	6	work	work	VERB
ajst-13261	11	7	by	by	ADP
ajst-13261	11	8	recognising	recognise	VERB
ajst-13261	11	9	water	water	NOUN
ajst-13261	11	10	and	and	CCONJ
ajst-13261	11	11	other	other	ADJ
ajst-13261	11	12	substances	substance	NOUN
ajst-13261	11	13	that	that	PRON
ajst-13261	11	14	reduce	reduce	VERB
ajst-13261	11	15	the	the	DET
ajst-13261	11	16	coefficient	coefficient	NOUN
ajst-13261	11	17	of	of	ADP
ajst-13261	11	18	adhesion	adhesion	NOUN
ajst-13261	11	19	of	of	ADP
ajst-13261	11	20	the	the	DET
ajst-13261	11	21	road	road	NOUN
ajst-13261	11	22	surface	surface	NOUN
ajst-13261	11	23	,	,	PUNCT
ajst-13261	11	24	while	while	SCONJ
ajst-13261	11	25	mika	mika	PROPN
ajst-13261	11	26	morii	morii	VERB
ajst-13261	11	27	and	and	CCONJ
ajst-13261	11	28	hiroyuki	hiroyuki	VERB
ajst-13261	11	29	yasuo	yasuo	PROPN
ajst-13261	11	30	use	use	VERB
ajst-13261	11	31	a	a	DET
ajst-13261	11	32	laser	laser	NOUN
ajst-13261	11	33	beam	beam	NOUN
ajst-13261	11	34	with	with	ADP
ajst-13261	11	35	a	a	DET
ajst-13261	11	36	maximum	maximum	ADJ
ajst-13261	11	37	power	power	NOUN
ajst-13261	11	38	of	of	ADP
ajst-13261	11	39	200w	200w	NUM
ajst-13261	11	40	to	to	PART
ajst-13261	11	41	illuminate	illuminate	VERB
ajst-13261	11	42	the	the	DET
ajst-13261	11	43	road	road	NOUN
ajst-13261	11	44	surface	surface	NOUN
ajst-13261	11	45	for	for	ADP
ajst-13261	11	46	estimation[3	estimation[3	NOUN
ajst-13261	11	47	]	]	PUNCT
ajst-13261	11	48	.	.	PUNCT
ajst-13261	12	1	effect	effect	NOUN
ajst-13261	12	2	-	-	PUNCT
ajst-13261	12	3	based	base	VERB
ajst-13261	12	4	methods	method	NOUN
ajst-13261	12	5	are	be	AUX
ajst-13261	12	6	carried	carry	VERB
ajst-13261	12	7	out	out	ADP
ajst-13261	12	8	to	to	PART
ajst-13261	12	9	analyze	analyze	VERB
ajst-13261	12	10	the	the	DET
ajst-13261	12	11	response	response	NOUN
ajst-13261	12	12	of	of	ADP
ajst-13261	12	13	the	the	DET
ajst-13261	12	14	tyre	tyre	PROPN
ajst-13261	12	15	or	or	CCONJ
ajst-13261	12	16	vehicle	vehicle	NOUN
ajst-13261	12	17	to	to	PART
ajst-13261	12	18	estimate	estimate	VERB
ajst-13261	12	19	the	the	DET
ajst-13261	12	20	road	road	NOUN
ajst-13261	12	21	adhesion	adhesion	NOUN
ajst-13261	12	22	coefficient	coefficient	NOUN
ajst-13261	12	23	,	,	PUNCT
ajst-13261	12	24	tyre	tyre	NOUN
ajst-13261	12	25	noise	noise	NOUN
ajst-13261	12	26	and	and	CCONJ
ajst-13261	12	27	tread	tread	NOUN
ajst-13261	12	28	deformation	deformation	NOUN
ajst-13261	12	29	are	be	AUX
ajst-13261	12	30	mainly	mainly	ADV
ajst-13261	12	31	referred	refer	VERB
ajst-13261	12	32	to	to	PART
ajst-13261	12	33	collectively	collectively	ADV
ajst-13261	12	34	as	as	SCONJ
ajst-13261	12	35	the	the	DET
ajst-13261	12	36	tyre	tyre	NOUN
ajst-13261	12	37	response	response	NOUN
ajst-13261	12	38	,	,	PUNCT
ajst-13261	12	39	and	and	CCONJ
ajst-13261	12	40	longitudinal	longitudinal	ADJ
ajst-13261	12	41	dynamics	dynamic	NOUN
ajst-13261	12	42	and	and	CCONJ
ajst-13261	12	43	lateral	lateral	ADJ
ajst-13261	12	44	dynamics	dynamic	NOUN
ajst-13261	12	45	are	be	AUX
ajst-13261	12	46	mainly	mainly	ADV
ajst-13261	12	47	referred	refer	VERB
ajst-13261	12	48	to	to	PART
ajst-13261	12	49	collectively	collectively	ADV
ajst-13261	12	50	as	as	ADP
ajst-13261	12	51	the	the	DET
ajst-13261	12	52	vehicle	vehicle	NOUN
ajst-13261	12	53	response	response	NOUN
ajst-13261	12	54	.	.	PUNCT
ajst-13261	13	1	due	due	ADP
ajst-13261	13	2	to	to	ADP
ajst-13261	13	3	practical	practical	ADJ
ajst-13261	13	4	conditions	condition	NOUN
ajst-13261	13	5	,	,	PUNCT
ajst-13261	13	6	sensors	sensor	NOUN
ajst-13261	13	7	are	be	AUX
ajst-13261	13	8	generally	generally	ADV
ajst-13261	13	9	expensive	expensive	ADJ
ajst-13261	13	10	and	and	CCONJ
ajst-13261	13	11	less	less	ADV
ajst-13261	13	12	robust	robust	ADJ
ajst-13261	13	13	,	,	PUNCT
ajst-13261	13	14	and	and	CCONJ
ajst-13261	13	15	easily	easily	ADV
ajst-13261	13	16	affected	affect	VERB
ajst-13261	13	17	by	by	ADP
ajst-13261	13	18	environmental	environmental	ADJ
ajst-13261	13	19	factors	factor	NOUN
ajst-13261	13	20	,	,	PUNCT
ajst-13261	13	21	while	while	SCONJ
ajst-13261	13	22	the	the	DET
ajst-13261	13	23	cause	cause	NOUN
ajst-13261	13	24	-	-	PUNCT
ajst-13261	13	25	based	base	VERB
ajst-13261	13	26	method	method	NOUN
ajst-13261	13	27	requires	require	VERB
ajst-13261	13	28	additional	additional	ADJ
ajst-13261	13	29	sensors	sensor	NOUN
ajst-13261	13	30	and	and	CCONJ
ajst-13261	13	31	is	be	AUX
ajst-13261	13	32	therefore	therefore	ADV
ajst-13261	13	33	not	not	PART
ajst-13261	13	34	widely	widely	ADV
ajst-13261	13	35	utilized	utilize	VERB
ajst-13261	13	36	.	.	PUNCT
ajst-13261	14	1	the	the	DET
ajst-13261	14	2	effect	effect	NOUN
ajst-13261	14	3	-	-	PUNCT
ajst-13261	14	4	based	base	VERB
ajst-13261	14	5	method	method	NOUN
ajst-13261	14	6	can	can	AUX
ajst-13261	14	7	accurately	accurately	ADV
ajst-13261	14	8	estimate	estimate	VERB
ajst-13261	14	9	road	road	NOUN
ajst-13261	14	10	adhesion	adhesion	NOUN
ajst-13261	14	11	coefficients	coefficient	NOUN
ajst-13261	14	12	,	,	PUNCT
ajst-13261	14	13	and	and	CCONJ
ajst-13261	14	14	has	have	VERB
ajst-13261	14	15	the	the	DET
ajst-13261	14	16	advantage	advantage	NOUN
ajst-13261	14	17	of	of	ADP
ajst-13261	14	18	being	be	AUX
ajst-13261	14	19	more	more	ADV
ajst-13261	14	20	robust	robust	ADJ
ajst-13261	14	21	compared	compare	VERB
ajst-13261	14	22	to	to	ADP
ajst-13261	14	23	the	the	DET
ajst-13261	14	24	cause	cause	NOUN
ajst-13261	14	25	-	-	PUNCT
ajst-13261	14	26	based	base	VERB
ajst-13261	14	27	method	method	NOUN
ajst-13261	14	28	.	.	PUNCT
ajst-13261	15	1	cause	cause	NOUN
ajst-13261	15	2	-	-	PUNCT
ajst-13261	15	3	based	base	VERB
ajst-13261	15	4	method	method	NOUN
ajst-13261	15	5	has	have	VERB
ajst-13261	15	6	the	the	DET
ajst-13261	15	7	advantages	advantage	NOUN
ajst-13261	15	8	of	of	ADP
ajst-13261	15	9	being	be	AUX
ajst-13261	15	10	more	more	ADV
ajst-13261	15	11	robust	robust	ADJ
ajst-13261	15	12	and	and	CCONJ
ajst-13261	15	13	less	less	ADV
ajst-13261	15	14	expensive	expensive	ADJ
ajst-13261	15	15	,	,	PUNCT
ajst-13261	15	16	but	but	CCONJ
ajst-13261	15	17	its	its	PRON
ajst-13261	15	18	computation	computation	NOUN
ajst-13261	15	19	is	be	AUX
ajst-13261	15	20	prone	prone	ADJ
ajst-13261	15	21	to	to	ADP
ajst-13261	15	22	hysteresis	hysteresis	NOUN
ajst-13261	15	23	,	,	PUNCT
ajst-13261	15	24	real	real	ADJ
ajst-13261	15	25	-	-	PUNCT
ajst-13261	15	26	time	time	NOUN
ajst-13261	15	27	is	be	AUX
ajst-13261	15	28	not	not	PART
ajst-13261	15	29	high	high	ADJ
ajst-13261	15	30	,	,	PUNCT
ajst-13261	15	31	and	and	CCONJ
ajst-13261	15	32	the	the	DET
ajst-13261	15	33	amount	amount	NOUN
ajst-13261	15	34	of	of	ADP
ajst-13261	15	35	computation	computation	NOUN
ajst-13261	15	36	is	be	AUX
ajst-13261	15	37	generally	generally	ADV
ajst-13261	15	38	large[4	large[4	PRON
ajst-13261	15	39	]	]	X
ajst-13261	15	40	.	.	PUNCT
ajst-13261	16	1	therefore	therefore	ADV
ajst-13261	16	2	,	,	PUNCT
ajst-13261	16	3	kalman	kalman	NOUN
ajst-13261	16	4	filter	filter	PROPN
ajst-13261	16	5	and	and	CCONJ
ajst-13261	16	6	its	its	PRON
ajst-13261	16	7	many	many	ADJ
ajst-13261	16	8	improved	improved	ADJ
ajst-13261	16	9	forms	form	NOUN
ajst-13261	16	10	are	be	AUX
ajst-13261	16	11	being	be	AUX
ajst-13261	16	12	widely	widely	ADV
ajst-13261	16	13	used	use	VERB
ajst-13261	16	14	in	in	ADP
ajst-13261	16	15	the	the	DET
ajst-13261	16	16	study	study	NOUN
ajst-13261	16	17	of	of	ADP
ajst-13261	16	18	vehicle	vehicle	NOUN
ajst-13261	16	19	driving	drive	VERB
ajst-13261	16	20	state	state	NOUN
ajst-13261	16	21	and	and	CCONJ
ajst-13261	16	22	vehicle	vehicle	NOUN
ajst-13261	16	23	parameter	parameter	PROPN
ajst-13261	16	24	estimation	estimation	PROPN
ajst-13261	16	25	,	,	PUNCT
ajst-13261	16	26	which	which	PRON
ajst-13261	16	27	is	be	AUX
ajst-13261	16	28	a	a	DET
ajst-13261	16	29	relatively	relatively	ADV
ajst-13261	16	30	effective	effective	ADJ
ajst-13261	16	31	estimation	estimation	NOUN
ajst-13261	16	32	method	method	NOUN
ajst-13261	16	33	and	and	CCONJ
ajst-13261	16	34	estimation	estimation	NOUN
ajst-13261	16	35	means	mean	NOUN
ajst-13261	16	36	.	.	PUNCT
ajst-13261	17	1	among	among	ADP
ajst-13261	17	2	them	they	PRON
ajst-13261	17	3	,	,	PUNCT
ajst-13261	17	4	the	the	DET
ajst-13261	17	5	theory	theory	NOUN
ajst-13261	17	6	of	of	ADP
ajst-13261	17	7	extended	extended	ADJ
ajst-13261	17	8	kalman	kalman	NOUN
ajst-13261	17	9	filter	filter	PROPN
ajst-13261	17	10	(	(	PUNCT
ajst-13261	17	11	ekf	ekf	PROPN
ajst-13261	17	12	)	)	PUNCT
ajst-13261	17	13	must	must	AUX
ajst-13261	17	14	be	be	AUX
ajst-13261	17	15	used	use	VERB
ajst-13261	17	16	to	to	PART
ajst-13261	17	17	expand	expand	VERB
ajst-13261	17	18	the	the	DET
ajst-13261	17	19	nonlinear	nonlinear	ADJ
ajst-13261	17	20	system	system	NOUN
ajst-13261	17	21	with	with	ADP
ajst-13261	17	22	taylor	taylor	PROPN
ajst-13261	17	23	's	's	PART
ajst-13261	17	24	expansion	expansion	NOUN
ajst-13261	17	25	formula	formula	NOUN
ajst-13261	17	26	to	to	PART
ajst-13261	17	27	be	be	AUX
ajst-13261	17	28	linearised	linearise	VERB
ajst-13261	17	29	,	,	PUNCT
ajst-13261	17	30	otherwise	otherwise	ADV
ajst-13261	17	31	it	it	PRON
ajst-13261	17	32	will	will	AUX
ajst-13261	17	33	lead	lead	VERB
ajst-13261	17	34	to	to	ADP
ajst-13261	17	35	dispersion	dispersion	NOUN
ajst-13261	17	36	of	of	ADP
ajst-13261	17	37	the	the	DET
ajst-13261	17	38	filter	filter	NOUN
ajst-13261	17	39	output	output	NOUN
ajst-13261	17	40	data	datum	NOUN
ajst-13261	17	41	and	and	CCONJ
ajst-13261	17	42	non	non	ADJ
ajst-13261	17	43	-	-	NOUN
ajst-13261	17	44	convergence	convergence	NOUN
ajst-13261	17	45	.	.	PUNCT
ajst-13261	18	1	unscented	unscente	VERB
ajst-13261	18	2	kalman	kalman	PROPN
ajst-13261	18	3	filter	filter	PROPN
ajst-13261	18	4	(	(	PUNCT
ajst-13261	18	5	ukf	ukf	NOUN
ajst-13261	18	6	)	)	PUNCT
ajst-13261	18	7	has	have	VERB
ajst-13261	18	8	the	the	DET
ajst-13261	18	9	advantage	advantage	NOUN
ajst-13261	18	10	of	of	ADP
ajst-13261	18	11	high	high	ADJ
ajst-13261	18	12	computational	computational	ADJ
ajst-13261	18	13	accuracy	accuracy	NOUN
ajst-13261	18	14	,	,	PUNCT
ajst-13261	18	15	but	but	CCONJ
ajst-13261	18	16	it	it	PRON
ajst-13261	18	17	is	be	AUX
ajst-13261	18	18	based	base	VERB
ajst-13261	18	19	on	on	ADP
ajst-13261	18	20	the	the	DET
ajst-13261	18	21	standard	standard	ADJ
ajst-13261	18	22	kalman	kalman	PROPN
ajst-13261	18	23	filter	filter	PROPN
ajst-13261	18	24	,	,	PUNCT
ajst-13261	18	25	which	which	PRON
ajst-13261	18	26	is	be	AUX
ajst-13261	18	27	an	an	DET
ajst-13261	18	28	infinite	infinite	ADJ
ajst-13261	18	29	-	-	PUNCT
ajst-13261	18	30	growth	growth	NOUN
ajst-13261	18	31	memory	memory	NOUN
ajst-13261	18	32	filter	filter	NOUN
ajst-13261	18	33	,	,	PUNCT
ajst-13261	18	34	and	and	CCONJ
ajst-13261	18	35	when	when	SCONJ
ajst-13261	18	36	the	the	DET
ajst-13261	18	37	filter	filter	NOUN
ajst-13261	18	38	estimation	estimation	NOUN
ajst-13261	18	39	is	be	AUX
ajst-13261	18	40	performed	perform	VERB
ajst-13261	18	41	at	at	ADP
ajst-13261	18	42	any	any	DET
ajst-13261	18	43	moment	moment	NOUN
ajst-13261	18	44	,	,	PUNCT
ajst-13261	18	45	all	all	DET
ajst-13261	18	46	the	the	DET
ajst-13261	18	47	data	datum	NOUN
ajst-13261	18	48	prior	prior	ADV
ajst-13261	18	49	to	to	ADP
ajst-13261	18	50	the	the	DET
ajst-13261	18	51	current	current	ADJ
ajst-13261	18	52	moment	moment	NOUN
ajst-13261	18	53	are	be	AUX
ajst-13261	18	54	used	use	VERB
ajst-13261	18	55	,	,	PUNCT
ajst-13261	18	56	leads	lead	VERB
ajst-13261	18	57	to	to	AUX
ajst-13261	18	58	underutilized	underutilize	VERB
ajst-13261	18	59	of	of	ADP
ajst-13261	18	60	current	current	ADJ
ajst-13261	18	61	sensor	sensor	NOUN
ajst-13261	18	62	measurements	measurement	NOUN
ajst-13261	18	63	.	.	PUNCT
ajst-13261	19	1	cubature	cubature	ADJ
ajst-13261	19	2	kalman	kalman	PROPN
ajst-13261	19	3	filter	filter	PROPN
ajst-13261	19	4	(	(	PUNCT
ajst-13261	19	5	cubature	cubature	ADJ
ajst-13261	19	6	kalman	kalman	PROPN
ajst-13261	19	7	filter	filter	PROPN
ajst-13261	19	8	)	)	PUNCT
ajst-13261	19	9	is	be	AUX
ajst-13261	19	10	derived	derive	VERB
ajst-13261	19	11	from	from	ADP
ajst-13261	19	12	the	the	DET
ajst-13261	19	13	bayesian	bayesian	NOUN
ajst-13261	19	14	estimation	estimation	NOUN
ajst-13261	19	15	of	of	ADP
ajst-13261	19	16	gaussian	gaussian	ADJ
ajst-13261	19	17	function	function	NOUN
ajst-13261	19	18	assumption	assumption	NOUN
ajst-13261	19	19	,	,	PUNCT
ajst-13261	19	20	using	use	VERB
ajst-13261	19	21	the	the	DET
ajst-13261	19	22	third	third	ADJ
ajst-13261	19	23	-	-	PUNCT
ajst-13261	19	24	order	order	NOUN
ajst-13261	19	25	spherical	spherical	ADJ
ajst-13261	19	26	-	-	PUNCT
ajst-13261	19	27	radial	radial	ADJ
ajst-13261	19	28	volume	volume	NOUN
ajst-13261	19	29	criterion	criterion	NOUN
ajst-13261	19	30	,	,	PUNCT
ajst-13261	19	31	the	the	DET
ajst-13261	19	32	nonlinear	nonlinear	ADJ
ajst-13261	19	33	system	system	NOUN
ajst-13261	19	34	filtering	filter	VERB
ajst-13261	19	35	into	into	ADP
ajst-13261	19	36	a	a	DET
ajst-13261	19	37	gaussian	gaussian	ADJ
ajst-13261	19	38	probability	probability	NOUN
ajst-13261	19	39	density	density	NOUN
ajst-13261	19	40	function	function	NOUN
ajst-13261	19	41	product	product	NOUN
ajst-13261	19	42	of	of	ADP
ajst-13261	19	43	the	the	DET
ajst-13261	19	44	integral	integral	ADJ
ajst-13261	19	45	solution	solution	NOUN
ajst-13261	19	46	of	of	ADP
ajst-13261	19	47	the	the	DET
ajst-13261	19	48	problem	problem	NOUN
ajst-13261	19	49	,	,	PUNCT
ajst-13261	19	50	which	which	PRON
ajst-13261	19	51	has	have	VERB
ajst-13261	19	52	a	a	DET
ajst-13261	19	53	rigorous	rigorous	ADJ
ajst-13261	19	54	mathematical	mathematical	ADJ
ajst-13261	19	55	proof	proof	NOUN
ajst-13261	19	56	of	of	ADP
ajst-13261	19	57	numerical	numerical	ADJ
ajst-13261	19	58	integration	integration	NOUN
ajst-13261	19	59	through	through	ADP
ajst-13261	19	60	the	the	DET
ajst-13261	19	61	third	third	ADJ
ajst-13261	19	62	-	-	PUNCT
ajst-13261	19	63	order	order	NOUN
ajst-13261	19	64	volume	volume	NOUN
ajst-13261	19	65	law	law	NOUN
ajst-13261	19	66	approximates	approximate	VERB
ajst-13261	19	67	the	the	DET
ajst-13261	19	68	weighted	weighted	ADJ
ajst-13261	19	69	gaussian	gaussian	ADJ
ajst-13261	19	70	integral	integral	ADJ
ajst-13261	19	71	.	.	PUNCT
ajst-13261	20	1	it	it	PRON
ajst-13261	20	2	has	have	VERB
ajst-13261	20	3	2n	2n	NUM
ajst-13261	20	4	volume	volume	NOUN
ajst-13261	20	5	points	point	NOUN
ajst-13261	20	6	with	with	ADP
ajst-13261	20	7	equal	equal	ADJ
ajst-13261	20	8	weights	weight	NOUN
ajst-13261	20	9	(	(	PUNCT
ajst-13261	20	10	n	n	X
ajst-13261	20	11	is	be	AUX
ajst-13261	20	12	the	the	DET
ajst-13261	20	13	number	number	NOUN
ajst-13261	20	14	of	of	ADP
ajst-13261	20	15	system	system	NOUN
ajst-13261	20	16	state	state	NOUN
ajst-13261	20	17	dimensions	dimension	NOUN
ajst-13261	20	18	)	)	PUNCT
ajst-13261	20	19	,	,	PUNCT
ajst-13261	20	20	and	and	CCONJ
ajst-13261	20	21	it	it	PRON
ajst-13261	20	22	has	have	AUX
ajst-13261	20	23	been	be	AUX
ajst-13261	20	24	proved	prove	VERB
ajst-13261	20	25	that	that	SCONJ
ajst-13261	20	26	its	its	PRON
ajst-13261	20	27	accuracy	accuracy	NOUN
ajst-13261	20	28	of	of	ADP
ajst-13261	20	29	approximating	approximate	VERB
ajst-13261	20	30	the	the	DET
ajst-13261	20	31	probability	probability	NOUN
ajst-13261	20	32	distribution	distribution	NOUN
ajst-13261	20	33	after	after	SCONJ
ajst-13261	20	34	the	the	DET
ajst-13261	20	35	nonlinear	nonlinear	ADJ
ajst-13261	20	36	transformation	transformation	NOUN
ajst-13261	20	37	is	be	AUX
ajst-13261	20	38	better	well	ADJ
ajst-13261	20	39	than	than	ADP
ajst-13261	20	40	that	that	PRON
ajst-13261	20	41	of	of	ADP
ajst-13261	20	42	the	the	DET
ajst-13261	20	43	ukf	ukf	NOUN
ajst-13261	20	44	,	,	PUNCT
ajst-13261	20	45	and	and	CCONJ
ajst-13261	20	46	it	it	PRON
ajst-13261	20	47	is	be	AUX
ajst-13261	20	48	simple	simple	ADJ
ajst-13261	20	49	to	to	PART
ajst-13261	20	50	implement	implement	VERB
ajst-13261	20	51	,	,	PUNCT
ajst-13261	20	52	and	and	CCONJ
ajst-13261	20	53	it	it	PRON
ajst-13261	20	54	has	have	VERB
ajst-13261	20	55	a	a	DET
ajst-13261	20	56	high	high	ADJ
ajst-13261	20	57	scalability	scalability	NOUN
ajst-13261	20	58	,	,	PUNCT
ajst-13261	20	59	so	so	SCONJ
ajst-13261	20	60	it	it	PRON
ajst-13261	20	61	has	have	VERB
ajst-13261	20	62	a	a	DET
ajst-13261	20	63	very	very	ADV
ajst-13261	20	64	broad	broad	ADJ
ajst-13261	20	65	application	application	NOUN
ajst-13261	20	66	value[5	value[5	PROPN
ajst-13261	20	67	]	]	PUNCT
ajst-13261	20	68	.	.	PUNCT
ajst-13261	21	1	2	2	X
ajst-13261	21	2	.	.	X
ajst-13261	21	3	dynamical	dynamical	ADJ
ajst-13261	21	4	model	model	NOUN
ajst-13261	21	5	2.1	2.1	NUM
ajst-13261	21	6	.	.	PUNCT
ajst-13261	22	1	vehicle	vehicle	NOUN
ajst-13261	22	2	model	model	NOUN
ajst-13261	22	3	vehicle	vehicle	NOUN
ajst-13261	22	4	dynamic	dynamic	ADJ
ajst-13261	22	5	models	model	NOUN
ajst-13261	22	6	can	can	AUX
ajst-13261	22	7	be	be	AUX
ajst-13261	22	8	used	use	VERB
ajst-13261	22	9	not	not	PART
ajst-13261	22	10	only	only	ADV
ajst-13261	22	11	for	for	ADP
ajst-13261	22	12	vehicle	vehicle	NOUN
ajst-13261	22	13	motion	motion	NOUN
ajst-13261	22	14	and	and	CCONJ
ajst-13261	22	15	control	control	NOUN
ajst-13261	22	16	,	,	PUNCT
ajst-13261	22	17	but	but	CCONJ
ajst-13261	22	18	also	also	ADV
ajst-13261	22	19	for	for	ADP
ajst-13261	22	20	tyre	tyre	PROPN
ajst-13261	22	21	force	force	NOUN
ajst-13261	22	22	calculation	calculation	NOUN
ajst-13261	22	23	and	and	CCONJ
ajst-13261	22	24	road	road	NOUN
ajst-13261	22	25	adhesion	adhesion	NOUN
ajst-13261	22	26	coefficient	coefficient	NOUN
ajst-13261	22	27	estimation	estimation	NOUN
ajst-13261	22	28	.	.	PUNCT
ajst-13261	23	1	as	as	SCONJ
ajst-13261	23	2	shown	show	VERB
ajst-13261	23	3	in	in	ADP
ajst-13261	23	4	fig	fig	NOUN
ajst-13261	23	5	.	.	PUNCT
ajst-13261	24	1	1	1	NUM
ajst-13261	24	2	,	,	PUNCT
ajst-13261	24	3	this	this	DET
ajst-13261	24	4	paper	paper	NOUN
ajst-13261	24	5	simplifies	simplify	VERB
ajst-13261	24	6	the	the	DET
ajst-13261	24	7	vehicle	vehicle	NOUN
ajst-13261	24	8	into	into	ADP
ajst-13261	24	9	a	a	DET
ajst-13261	24	10	3	3	NUM
ajst-13261	24	11	-	-	PUNCT
ajst-13261	24	12	degree	degree	NOUN
ajst-13261	24	13	-	-	PUNCT
ajst-13261	24	14	of	of	ADP
ajst-13261	24	15	-	-	PUNCT
ajst-13261	24	16	freedom	freedom	NOUN
ajst-13261	24	17	model	model	NOUN
ajst-13261	24	18	with	with	ADP
ajst-13261	24	19	only	only	ADV
ajst-13261	24	20	three	three	NUM
ajst-13261	24	21	directions	direction	NOUN
ajst-13261	24	22	:	:	PUNCT
ajst-13261	24	23	longitudinal	longitudinal	ADJ
ajst-13261	24	24	,	,	PUNCT
ajst-13261	24	25	lateral	lateral	ADJ
ajst-13261	24	26	and	and	CCONJ
ajst-13261	24	27	transverse[6	transverse[6	NOUN
ajst-13261	24	28	]	]	PUNCT
ajst-13261	24	29	.	.	PUNCT
ajst-13261	25	1	132	132	NUM
ajst-13261	25	2	figure	figure	NOUN
ajst-13261	25	3	1	1	NUM
ajst-13261	25	4	.	.	PUNCT
ajst-13261	25	5	vehicle	vehicle	NOUN
ajst-13261	25	6	dynamics	dynamic	NOUN
ajst-13261	25	7	modelling	model	VERB
ajst-13261	25	8	the	the	DET
ajst-13261	25	9	vehicle	vehicle	NOUN
ajst-13261	25	10	dynamics	dynamic	NOUN
ajst-13261	25	11	equations	equation	NOUN
ajst-13261	25	12	are	be	AUX
ajst-13261	25	13	:	:	PUNCT
ajst-13261	25	14	11	11	NUM
ajst-13261	25	15	12	12	NUM
ajst-13261	25	16	21	21	NUM
ajst-13261	25	17	22	22	NUM
ajst-13261	25	18	11	11	NUM
ajst-13261	25	19	12	12	NUM
ajst-13261	25	20	11	11	NUM
ajst-13261	25	21	12	12	NUM
ajst-13261	25	22	21	21	NUM
ajst-13261	25	23	22	22	NUM
ajst-13261	25	24	11	11	NUM
ajst-13261	25	25	12	12	NUM
ajst-13261	25	26	.	.	PUNCT
ajst-13261	26	1	11	11	NUM
ajst-13261	26	2	12	12	NUM
ajst-13261	26	3	11	11	NUM
ajst-13261	26	4	12	12	NUM
ajst-13261	26	5	21	21	NUM
ajst-13261	26	6	22	22	NUM
ajst-13261	26	7	11	11	NUM
ajst-13261	26	8	12	12	NUM
ajst-13261	26	9	11	11	NUM
ajst-13261	26	10	12	12	NUM
ajst-13261	26	11	21	21	NUM
ajst-13261	26	12	22	22	NUM
ajst-13261	26	13	(	(	PUNCT
ajst-13261	26	14	)	)	PUNCT
ajst-13261	26	15	cos	cos	PROPN
ajst-13261	26	16	(	(	PUNCT
ajst-13261	26	17	)	)	PUNCT
ajst-13261	26	18	sin	sin	NOUN
ajst-13261	26	19	(	(	PUNCT
ajst-13261	26	20	)	)	PUNCT
ajst-13261	26	21	sin	sin	NOUN
ajst-13261	26	22	(	(	PUNCT
ajst-13261	26	23	)	)	PUNCT
ajst-13261	26	24	cos	cos	PROPN
ajst-13261	26	25	(	(	PUNCT
ajst-13261	26	26	)	)	PUNCT
ajst-13261	26	27	sin	sin	NOUN
ajst-13261	26	28	(	(	PUNCT
ajst-13261	26	29	)	)	PUNCT
ajst-13261	26	30	cos	cos	PROPN
ajst-13261	26	31	(	(	PUNCT
ajst-13261	26	32	)	)	PUNCT
ajst-13261	26	33	(	(	PUNCT
ajst-13261	26	34	)	)	PUNCT
ajst-13261	26	35	sin	sin	NOUN
ajst-13261	26	36	(	(	PUNCT
ajst-13261	26	37	)	)	PUNCT
ajst-13261	26	38	cos	cos	PROPN
ajst-13261	26	39	(	(	PUNCT
ajst-13261	26	40	)	)	PUNCT
ajst-13261	26	41	2	2	NUM
ajst-13261	26	42	2	2	NUM
ajst-13261	26	43	2	2	NUM
ajst-13261	26	44			PROPN
ajst-13261	26	45			ADV
ajst-13261	26	46			PUNCT
ajst-13261	26	47			PUNCT
ajst-13261	26	48			NOUN
ajst-13261	26	49			NUM
ajst-13261	26	50			NUM
ajst-13261	26	51			PROPN
ajst-13261	26	52			PROPN
ajst-13261	26	53			PUNCT
ajst-13261	26	54			PUNCT
ajst-13261	26	55			PUNCT
ajst-13261	26	56			NOUN
ajst-13261	26	57			NUM
ajst-13261	26	58			NUM
ajst-13261	26	59			NOUN
ajst-13261	26	60			ADV
ajst-13261	26	61			PUNCT
ajst-13261	26	62			PUNCT
ajst-13261	26	63			PROPN
ajst-13261	26	64			ADV
ajst-13261	26	65			PUNCT
ajst-13261	26	66			PROPN
ajst-13261	26	67			PROPN
ajst-13261	26	68			PROPN
ajst-13261	26	69			PROPN
ajst-13261	26	70			PROPN
ajst-13261	26	71			PROPN
ajst-13261	26	72	x	x	NOUN
ajst-13261	26	73	x	x	PUNCT
ajst-13261	26	74	x	x	PUNCT
ajst-13261	26	75	x	x	PUNCT
ajst-13261	26	76	x	x	PUNCT
ajst-13261	26	77	y	y	VERB
ajst-13261	26	78	y	y	PROPN
ajst-13261	26	79	y	y	PROPN
ajst-13261	26	80	x	x	PUNCT
ajst-13261	26	81	x	x	VERB
ajst-13261	26	82	y	y	VERB
ajst-13261	26	83	y	y	PROPN
ajst-13261	26	84	y	y	PROPN
ajst-13261	26	85	y	y	PROPN
ajst-13261	26	86	z	z	NOUN
ajst-13261	26	87	x	x	PUNCT
ajst-13261	26	88	x	x	PUNCT
ajst-13261	26	89	y	y	VERB
ajst-13261	26	90	y	y	PROPN
ajst-13261	26	91	y	y	PROPN
ajst-13261	26	92	y	y	PROPN
ajst-13261	27	1	f	f	NOUN
ajst-13261	27	2	f	f	PROPN
ajst-13261	27	3	r	r	NOUN
ajst-13261	27	4	y	y	PROPN
ajst-13261	27	5	y	y	NOUN
ajst-13261	27	6	x	x	PUNCT
ajst-13261	27	7	x	x	VERB
ajst-13261	28	1	y	y	VERB
ajst-13261	28	2	y	y	PROPN
ajst-13261	28	3	ma	ma	PROPN
ajst-13261	28	4	f	f	PROPN
ajst-13261	29	1	f	f	PROPN
ajst-13261	30	1	f	f	PROPN
ajst-13261	30	2	f	f	PROPN
ajst-13261	31	1	f	f	PROPN
ajst-13261	32	1	f	f	PROPN
ajst-13261	32	2	ma	ma	PROPN
ajst-13261	33	1	f	f	PROPN
ajst-13261	34	1	f	f	PROPN
ajst-13261	35	1	f	f	PROPN
ajst-13261	36	1	f	f	X
ajst-13261	37	1	f	f	PROPN
ajst-13261	38	1	f	f	PROPN
ajst-13261	39	1	i	i	PRON
ajst-13261	39	2	a	a	X
ajst-13261	40	1	f	f	X
ajst-13261	40	2	f	f	PROPN
ajst-13261	41	1	a	a	DET
ajst-13261	41	2	f	f	X
ajst-13261	41	3	f	f	PROPN
ajst-13261	41	4	b	b	PROPN
ajst-13261	41	5	f	f	X
ajst-13261	42	1	f	f	PROPN
ajst-13261	42	2	t	t	PROPN
ajst-13261	42	3	t	t	PROPN
ajst-13261	42	4	t	t	PROPN
ajst-13261	42	5	f	f	PROPN
ajst-13261	43	1	f	f	PROPN
ajst-13261	43	2	f	f	PROPN
ajst-13261	43	3	f	f	PROPN
ajst-13261	43	4	f	f	PROPN
ajst-13261	43	5	f	f	PROPN
ajst-13261	43	6			X
ajst-13261	43	7			X
ajst-13261	43	8			X
ajst-13261	43	9			X
ajst-13261	43	10			X
ajst-13261	43	11			X
ajst-13261	43	12			X
ajst-13261	43	13			X
ajst-13261	43	14			X
ajst-13261	43	15			NUM
ajst-13261	43	16			NUM
ajst-13261	43	17			NUM
ajst-13261	43	18	(	(	PUNCT
ajst-13261	43	19	1	1	NUM
ajst-13261	43	20	)	)	PUNCT
ajst-13261	43	21	in	in	ADP
ajst-13261	43	22	the	the	DET
ajst-13261	43	23	above	above	ADJ
ajst-13261	43	24	equation	equation	NOUN
ajst-13261	43	25	,	,	PUNCT
ajst-13261	43	26	𝑎	𝑎	DET
ajst-13261	43	27	、	、	NOUN
ajst-13261	43	28	𝑎	𝑎	NOUN
ajst-13261	43	29	for	for	ADP
ajst-13261	43	30	the	the	DET
ajst-13261	43	31	longitudinal	longitudinal	ADJ
ajst-13261	43	32	acceleration	acceleration	NOUN
ajst-13261	43	33	and	and	CCONJ
ajst-13261	43	34	lateral	lateral	ADJ
ajst-13261	43	35	acceleration	acceleration	NOUN
ajst-13261	43	36	of	of	ADP
ajst-13261	43	37	the	the	DET
ajst-13261	43	38	vehicle	vehicle	NOUN
ajst-13261	43	39	;	;	PUNCT
ajst-13261	43	40	𝑣	𝑣	PART
ajst-13261	43	41	、	、	NOUN
ajst-13261	43	42	𝑣	𝑣	PROPN
ajst-13261	43	43	for	for	ADP
ajst-13261	43	44	the	the	DET
ajst-13261	43	45	longitudinal	longitudinal	ADJ
ajst-13261	43	46	speed	speed	NOUN
ajst-13261	43	47	and	and	CCONJ
ajst-13261	43	48	lateral	lateral	ADJ
ajst-13261	43	49	speed	speed	NOUN
ajst-13261	43	50	of	of	ADP
ajst-13261	43	51	the	the	DET
ajst-13261	43	52	vehicle	vehicle	NOUN
ajst-13261	43	53	;	;	PUNCT
ajst-13261	43	54	𝑎、𝑏	𝑎、𝑏	NOUN
ajst-13261	43	55	for	for	ADP
ajst-13261	43	56	the	the	DET
ajst-13261	43	57	distance	distance	NOUN
ajst-13261	43	58	from	from	ADP
ajst-13261	43	59	the	the	DET
ajst-13261	43	60	center	center	NOUN
ajst-13261	43	61	of	of	ADP
ajst-13261	43	62	mass	mass	NOUN
ajst-13261	43	63	of	of	ADP
ajst-13261	43	64	the	the	DET
ajst-13261	43	65	vehicle	vehicle	NOUN
ajst-13261	43	66	to	to	ADP
ajst-13261	43	67	the	the	DET
ajst-13261	43	68	front	front	ADJ
ajst-13261	43	69	and	and	CCONJ
ajst-13261	43	70	rear	rear	ADJ
ajst-13261	43	71	axes	axis	NOUN
ajst-13261	43	72	;	;	PUNCT
ajst-13261	43	73	m	m	VERB
ajst-13261	43	74	for	for	ADP
ajst-13261	43	75	the	the	DET
ajst-13261	43	76	total	total	ADJ
ajst-13261	43	77	mass	mass	NOUN
ajst-13261	43	78	of	of	ADP
ajst-13261	43	79	the	the	DET
ajst-13261	43	80	vehicle	vehicle	NOUN
ajst-13261	43	81	;	;	PUNCT
ajst-13261	43	82	𝑇	𝑇	PROPN
ajst-13261	43	83	、	、	NOUN
ajst-13261	43	84	𝑇	𝑇	PROPN
ajst-13261	43	85	for	for	ADP
ajst-13261	43	86	the	the	DET
ajst-13261	43	87	distance	distance	NOUN
ajst-13261	43	88	between	between	ADP
ajst-13261	43	89	front	front	ADJ
ajst-13261	43	90	and	and	CCONJ
ajst-13261	43	91	rear	rear	ADJ
ajst-13261	43	92	wheels	wheel	NOUN
ajst-13261	43	93	;	;	PUNCT
ajst-13261	43	94	𝐹	𝐹	PROPN
ajst-13261	43	95	、	、	VERB
ajst-13261	43	96	𝐹	𝐹	PROPN
ajst-13261	43	97	for	for	ADP
ajst-13261	43	98	the	the	DET
ajst-13261	43	99	longitudinal	longitudinal	ADJ
ajst-13261	43	100	and	and	CCONJ
ajst-13261	43	101	lateral	lateral	ADJ
ajst-13261	43	102	forces	force	NOUN
ajst-13261	43	103	on	on	ADP
ajst-13261	43	104	the	the	DET
ajst-13261	43	105	wheels	wheel	NOUN
ajst-13261	43	106	（	（	PUNCT
ajst-13261	43	107	𝑖=1,2	𝑖=1,2	PROPN
ajst-13261	43	108	for	for	ADP
ajst-13261	43	109	the	the	DET
ajst-13261	43	110	front	front	ADJ
ajst-13261	43	111	axle	axle	NOUN
ajst-13261	43	112	and	and	CCONJ
ajst-13261	43	113	the	the	DET
ajst-13261	43	114	rear	rear	ADJ
ajst-13261	43	115	axle	axle	NOUN
ajst-13261	43	116	,	,	PUNCT
ajst-13261	43	117	respectively	respectively	ADV
ajst-13261	43	118	,	,	PUNCT
ajst-13261	43	119	and	and	CCONJ
ajst-13261	43	120	𝑗=1,2,3,4	𝑗=1,2,3,4	ADJ
ajst-13261	43	121	for	for	ADP
ajst-13261	43	122	the	the	DET
ajst-13261	43	123	left	left	ADJ
ajst-13261	43	124	-	-	PUNCT
ajst-13261	43	125	front	front	NOUN
ajst-13261	43	126	,	,	PUNCT
ajst-13261	43	127	right	right	ADJ
ajst-13261	43	128	-	-	PUNCT
ajst-13261	43	129	front	front	NOUN
ajst-13261	43	130	,	,	PUNCT
ajst-13261	43	131	left	left	ADJ
ajst-13261	43	132	-	-	PUNCT
ajst-13261	43	133	rear	rear	NOUN
ajst-13261	43	134	,	,	PUNCT
ajst-13261	43	135	and	and	CCONJ
ajst-13261	43	136	right	right	ADJ
ajst-13261	43	137	-	-	PUNCT
ajst-13261	43	138	rear	rear	ADJ
ajst-13261	43	139	wheels	wheel	NOUN
ajst-13261	43	140	,	,	PUNCT
ajst-13261	43	141	respectively	respectively	ADV
ajst-13261	43	142	)	)	PUNCT
ajst-13261	43	143	;	;	PUNCT
ajst-13261	43	144	𝛼	𝛼	X
ajst-13261	43	145	is	be	AUX
ajst-13261	43	146	the	the	DET
ajst-13261	43	147	angle	angle	NOUN
ajst-13261	43	148	of	of	ADP
ajst-13261	43	149	gyration	gyration	NOUN
ajst-13261	43	150	of	of	ADP
ajst-13261	43	151	the	the	DET
ajst-13261	43	152	front	front	ADJ
ajst-13261	43	153	wheels	wheel	NOUN
ajst-13261	43	154	;	;	PUNCT
ajst-13261	43	155	𝐼	𝐼	PROPN
ajst-13261	43	156	for	for	ADP
ajst-13261	43	157	the	the	DET
ajst-13261	43	158	rotating	rotate	VERB
ajst-13261	43	159	moment	moment	NOUN
ajst-13261	43	160	of	of	ADP
ajst-13261	43	161	inertia	inertia	NOUN
ajst-13261	43	162	;	;	PUNCT
ajst-13261	43	163	and	and	CCONJ
ajst-13261	43	164	.	.	PUNCT
ajst-13261	44	1			PROPN
ajst-13261	44	2	for	for	ADP
ajst-13261	44	3	the	the	DET
ajst-13261	44	4	angular	angular	ADJ
ajst-13261	44	5	acceleration	acceleration	NOUN
ajst-13261	44	6	of	of	ADP
ajst-13261	44	7	the	the	DET
ajst-13261	44	8	transverse	transverse	NOUN
ajst-13261	44	9	swing	swing	NOUN
ajst-13261	44	10	.	.	PUNCT
ajst-13261	45	1	2.2	2.2	NUM
ajst-13261	45	2	.	.	PUNCT
ajst-13261	46	1	tyre	tyre	NOUN
ajst-13261	46	2	model	model	NOUN
ajst-13261	46	3	for	for	ADP
ajst-13261	46	4	the	the	DET
ajst-13261	46	5	research	research	NOUN
ajst-13261	46	6	content	content	NOUN
ajst-13261	46	7	of	of	ADP
ajst-13261	46	8	this	this	DET
ajst-13261	46	9	paper	paper	NOUN
ajst-13261	46	10	,	,	PUNCT
ajst-13261	46	11	considering	consider	VERB
ajst-13261	46	12	the	the	DET
ajst-13261	46	13	effect	effect	NOUN
ajst-13261	46	14	of	of	ADP
ajst-13261	46	15	model	model	NOUN
ajst-13261	46	16	accuracy	accuracy	NOUN
ajst-13261	46	17	,	,	PUNCT
ajst-13261	46	18	dugoff	dugoff	PROPN
ajst-13261	46	19	tyre	tyre	PROPN
ajst-13261	46	20	model	model	NOUN
ajst-13261	46	21	is	be	AUX
ajst-13261	46	22	selected	select	VERB
ajst-13261	46	23	,	,	PUNCT
ajst-13261	46	24	for	for	ADP
ajst-13261	46	25	each	each	DET
ajst-13261	46	26	wheel	wheel	NOUN
ajst-13261	46	27	,	,	PUNCT
ajst-13261	46	28	the	the	DET
ajst-13261	46	29	longitudinal	longitudinal	ADJ
ajst-13261	46	30	force	force	NOUN
ajst-13261	46	31	and	and	CCONJ
ajst-13261	46	32	lateral	lateral	ADJ
ajst-13261	46	33	force	force	NOUN
ajst-13261	46	34	acting	act	VERB
ajst-13261	46	35	on	on	ADP
ajst-13261	46	36	the	the	DET
ajst-13261	46	37	tyre	tyre	NOUN
ajst-13261	46	38	can	can	AUX
ajst-13261	46	39	be	be	AUX
ajst-13261	46	40	expressed	express	VERB
ajst-13261	46	41	by	by	ADP
ajst-13261	46	42	equation	equation	NOUN
ajst-13261	46	43	(	(	PUNCT
ajst-13261	46	44	2	2	NUM
ajst-13261	46	45	)	)	PUNCT
ajst-13261	46	46	.	.	PUNCT
ajst-13261	47	1			NOUN
ajst-13261	48	1			PUNCT
ajst-13261	48	2			NOUN
ajst-13261	48	3			PROPN
ajst-13261	48	4	1	1	NUM
ajst-13261	48	5	tan	tan	NOUN
ajst-13261	48	6	1	1	NUM
ajst-13261	48	7	xij	xij	NOUN
ajst-13261	48	8	zij	zij	PROPN
ajst-13261	48	9	xij	xij	PROPN
ajst-13261	48	10	yij	yij	PROPN
ajst-13261	48	11	zij	zij	PROPN
ajst-13261	48	12	yij	yij	PROPN
ajst-13261	48	13	s	s	PART
ajst-13261	49	1	f	f	X
ajst-13261	49	2	f	f	PROPN
ajst-13261	49	3	c	c	PROPN
ajst-13261	49	4	f	f	PROPN
ajst-13261	50	1	k	k	PROPN
ajst-13261	50	2	s	s	X
ajst-13261	51	1	f	f	X
ajst-13261	51	2	f	f	PROPN
ajst-13261	51	3	c	c	PROPN
ajst-13261	52	1	f	f	PROPN
ajst-13261	52	2	k	k	PROPN
ajst-13261	52	3	s	s	AUX
ajst-13261	52	4			NOUN
ajst-13261	52	5			NOUN
ajst-13261	52	6			ADP
ajst-13261	53	1			VERB
ajst-13261	53	2			NOUN
ajst-13261	53	3			NOUN
ajst-13261	53	4			NUM
ajst-13261	53	5			NOUN
ajst-13261	53	6			NUM
ajst-13261	53	7			CCONJ
ajst-13261	53	8	(	(	PUNCT
ajst-13261	53	9	2	2	NUM
ajst-13261	53	10	)	)	PUNCT
ajst-13261	53	11	included	include	VERB
ajst-13261	53	12	among	among	ADP
ajst-13261	53	13	these	these	PRON
ajst-13261	53	14	,	,	PUNCT
ajst-13261	53	15			PROPN
ajst-13261	53	16			PROPN
ajst-13261	53	17	2	2	NUM
ajst-13261	53	18	2	2	NUM
ajst-13261	53	19	2	2	NUM
ajst-13261	53	20	2	2	NUM
ajst-13261	53	21	(	(	PUNCT
ajst-13261	53	22	2	2	NUM
ajst-13261	53	23	)	)	PUNCT
ajst-13261	53	24	,	,	PUNCT
ajst-13261	53	25	1	1	NUM
ajst-13261	53	26	1	1	NUM
ajst-13261	53	27	,	,	PUNCT
ajst-13261	54	1	1	1	NUM
ajst-13261	54	2	1	1	NUM
ajst-13261	54	3	(	(	PUNCT
ajst-13261	54	4	1	1	NUM
ajst-13261	54	5	)	)	SYM
ajst-13261	54	6	2	2	NUM
ajst-13261	54	7	tanx	tanx	NOUN
ajst-13261	54	8	y	y	PROPN
ajst-13261	55	1	k	k	PROPN
ajst-13261	55	2	k	k	PROPN
ajst-13261	56	1	k	k	PROPN
ajst-13261	56	2	f	f	PROPN
ajst-13261	57	1	k	k	PROPN
ajst-13261	58	1	k	k	PROPN
ajst-13261	58	2	k	k	PROPN
ajst-13261	58	3	s	s	X
ajst-13261	58	4	c	c	NOUN
ajst-13261	58	5	s	s	NOUN
ajst-13261	58	6	c	c	NOUN
ajst-13261	58	7			NOUN
ajst-13261	58	8			ADP
ajst-13261	58	9			NUM
ajst-13261	58	10			NUM
ajst-13261	58	11			NUM
ajst-13261	58	12			NUM
ajst-13261	58	13			NUM
ajst-13261	58	14			PROPN
ajst-13261	58	15			NOUN
ajst-13261	58	16			PROPN
ajst-13261	58	17			NOUN
ajst-13261	58	18			PROPN
ajst-13261	58	19			NUM
ajst-13261	58	20			PROPN
ajst-13261	58	21			PROPN
ajst-13261	58	22			X
ajst-13261	58	23	(	(	PUNCT
ajst-13261	58	24	3	3	X
ajst-13261	58	25	)	)	PUNCT
ajst-13261	58	26	do	do	AUX
ajst-13261	58	27	tyre	tyre	PROPN
ajst-13261	58	28	normalized	normalize	VERB
ajst-13261	58	29	processing	processing	NOUN
ajst-13261	58	30	of	of	ADP
ajst-13261	58	31	equation	equation	NOUN
ajst-13261	58	32	(	(	PUNCT
ajst-13261	58	33	2	2	NUM
ajst-13261	58	34	):	):	PUNCT
ajst-13261	58	35			NOUN
ajst-13261	58	36			SYM
ajst-13261	58	37			NOUN
ajst-13261	58	38			PUNCT
ajst-13261	59	1	*	*	PUNCT
ajst-13261	59	2	*	*	PUNCT
ajst-13261	59	3	1	1	NUM
ajst-13261	59	4	tan	tan	NOUN
ajst-13261	59	5	1	1	NUM
ajst-13261	59	6	xij	xij	NOUN
ajst-13261	59	7	xij	xij	PROPN
ajst-13261	59	8	zij	zij	PROPN
ajst-13261	59	9	xij	xij	PROPN
ajst-13261	59	10	yij	yij	PROPN
ajst-13261	59	11	yij	yij	PROPN
ajst-13261	59	12	zij	zij	PROPN
ajst-13261	59	13	xij	xij	PROPN
ajst-13261	59	14	s	s	PROPN
ajst-13261	60	1	f	f	X
ajst-13261	60	2	f	f	X
ajst-13261	60	3	f	f	PROPN
ajst-13261	60	4	c	c	PROPN
ajst-13261	60	5	f	f	PROPN
ajst-13261	61	1	k	k	PROPN
ajst-13261	61	2	s	s	PROPN
ajst-13261	61	3	f	f	X
ajst-13261	62	1	f	f	X
ajst-13261	62	2	f	f	PROPN
ajst-13261	63	1	c	c	PROPN
ajst-13261	63	2	f	f	PROPN
ajst-13261	63	3	k	k	PROPN
ajst-13261	63	4	s	s	NOUN
ajst-13261	63	5			NOUN
ajst-13261	63	6			NOUN
ajst-13261	63	7			NOUN
ajst-13261	63	8			NOUN
ajst-13261	63	9			ADP
ajst-13261	63	10			NOUN
ajst-13261	64	1			NUM
ajst-13261	64	2			NUM
ajst-13261	64	3			NUM
ajst-13261	64	4			NOUN
ajst-13261	64	5			PROPN
ajst-13261	64	6			NOUN
ajst-13261	64	7			PROPN
ajst-13261	64	8			PROPN
ajst-13261	64	9			PROPN
ajst-13261	64	10			NOUN
ajst-13261	64	11	(	(	PUNCT
ajst-13261	64	12	4	4	NUM
ajst-13261	64	13	)	)	PUNCT
ajst-13261	64	14	where	where	SCONJ
ajst-13261	64	15	𝐹	𝐹	PROPN
ajst-13261	64	16	is	be	AUX
ajst-13261	64	17	the	the	DET
ajst-13261	64	18	vertical	vertical	ADJ
ajst-13261	64	19	load	load	NOUN
ajst-13261	64	20	of	of	ADP
ajst-13261	64	21	four	four	NUM
ajst-13261	64	22	wheels	wheel	NOUN
ajst-13261	64	23	;	;	PUNCT
ajst-13261	64	24	𝐶	𝐶	PROPN
ajst-13261	64	25	、	、	PROPN
ajst-13261	64	26	𝐶	𝐶	PROPN
ajst-13261	64	27	are	be	AUX
ajst-13261	64	28	the	the	DET
ajst-13261	64	29	longitudinal	longitudinal	ADJ
ajst-13261	64	30	stiffness	stiffness	NOUN
ajst-13261	64	31	and	and	CCONJ
ajst-13261	64	32	lateral	lateral	ADJ
ajst-13261	64	33	stiffness	stiffness	NOUN
ajst-13261	64	34	of	of	ADP
ajst-13261	64	35	each	each	DET
ajst-13261	64	36	tyre	tyre	PROPN
ajst-13261	64	37	,	,	PUNCT
ajst-13261	64	38	respectively	respectively	ADV
ajst-13261	64	39	;	;	PUNCT
ajst-13261	64	40	s	s	X
ajst-13261	64	41	is	be	AUX
ajst-13261	64	42	the	the	DET
ajst-13261	64	43	longitudinal	longitudinal	ADJ
ajst-13261	64	44	slip	slip	NOUN
ajst-13261	64	45	rate	rate	NOUN
ajst-13261	64	46	;	;	PUNCT
ajst-13261	64	47	𝜇	𝜇	X
ajst-13261	64	48	is	be	AUX
ajst-13261	64	49	the	the	DET
ajst-13261	64	50	road	road	NOUN
ajst-13261	64	51	adhesion	adhesion	NOUN
ajst-13261	64	52	coefficient	coefficient	NOUN
ajst-13261	64	53	;	;	PUNCT
ajst-13261	64	54	k	k	X
ajst-13261	64	55	is	be	AUX
ajst-13261	64	56	the	the	DET
ajst-13261	64	57	characteristic	characteristic	ADJ
ajst-13261	64	58	parameter	parameter	NOUN
ajst-13261	64	59	due	due	ADP
ajst-13261	64	60	to	to	ADP
ajst-13261	64	61	the	the	DET
ajst-13261	64	62	nonlinear	nonlinear	ADJ
ajst-13261	64	63	change	change	NOUN
ajst-13261	64	64	of	of	ADP
ajst-13261	64	65	tyre	tyre	PROPN
ajst-13261	64	66	force	force	NOUN
ajst-13261	64	67	caused	cause	VERB
ajst-13261	64	68	by	by	ADP
ajst-13261	64	69	tyre	tyre	PROPN
ajst-13261	64	70	slip	slip	NOUN
ajst-13261	64	71	,	,	PUNCT
ajst-13261	64	72	1k	1k	PROPN
ajst-13261	64	73			NUM
ajst-13261	64	74	denotes	denote	VERB
ajst-13261	64	75	the	the	DET
ajst-13261	64	76	linear	linear	ADJ
ajst-13261	64	77	interval	interval	NOUN
ajst-13261	64	78	of	of	ADP
ajst-13261	64	79	the	the	DET
ajst-13261	64	80	tyre	tyre	PROPN
ajst-13261	64	81	,	,	PUNCT
ajst-13261	64	82	1k	1k	PROPN
ajst-13261	64	83			PROPN
ajst-13261	64	84	denotes	denote	VERB
ajst-13261	64	85	the	the	DET
ajst-13261	64	86	tyre	tyre	PROPN
ajst-13261	64	87	non	non	ADJ
ajst-13261	64	88	-	-	ADJ
ajst-13261	64	89	linear	linear	ADJ
ajst-13261	64	90	interval	interval	NOUN
ajst-13261	64	91	.	.	PUNCT
ajst-13261	65	1	𝐹∗	𝐹∗	X
ajst-13261	65	2	、	、	NOUN
ajst-13261	65	3	𝐹∗	𝐹∗	X
ajst-13261	65	4	denote	denote	VERB
ajst-13261	65	5	the	the	DET
ajst-13261	65	6	longitudinal	longitudinal	ADJ
ajst-13261	65	7	and	and	CCONJ
ajst-13261	65	8	lateral	lateral	ADJ
ajst-13261	65	9	normalized	normalize	VERB
ajst-13261	65	10	tyre	tyre	PROPN
ajst-13261	65	11	forces	force	NOUN
ajst-13261	65	12	of	of	ADP
ajst-13261	65	13	the	the	DET
ajst-13261	65	14	4	4	NUM
ajst-13261	65	15	wheels	wheel	NOUN
ajst-13261	65	16	.	.	PUNCT
ajst-13261	66	1	from	from	ADP
ajst-13261	66	2	equation	equation	NOUN
ajst-13261	66	3	(	(	PUNCT
ajst-13261	66	4	4	4	NUM
ajst-13261	66	5	)	)	PUNCT
ajst-13261	66	6	,	,	PUNCT
ajst-13261	66	7	it	it	PRON
ajst-13261	66	8	can	can	AUX
ajst-13261	66	9	be	be	AUX
ajst-13261	66	10	seen	see	VERB
ajst-13261	66	11	that	that	SCONJ
ajst-13261	66	12	𝐹∗	𝐹∗	VERB
ajst-13261	66	13	、	、	NOUN
ajst-13261	66	14	𝐹∗	𝐹∗	NOUN
ajst-13261	66	15	are	be	AUX
ajst-13261	66	16	not	not	PART
ajst-13261	66	17	correlated	correlate	VERB
ajst-13261	66	18	with	with	ADP
ajst-13261	66	19	the	the	DET
ajst-13261	66	20	changes	change	NOUN
ajst-13261	66	21	in	in	ADP
ajst-13261	66	22	the	the	DET
ajst-13261	66	23	road	road	NOUN
ajst-13261	66	24	adhesion	adhesion	NOUN
ajst-13261	66	25	coefficient	coefficient	NOUN
ajst-13261	66	26	.	.	PUNCT
ajst-13261	67	1	the	the	DET
ajst-13261	67	2	calculation	calculation	NOUN
ajst-13261	67	3	of	of	ADP
ajst-13261	67	4	the	the	DET
ajst-13261	67	5	normalized	normalize	VERB
ajst-13261	67	6	force	force	NOUN
ajst-13261	67	7	becomes	become	VERB
ajst-13261	67	8	the	the	DET
ajst-13261	67	9	key	key	NOUN
ajst-13261	67	10	to	to	ADP
ajst-13261	67	11	estimating	estimate	VERB
ajst-13261	67	12	the	the	DET
ajst-13261	67	13	road	road	NOUN
ajst-13261	67	14	adhesion	adhesion	NOUN
ajst-13261	67	15	coefficient	coefficient	NOUN
ajst-13261	67	16	.	.	PUNCT
ajst-13261	68	1	in	in	ADP
ajst-13261	68	2	this	this	DET
ajst-13261	68	3	paper	paper	NOUN
ajst-13261	68	4	,	,	PUNCT
ajst-13261	68	5	the	the	DET
ajst-13261	68	6	vehicle	vehicle	NOUN
ajst-13261	68	7	state	state	NOUN
ajst-13261	68	8	measured	measure	VERB
ajst-13261	68	9	or	or	CCONJ
ajst-13261	68	10	estimated	estimate	VERB
ajst-13261	68	11	by	by	ADP
ajst-13261	68	12	known	known	ADJ
ajst-13261	68	13	sensors	sensor	NOUN
ajst-13261	68	14	is	be	AUX
ajst-13261	68	15	used	use	VERB
ajst-13261	68	16	as	as	ADP
ajst-13261	68	17	input	input	NOUN
ajst-13261	68	18	to	to	PART
ajst-13261	68	19	calculate	calculate	VERB
ajst-13261	68	20	the	the	DET
ajst-13261	68	21	normalized	normalized	ADJ
ajst-13261	68	22	force	force	NOUN
ajst-13261	68	23	,	,	PUNCT
ajst-13261	68	24	thus	thus	ADV
ajst-13261	68	25	laying	lay	VERB
ajst-13261	68	26	the	the	DET
ajst-13261	68	27	foundation	foundation	NOUN
ajst-13261	68	28	for	for	ADP
ajst-13261	68	29	the	the	DET
ajst-13261	68	30	design	design	NOUN
ajst-13261	68	31	of	of	ADP
ajst-13261	68	32	the	the	DET
ajst-13261	68	33	parameter	parameter	NOUN
ajst-13261	68	34	estimator	estimator	NOUN
ajst-13261	68	35	based	base	VERB
ajst-13261	68	36	on	on	ADP
ajst-13261	68	37	equations	equation	NOUN
ajst-13261	68	38	(	(	PUNCT
ajst-13261	68	39	3	3	NUM
ajst-13261	68	40	)	)	PUNCT
ajst-13261	68	41	and	and	CCONJ
ajst-13261	68	42	(	(	PUNCT
ajst-13261	68	43	4	4	NUM
ajst-13261	68	44	)	)	PUNCT
ajst-13261	68	45	.	.	PUNCT
ajst-13261	69	1	the	the	DET
ajst-13261	69	2	following	follow	VERB
ajst-13261	69	3	equations	equation	NOUN
ajst-13261	69	4	describing	describe	VERB
ajst-13261	69	5	the	the	DET
ajst-13261	69	6	dynamics	dynamic	NOUN
ajst-13261	69	7	of	of	ADP
ajst-13261	69	8	the	the	DET
ajst-13261	69	9	four	four	NUM
ajst-13261	69	10	-	-	PUNCT
ajst-13261	69	11	degree	degree	NOUN
ajst-13261	69	12	-	-	PUNCT
ajst-13261	69	13	of	of	ADP
ajst-13261	69	14	-	-	PUNCT
ajst-13261	69	15	freedom	freedom	NOUN
ajst-13261	69	16	vehicle	vehicle	NOUN
ajst-13261	69	17	model	model	NOUN
ajst-13261	69	18	can	can	AUX
ajst-13261	69	19	be	be	AUX
ajst-13261	69	20	obtained	obtain	VERB
ajst-13261	69	21	r	r	NOUN
ajst-13261	69	22	1	1	NUM
ajst-13261	69	23	1	1	NUM
ajst-13261	69	24	2	2	NUM
ajst-13261	69	25	2	2	NUM
ajst-13261	69	26	1	1	NUM
ajst-13261	69	27	1	1	NUM
ajst-13261	69	28	2	2	NUM
ajst-13261	69	29	2	2	NUM
ajst-13261	69	30			NOUN
ajst-13261	69	31			NOUN
ajst-13261	69	32			NOUN
ajst-13261	69	33			PROPN
ajst-13261	70	1			PROPN
ajst-13261	70	2			PROPN
ajst-13261	70	3			PROPN
ajst-13261	70	4			X
ajst-13261	70	5			SYM
ajst-13261	70	6			ADJ
ajst-13261	70	7			NOUN
ajst-13261	70	8			NUM
ajst-13261	70	9			NOUN
ajst-13261	70	10			VERB
ajst-13261	70	11			NUM
ajst-13261	70	12			PROPN
ajst-13261	70	13			PROPN
ajst-13261	70	14			SYM
ajst-13261	70	15			PROPN
ajst-13261	70	16			PROPN
ajst-13261	70	17	y	y	PROPN
ajst-13261	70	18	z11,z12	z11,z12	NOUN
ajst-13261	70	19	x	x	PROPN
ajst-13261	70	20	f	f	VERB
ajst-13261	70	21	y	y	PROPN
ajst-13261	70	22	z21,z22	z21,z22	PROPN
ajst-13261	70	23	x	x	X
ajst-13261	70	24	a	a	DET
ajst-13261	70	25	h	h	NOUN
ajst-13261	70	26	b	b	NOUN
ajst-13261	70	27	h	h	NOUN
ajst-13261	71	1	f	f	NOUN
ajst-13261	72	1	mg	mg	PROPN
ajst-13261	72	2	m	m	PROPN
ajst-13261	72	3	ma	ma	PROPN
ajst-13261	72	4	t	t	PROPN
ajst-13261	72	5	l	l	PROPN
ajst-13261	72	6	l	l	NOUN
ajst-13261	72	7	a	a	DET
ajst-13261	72	8	h	h	NOUN
ajst-13261	73	1	a	a	DET
ajst-13261	73	2	h	h	NOUN
ajst-13261	74	1	f	f	NOUN
ajst-13261	75	1	mg	mg	PROPN
ajst-13261	75	2	m	m	PROPN
ajst-13261	75	3	ma	ma	PROPN
ajst-13261	75	4	t	t	PROPN
ajst-13261	75	5	l	l	PROPN
ajst-13261	75	6	l	l	NOUN
ajst-13261	75	7	(	(	PUNCT
ajst-13261	75	8	5	5	NUM
ajst-13261	75	9	)	)	PUNCT
ajst-13261	75	10	11,12	11,12	NOUN
ajst-13261	75	11	21,22	21,22	NUM
ajst-13261	75	12	arctan	arctan	PROPN
ajst-13261	75	13	/	/	SYM
ajst-13261	75	14	2	2	PROPN
ajst-13261	75	15	b	b	PROPN
ajst-13261	75	16	arctan	arctan	PROPN
ajst-13261	75	17	/	/	SYM
ajst-13261	75	18	2	2	NUM
ajst-13261	75	19			ADP
ajst-13261	75	20			NOUN
ajst-13261	75	21			VERB
ajst-13261	75	22			NOUN
ajst-13261	76	1			PROPN
ajst-13261	76	2			NOUN
ajst-13261	76	3			PROPN
ajst-13261	76	4			PROPN
ajst-13261	76	5			PROPN
ajst-13261	76	6			NUM
ajst-13261	76	7			NOUN
ajst-13261	76	8			NUM
ajst-13261	77	1			NUM
ajst-13261	77	2			PROPN
ajst-13261	77	3			PROPN
ajst-13261	77	4			PROPN
ajst-13261	77	5			PROPN
ajst-13261	77	6			PROPN
ajst-13261	77	7			PROPN
ajst-13261	77	8			VERB
ajst-13261	77	9			PROPN
ajst-13261	77	10	y	y	PROPN
ajst-13261	78	1	x	x	PUNCT
ajst-13261	78	2	f	f	PROPN
ajst-13261	79	1	y	y	PROPN
ajst-13261	79	2	x	x	SYM
ajst-13261	79	3	f	f	PROPN
ajst-13261	79	4	v	v	NUM
ajst-13261	79	5	ar	ar	PROPN
ajst-13261	79	6	α	α	PROPN
ajst-13261	79	7	α	α	PROPN
ajst-13261	79	8	v	v	ADP
ajst-13261	79	9	t	t	NOUN
ajst-13261	79	10	r	r	NOUN
ajst-13261	79	11	-v	-v	PUNCT
ajst-13261	79	12	r	r	NOUN
ajst-13261	79	13	α	α	NOUN
ajst-13261	79	14	v	v	NOUN
ajst-13261	79	15	t	t	NOUN
ajst-13261	79	16	r	r	NOUN
ajst-13261	79	17	(	(	PUNCT
ajst-13261	79	18	6	6	NUM
ajst-13261	79	19	)	)	PUNCT
ajst-13261	79	20			NOUN
ajst-13261	79	21			NOUN
ajst-13261	80	1	ij	ij	INTJ
ajst-13261	80	2	ij	ij	INTJ
ajst-13261	80	3	ij	ij	INTJ
ajst-13261	80	4	ij	ij	INTJ
ajst-13261	80	5	ω	ω	NOUN
ajst-13261	80	6	r	r	NOUN
ajst-13261	80	7	v	v	ADP
ajst-13261	80	8	λ	λ	X
ajst-13261	80	9	v	v	NOUN
ajst-13261	80	10	(	(	PUNCT
ajst-13261	80	11	7	7	NUM
ajst-13261	80	12	)	)	PUNCT
ajst-13261	80	13	133	133	NUM
ajst-13261	80	14	,	,	PUNCT
ajst-13261	80	15	,	,	PUNCT
ajst-13261	80	16	2	2	NUM
ajst-13261	80	17	r	r	NOUN
ajst-13261	80	18	2	2	NUM
ajst-13261	80	19	2	2	NUM
ajst-13261	80	20			NOUN
ajst-13261	80	21			NOUN
ajst-13261	80	22			PROPN
ajst-13261	80	23			PROPN
ajst-13261	80	24			ADV
ajst-13261	81	1			PROPN
ajst-13261	81	2			PROPN
ajst-13261	81	3			PROPN
ajst-13261	81	4			PROPN
ajst-13261	81	5			NUM
ajst-13261	81	6			PROPN
ajst-13261	81	7			NUM
ajst-13261	81	8			NUM
ajst-13261	81	9			NOUN
ajst-13261	81	10			NOUN
ajst-13261	81	11			NUM
ajst-13261	81	12			ADV
ajst-13261	81	13			PROPN
ajst-13261	81	14			PROPN
ajst-13261	81	15			SYM
ajst-13261	81	16			PROPN
ajst-13261	81	17			PROPN
ajst-13261	81	18	f	f	PROPN
ajst-13261	81	19	11	11	NUM
ajst-13261	81	20	12	12	NUM
ajst-13261	81	21	cog	cog	NOUN
ajst-13261	81	22	21	21	NUM
ajst-13261	81	23	2	2	NUM
ajst-13261	81	24	cog	cog	NOUN
ajst-13261	81	25	t	t	PROPN
ajst-13261	81	26	v	v	NOUN
ajst-13261	81	27	v	v	NOUN
ajst-13261	81	28	r	r	NOUN
ajst-13261	81	29	aβ	aβ	NOUN
ajst-13261	81	30	t	t	NOUN
ajst-13261	81	31	v	v	NOUN
ajst-13261	81	32	v	v	NOUN
ajst-13261	81	33	r	r	NOUN
ajst-13261	81	34	bβ	bβ	NOUN
ajst-13261	81	35	(	(	PUNCT
ajst-13261	81	36	8)	8)	NUM
ajst-13261	81	37	arctan	arctan	PROPN
ajst-13261	81	38			NOUN
ajst-13261	81	39			PROPN
ajst-13261	82	1			PROPN
ajst-13261	83	1			PROPN
ajst-13261	83	2			PROPN
ajst-13261	84	1			PROPN
ajst-13261	84	2			PROPN
ajst-13261	84	3	y	y	NOUN
ajst-13261	84	4	x	x	SYM
ajst-13261	84	5	v	v	ADP
ajst-13261	84	6	β	β	X
ajst-13261	84	7	v	v	X
ajst-13261	84	8	(	(	PUNCT
ajst-13261	84	9	9	9	NUM
ajst-13261	84	10	)	)	SYM
ajst-13261	84	11	2	2	NUM
ajst-13261	85	1	2	2	NUM
ajst-13261	85	2	cog	cog	NOUN
ajst-13261	85	3	x	x	SYM
ajst-13261	85	4	yv	yv	PROPN
ajst-13261	85	5	v	v	NUM
ajst-13261	85	6	v	v	NOUN
ajst-13261	85	7	(	(	PUNCT
ajst-13261	85	8	10	10	NUM
ajst-13261	85	9	)	)	PUNCT
ajst-13261	85	10	where	where	SCONJ
ajst-13261	85	11	h	h	NOUN
ajst-13261	85	12	is	be	AUX
ajst-13261	85	13	the	the	DET
ajst-13261	85	14	height	height	NOUN
ajst-13261	85	15	of	of	ADP
ajst-13261	85	16	the	the	DET
ajst-13261	85	17	vehicle	vehicle	NOUN
ajst-13261	85	18	body	body	NOUN
ajst-13261	85	19	,	,	PUNCT
ajst-13261	85	20	𝛼	𝛼	PROPN
ajst-13261	85	21	is	be	AUX
ajst-13261	85	22	the	the	DET
ajst-13261	85	23	tyre	tyre	PROPN
ajst-13261	85	24	side	side	NOUN
ajst-13261	85	25	deflection	deflection	NOUN
ajst-13261	85	26	angle	angle	NOUN
ajst-13261	85	27	,	,	PUNCT
ajst-13261	85	28	ij	ij	PROPN
ajst-13261	85	29	is	be	AUX
ajst-13261	85	30	the	the	DET
ajst-13261	85	31	wheel	wheel	ADJ
ajst-13261	85	32	angular	angular	ADJ
ajst-13261	85	33	velocity	velocity	NOUN
ajst-13261	85	34	,	,	PUNCT
ajst-13261	85	35	r	r	NOUN
ajst-13261	85	36	is	be	AUX
ajst-13261	85	37	the	the	DET
ajst-13261	85	38	wheel	wheel	NOUN
ajst-13261	85	39	radius	radius	NOUN
ajst-13261	85	40	,	,	PUNCT
ajst-13261	85	41	cogv	cogv	NOUN
ajst-13261	85	42	is	be	AUX
ajst-13261	85	43	the	the	DET
ajst-13261	85	44	vehicle	vehicle	NOUN
ajst-13261	85	45	center	center	NOUN
ajst-13261	85	46	velocity	velocity	NOUN
ajst-13261	85	47	,	,	PUNCT
ajst-13261	85	48	and	and	CCONJ
ajst-13261	85	49	β	β	X
ajst-13261	85	50	is	be	AUX
ajst-13261	85	51	the	the	DET
ajst-13261	85	52	center	center	NOUN
ajst-13261	85	53	of	of	ADP
ajst-13261	85	54	mass	mass	ADJ
ajst-13261	85	55	side	side	NOUN
ajst-13261	85	56	deflection	deflection	NOUN
ajst-13261	85	57	angle	angle	NOUN
ajst-13261	85	58	.	.	PUNCT
ajst-13261	86	1	for	for	ADP
ajst-13261	86	2	the	the	DET
ajst-13261	86	3	calculation	calculation	NOUN
ajst-13261	86	4	of	of	ADP
ajst-13261	86	5	the	the	DET
ajst-13261	86	6	state	state	NOUN
ajst-13261	86	7	variables	variable	NOUN
ajst-13261	86	8	in	in	ADP
ajst-13261	86	9	the	the	DET
ajst-13261	86	10	longitudinal	longitudinal	ADJ
ajst-13261	86	11	and	and	CCONJ
ajst-13261	86	12	lateral	lateral	ADJ
ajst-13261	86	13	normalized	normalize	VERB
ajst-13261	86	14	forces	force	NOUN
ajst-13261	86	15	𝐹∗	𝐹∗	VERB
ajst-13261	86	16	、	、	NOUN
ajst-13261	86	17	𝐹∗	𝐹∗	DET
ajst-13261	86	18	the	the	DET
ajst-13261	86	19	reference	reference	NOUN
ajst-13261	86	20	equation	equation	NOUN
ajst-13261	86	21	.	.	PUNCT
ajst-13261	87	1	at	at	ADP
ajst-13261	87	2	this	this	DET
ajst-13261	87	3	point	point	NOUN
ajst-13261	87	4	,	,	PUNCT
ajst-13261	87	5	the	the	DET
ajst-13261	87	6	three	three	NUM
ajst-13261	87	7	-	-	PUNCT
ajst-13261	87	8	degree	degree	NOUN
ajst-13261	87	9	-	-	PUNCT
ajst-13261	87	10	of	of	ADP
ajst-13261	87	11	-	-	PUNCT
ajst-13261	87	12	freedom	freedom	NOUN
ajst-13261	87	13	vehicle	vehicle	NOUN
ajst-13261	87	14	model	model	NOUN
ajst-13261	87	15	and	and	CCONJ
ajst-13261	87	16	the	the	DET
ajst-13261	87	17	tyre	tyre	NOUN
ajst-13261	87	18	model	model	NOUN
ajst-13261	87	19	are	be	AUX
ajst-13261	87	20	established	establish	VERB
ajst-13261	87	21	.	.	PUNCT
ajst-13261	88	1	3	3	X
ajst-13261	88	2	.	.	X
ajst-13261	88	3	design	design	NOUN
ajst-13261	88	4	of	of	ADP
ajst-13261	88	5	volumetric	volumetric	NOUN
ajst-13261	88	6	kalman	kalman	NOUN
ajst-13261	88	7	filter	filter	NOUN
ajst-13261	88	8	estimation	estimation	NOUN
ajst-13261	88	9	algorithm	algorithm	PROPN
ajst-13261	88	10	3.1	3.1	NUM
ajst-13261	88	11	.	.	PUNCT
ajst-13261	88	12	estimator	estimator	NOUN
ajst-13261	88	13	design	design	PROPN
ajst-13261	88	14	according	accord	VERB
ajst-13261	88	15	to	to	ADP
ajst-13261	88	16	equations	equation	NOUN
ajst-13261	88	17	(	(	PUNCT
ajst-13261	88	18	1	1	NUM
ajst-13261	88	19	)	)	PUNCT
ajst-13261	88	20	and	and	CCONJ
ajst-13261	88	21	(	(	PUNCT
ajst-13261	88	22	4	4	NUM
ajst-13261	88	23	)	)	PUNCT
ajst-13261	88	24	,	,	PUNCT
ajst-13261	88	25	a	a	DET
ajst-13261	88	26	mathematical	mathematical	ADJ
ajst-13261	88	27	relationship	relationship	NOUN
ajst-13261	88	28	between	between	ADP
ajst-13261	88	29	the	the	DET
ajst-13261	88	30	road	road	NOUN
ajst-13261	88	31	adhesion	adhesion	NOUN
ajst-13261	88	32	coefficient	coefficient	NOUN
ajst-13261	88	33	and	and	CCONJ
ajst-13261	88	34	the	the	DET
ajst-13261	88	35	vehicle	vehicle	NOUN
ajst-13261	88	36	dynamics	dynamic	NOUN
ajst-13261	88	37	equations	equation	NOUN
ajst-13261	88	38	can	can	AUX
ajst-13261	88	39	be	be	AUX
ajst-13261	88	40	seen	see	VERB
ajst-13261	88	41	.	.	PUNCT
ajst-13261	89	1	in	in	ADP
ajst-13261	89	2	this	this	DET
ajst-13261	89	3	paper	paper	NOUN
ajst-13261	89	4	,	,	PUNCT
ajst-13261	89	5	this	this	DET
ajst-13261	89	6	relationship	relationship	NOUN
ajst-13261	89	7	is	be	AUX
ajst-13261	89	8	be	be	AUX
ajst-13261	89	9	used	use	VERB
ajst-13261	89	10	to	to	PART
ajst-13261	89	11	estimate	estimate	VERB
ajst-13261	89	12	the	the	DET
ajst-13261	89	13	road	road	NOUN
ajst-13261	89	14	adhesion	adhesion	NOUN
ajst-13261	89	15	coefficient	coefficient	NOUN
ajst-13261	89	16	using	use	VERB
ajst-13261	89	17	ukf	ukf	NOUN
ajst-13261	89	18	.	.	PUNCT
ajst-13261	90	1	since	since	SCONJ
ajst-13261	90	2	most	most	ADJ
ajst-13261	90	3	of	of	ADP
ajst-13261	90	4	the	the	DET
ajst-13261	90	5	studies	study	NOUN
ajst-13261	90	6	set	set	VERB
ajst-13261	90	7	the	the	DET
ajst-13261	90	8	road	road	NOUN
ajst-13261	90	9	attachment	attachment	NOUN
ajst-13261	90	10	coefficient	coefficient	NOUN
ajst-13261	90	11	as	as	ADP
ajst-13261	90	12	a	a	DET
ajst-13261	90	13	constant	constant	ADJ
ajst-13261	90	14	,	,	PUNCT
ajst-13261	90	15	it	it	PRON
ajst-13261	90	16	is	be	AUX
ajst-13261	90	17	usually	usually	ADV
ajst-13261	90	18	assumed	assume	VERB
ajst-13261	90	19	that	that	SCONJ
ajst-13261	90	20	𝜇	𝜇	SCONJ
ajst-13261	90	21	takes	take	VERB
ajst-13261	90	22	a	a	DET
ajst-13261	90	23	value	value	NOUN
ajst-13261	90	24	between	between	ADP
ajst-13261	90	25	0.1	0.1	NUM
ajst-13261	90	26	and	and	CCONJ
ajst-13261	90	27	1	1	NUM
ajst-13261	90	28	.	.	X
ajst-13261	91	1	definition	definition	NOUN
ajst-13261	91	2	:	:	PUNCT
ajst-13261	91	3	system	system	NOUN
ajst-13261	91	4	state	state	NOUN
ajst-13261	91	5	variable	variable	NOUN
ajst-13261	91	6	𝑥	𝑥	PROPN
ajst-13261	91	7	𝜇	𝜇	ADP
ajst-13261	91	8	,	,	PUNCT
ajst-13261	91	9	𝜇	𝜇	X
ajst-13261	91	10	,	,	PUNCT
ajst-13261	91	11	𝜇	𝜇	X
ajst-13261	91	12	,	,	PUNCT
ajst-13261	91	13	𝜇	𝜇	ADP
ajst-13261	91	14	,	,	PUNCT
ajst-13261	91	15	systematic	systematic	ADJ
ajst-13261	91	16	observation	observation	NOUN
ajst-13261	91	17	variable	variable	NOUN
ajst-13261	91	18	𝑧	𝑧	ADP
ajst-13261	91	19	𝑎	𝑎	NOUN
ajst-13261	91	20	,	,	PUNCT
ajst-13261	91	21	𝑎	𝑎	NOUN
ajst-13261	91	22	,	,	PUNCT
ajst-13261	91	23	.	.	PUNCT
ajst-13261	92	1			X
ajst-13261	92	2	,	,	PUNCT
ajst-13261	92	3	input	input	NOUN
ajst-13261	92	4	variable	variable	NOUN
ajst-13261	92	5	𝜇	𝜇	ADP
ajst-13261	92	6	𝛼	𝛼	NOUN
ajst-13261	92	7	,	,	PUNCT
ajst-13261	92	8	𝐹∗	𝐹∗	NUM
ajst-13261	92	9	,	,	PUNCT
ajst-13261	92	10	𝐹∗	𝐹∗	X
ajst-13261	92	11	.	.	PUNCT
ajst-13261	93	1	𝑤	𝑤	X
ajst-13261	93	2	𝑡	𝑡	PROPN
ajst-13261	93	3	，	，	PROPN
ajst-13261	93	4	𝑣	𝑣	ADP
ajst-13261	93	5	𝑡	𝑡	PROPN
ajst-13261	93	6	is	be	AUX
ajst-13261	93	7	the	the	DET
ajst-13261	93	8	process	process	NOUN
ajst-13261	93	9	white	white	ADJ
ajst-13261	93	10	noise	noise	NOUN
ajst-13261	93	11	and	and	CCONJ
ajst-13261	93	12	measurement	measurement	NOUN
ajst-13261	93	13	white	white	ADJ
ajst-13261	93	14	noise	noise	PROPN
ajst-13261	93	15	.	.	PUNCT
ajst-13261	94	1	where	where	SCONJ
ajst-13261	94	2	𝜇	𝜇	SCONJ
ajst-13261	94	3	、	、	NOUN
ajst-13261	94	4	𝜇	𝜇	ADP
ajst-13261	94	5	、	、	NOUN
ajst-13261	94	6	𝜇	𝜇	ADP
ajst-13261	94	7	、	、	NOUN
ajst-13261	94	8	𝜇	𝜇	ADP
ajst-13261	94	9	are	be	AUX
ajst-13261	94	10	the	the	DET
ajst-13261	94	11	adhesion	adhesion	NOUN
ajst-13261	94	12	coefficients	coefficient	NOUN
ajst-13261	94	13	between	between	ADP
ajst-13261	94	14	the	the	DET
ajst-13261	94	15	four	four	NUM
ajst-13261	94	16	tyres	tyre	NOUN
ajst-13261	94	17	and	and	CCONJ
ajst-13261	94	18	the	the	DET
ajst-13261	94	19	ground	ground	NOUN
ajst-13261	94	20	,	,	PUNCT
ajst-13261	94	21	and	and	CCONJ
ajst-13261	94	22	α	α	PRON
ajst-13261	94	23	is	be	AUX
ajst-13261	94	24	the	the	DET
ajst-13261	94	25	front	front	ADJ
ajst-13261	94	26	wheel	wheel	NOUN
ajst-13261	94	27	turning	turning	NOUN
ajst-13261	94	28	angle	angle	NOUN
ajst-13261	94	29	.	.	PUNCT
ajst-13261	95	1	set	set	VERB
ajst-13261	95	2	up	up	ADP
ajst-13261	95	3	the	the	DET
ajst-13261	95	4	equation	equation	NOUN
ajst-13261	95	5	of	of	ADP
ajst-13261	95	6	state	state	NOUN
ajst-13261	95	7	as	as	ADP
ajst-13261	95	8	:	:	PUNCT
ajst-13261	95	9	𝑥	𝑥	PROPN
ajst-13261	95	10	𝑡	𝑡	PROPN
ajst-13261	95	11	1	1	NUM
ajst-13261	95	12	𝑓	𝑓	DET
ajst-13261	95	13	𝑥	𝑥	X
ajst-13261	95	14	𝑡	𝑡	PROPN
ajst-13261	95	15	,	,	PUNCT
ajst-13261	95	16	𝜇	𝜇	ADP
ajst-13261	95	17	𝑡	𝑡	VERB
ajst-13261	95	18	𝑤	𝑤	ADP
ajst-13261	95	19	𝑡	𝑡	PROPN
ajst-13261	95	20	1	1	NUM
ajst-13261	95	21	0	0	NUM
ajst-13261	95	22	0	0	NUM
ajst-13261	95	23	0	0	NUM
ajst-13261	95	24	0	0	NUM
ajst-13261	95	25	0	0	NUM
ajst-13261	95	26	0	0	NUM
ajst-13261	95	27	1	1	NUM
ajst-13261	95	28	0	0	NUM
ajst-13261	95	29	0	0	NUM
ajst-13261	95	30	0	0	NUM
ajst-13261	95	31	0	0	NUM
ajst-13261	95	32	1	1	NUM
ajst-13261	95	33	0	0	NUM
ajst-13261	95	34	0	0	NUM
ajst-13261	95	35	1	1	NUM
ajst-13261	95	36	𝑢	𝑢	PROPN
ajst-13261	95	37	𝑢	𝑢	X
ajst-13261	95	38	𝑢	𝑢	ADP
ajst-13261	95	39	𝑢	𝑢	ADP
ajst-13261	95	40	𝑤	𝑤	ADP
ajst-13261	95	41	𝑡	𝑡	X
ajst-13261	95	42	(	(	PUNCT
ajst-13261	95	43	11	11	NUM
ajst-13261	95	44	)	)	PUNCT
ajst-13261	95	45	the	the	DET
ajst-13261	95	46	observation	observation	NOUN
ajst-13261	95	47	equation	equation	NOUN
ajst-13261	95	48	is	be	AUX
ajst-13261	95	49	:	:	PUNCT
ajst-13261	95	50	𝑧	𝑧	PUNCT
ajst-13261	95	51	𝑡	𝑡	NOUN
ajst-13261	95	52	ℎ	ℎ	X
ajst-13261	95	53	𝑥	𝑥	PROPN
ajst-13261	95	54	𝑡	𝑡	PROPN
ajst-13261	95	55	,	,	PUNCT
ajst-13261	95	56	𝜇	𝜇	ADP
ajst-13261	95	57	𝑡	𝑡	DET
ajst-13261	95	58	𝑣	𝑣	ADP
ajst-13261	95	59	𝑡	𝑡	X
ajst-13261	95	60	⎣	⎣	ADV
ajst-13261	95	61	⎢	⎢	NOUN
ajst-13261	95	62	⎢	⎢	NOUN
ajst-13261	95	63	⎢	⎢	NOUN
ajst-13261	95	64	⎡	⎡	NOUN
ajst-13261	95	65	𝐹∗	𝐹∗	PUNCT
ajst-13261	95	66	cos	cos	ADP
ajst-13261	95	67	𝛼	𝛼	X
ajst-13261	95	68	𝐹∗	𝐹∗	VERB
ajst-13261	95	69	sin	sin	VERB
ajst-13261	95	70	𝛼	𝛼	PART
ajst-13261	95	71	𝑚	𝑚	X
ajst-13261	95	72	𝐹∗	𝐹∗	X
ajst-13261	95	73	cos𝛼	cos𝛼	ADJ
ajst-13261	95	74	𝐹∗	𝐹∗	X
ajst-13261	95	75	sin𝛼	sin𝛼	NOUN
ajst-13261	95	76	𝑚	𝑚	NOUN
ajst-13261	95	77	𝐹∗	𝐹∗	X
ajst-13261	95	78	𝑚	𝑚	X
ajst-13261	95	79	𝐹∗	𝐹∗	X
ajst-13261	95	80	𝑚	𝑚	X
ajst-13261	95	81	𝐹∗	𝐹∗	X
ajst-13261	95	82	sin	sin	X
ajst-13261	95	83	𝛼	𝛼	X
ajst-13261	95	84	𝐹∗	𝐹∗	X
ajst-13261	95	85	cos𝛼	cos𝛼	ADJ
ajst-13261	95	86	𝑚	𝑚	ADP
ajst-13261	95	87	𝐹∗	𝐹∗	ADJ
ajst-13261	95	88	sin𝛼	sin𝛼	NOUN
ajst-13261	95	89	𝐹∗	𝐹∗	X
ajst-13261	95	90	cos𝛼	cos𝛼	ADJ
ajst-13261	95	91	𝑚	𝑚	ADP
ajst-13261	95	92	𝐹∗	𝐹∗	X
ajst-13261	95	93	𝑚	𝑚	X
ajst-13261	95	94	𝐹∗	𝐹∗	X
ajst-13261	95	95	𝑚	𝑚	X
ajst-13261	95	96	𝐽	𝐽	PROPN
ajst-13261	95	97	3,1	3,1	NUM
ajst-13261	95	98	𝐽	𝐽	NOUN
ajst-13261	95	99	3,2	3,2	NUM
ajst-13261	95	100	𝐽	𝐽	NOUN
ajst-13261	95	101	3,3	3,3	NUM
ajst-13261	95	102	𝐽	𝐽	NOUN
ajst-13261	95	103	3,4	3,4	NUM
ajst-13261	95	104	⎦	⎦	PUNCT
ajst-13261	95	105	⎥	⎥	PROPN
ajst-13261	95	106	⎥	⎥	PROPN
ajst-13261	95	107	⎥	⎥	PROPN
ajst-13261	95	108	⎤	⎤	PROPN
ajst-13261	95	109	𝜇	𝜇	ADP
ajst-13261	95	110	𝜇	𝜇	X
ajst-13261	95	111	𝜇	𝜇	X
ajst-13261	95	112	𝜇	𝜇	ADP
ajst-13261	95	113	𝑣	𝑣	ADP
ajst-13261	95	114	𝑡	𝑡	PROPN
ajst-13261	95	115	12	12	NUM
ajst-13261	95	116	among	among	ADP
ajst-13261	95	117	them	they	PRON
ajst-13261	95	118	:	:	PUNCT
ajst-13261	95	119	𝐽	𝐽	PROPN
ajst-13261	95	120	3,1	3,1	NUM
ajst-13261	95	121	∗	∗	NOUN
ajst-13261	95	122	∗	∗	NOUN
ajst-13261	95	123	∗	∗	NOUN
ajst-13261	95	124	∗	∗	NOUN
ajst-13261	95	125	/	/	SYM
ajst-13261	95	126	；	；	PROPN
ajst-13261	95	127	𝐽	𝐽	PROPN
ajst-13261	95	128	3,2	3,2	NUM
ajst-13261	95	129	∗	∗	NOUN
ajst-13261	95	130	∗	∗	NOUN
ajst-13261	95	131	∗	∗	NOUN
ajst-13261	95	132	∗	∗	NOUN
ajst-13261	95	133	/	/	PUNCT
ajst-13261	95	134	;	;	PUNCT
ajst-13261	95	135	𝐽	𝐽	PROPN
ajst-13261	95	136	3,3	3,3	NUM
ajst-13261	95	137	∗	∗	NOUN
ajst-13261	95	138	∗	∗	NOUN
ajst-13261	95	139	;	;	PUNCT
ajst-13261	95	140	𝐽	𝐽	PROPN
ajst-13261	95	141	3,4	3,4	NUM
ajst-13261	95	142	∗	∗	NOUN
ajst-13261	95	143	∗	∗	NOUN
ajst-13261	95	144	the	the	DET
ajst-13261	95	145	measurement	measurement	NOUN
ajst-13261	95	146	noise	noise	NOUN
ajst-13261	95	147	covariance	covariance	NOUN
ajst-13261	95	148	matrix	matrix	NOUN
ajst-13261	95	149	1	1	NUM
ajst-13261	95	150	0	0	NUM
ajst-13261	95	151	0	0	NUM
ajst-13261	95	152	0	0	NUM
ajst-13261	95	153	0	0	NUM
ajst-13261	95	154	1	1	NUM
ajst-13261	95	155	0	0	NUM
ajst-13261	95	156	0	0	NUM
ajst-13261	96	1	r	r	NOUN
ajst-13261	96	2	0	0	NUM
ajst-13261	96	3	0	0	NUM
ajst-13261	96	4	1	1	NUM
ajst-13261	96	5	0	0	NUM
ajst-13261	96	6	0	0	NUM
ajst-13261	96	7	0	0	NUM
ajst-13261	96	8	0	0	NUM
ajst-13261	96	9	1	1	NUM
ajst-13261	96	10			NUM
ajst-13261	96	11			ADJ
ajst-13261	96	12			NOUN
ajst-13261	96	13			PROPN
ajst-13261	96	14			NOUN
ajst-13261	96	15			NUM
ajst-13261	96	16			NOUN
ajst-13261	96	17			NOUN
ajst-13261	96	18			NOUN
ajst-13261	96	19			NOUN
ajst-13261	96	20			NOUN
ajst-13261	96	21			PROPN
ajst-13261	96	22	,	,	PUNCT
ajst-13261	96	23	the	the	DET
ajst-13261	96	24	system	system	NOUN
ajst-13261	96	25	noise	noise	NOUN
ajst-13261	96	26	covariance	covariance	NOUN
ajst-13261	96	27	matrix	matrix	NOUN
ajst-13261	96	28	4x	4x	NUM
ajst-13261	96	29	4q	4q	NOUN
ajst-13261	96	30	i	i	PRON
ajst-13261	96	31	*	*	PUNCT
ajst-13261	96	32	0.1	0.1	X
ajst-13261	96	33	,	,	PUNCT
ajst-13261	96	34	the	the	DET
ajst-13261	96	35	system	system	NOUN
ajst-13261	96	36	state	state	NOUN
ajst-13261	96	37	variable	variable	PROPN
ajst-13261	96	38			PROPN
ajst-13261	96	39	tx(0	tx(0	PROPN
ajst-13261	96	40	)	)	PUNCT
ajst-13261	96	41	1	1	NUM
ajst-13261	96	42	1	1	NUM
ajst-13261	96	43	1	1	NUM
ajst-13261	96	44	1	1	NUM
ajst-13261	96	45	,	,	PUNCT
ajst-13261	96	46	and	and	CCONJ
ajst-13261	96	47	the	the	DET
ajst-13261	96	48	initial	initial	ADJ
ajst-13261	96	49	value	value	NOUN
ajst-13261	96	50	of	of	ADP
ajst-13261	96	51	the	the	DET
ajst-13261	96	52	error	error	NOUN
ajst-13261	96	53	covariance	covariance	NOUN
ajst-13261	96	54	matrix	matrix	NOUN
ajst-13261	96	55	is	be	AUX
ajst-13261	96	56	4x	4x	NOUN
ajst-13261	96	57	4p(0	4p(0	NUM
ajst-13261	96	58	)	)	PUNCT
ajst-13261	96	59	i	i	NOUN
ajst-13261	96	60	.	.	PUNCT
ajst-13261	97	1	the	the	DET
ajst-13261	97	2	normalized	normalize	VERB
ajst-13261	97	3	forces	force	NOUN
ajst-13261	97	4	are	be	AUX
ajst-13261	97	5	calculated	calculate	VERB
ajst-13261	97	6	using	use	VERB
ajst-13261	97	7	the	the	DET
ajst-13261	97	8	dugoff	dugoff	PROPN
ajst-13261	97	9	tyre	tyre	PROPN
ajst-13261	97	10	model	model	NOUN
ajst-13261	97	11	.	.	PUNCT
ajst-13261	98	1	the	the	DET
ajst-13261	98	2	inputs	input	NOUN
ajst-13261	98	3	to	to	ADP
ajst-13261	98	4	the	the	DET
ajst-13261	98	5	model	model	NOUN
ajst-13261	98	6	are	be	AUX
ajst-13261	98	7	:	:	PUNCT
ajst-13261	98	8	front	front	ADJ
ajst-13261	98	9	wheel	wheel	NOUN
ajst-13261	98	10	angle	angle	NOUN
ajst-13261	98	11	of	of	ADP
ajst-13261	98	12	rotation	rotation	NOUN
ajst-13261	98	13	,	,	PUNCT
ajst-13261	98	14	wheel	wheel	NOUN
ajst-13261	98	15	speeds	speed	NOUN
ajst-13261	98	16	of	of	ADP
ajst-13261	98	17	all	all	DET
ajst-13261	98	18	four	four	NUM
ajst-13261	98	19	wheels	wheel	NOUN
ajst-13261	98	20	;	;	PUNCT
ajst-13261	98	21	longitudinal	longitudinal	ADJ
ajst-13261	98	22	and	and	CCONJ
ajst-13261	98	23	lateral	lateral	ADJ
ajst-13261	98	24	acceleration	acceleration	NOUN
ajst-13261	98	25	;	;	PUNCT
ajst-13261	98	26	lateral	lateral	ADJ
ajst-13261	98	27	deflection	deflection	NOUN
ajst-13261	98	28	angle	angle	NOUN
ajst-13261	98	29	of	of	ADP
ajst-13261	98	30	the	the	DET
ajst-13261	98	31	center	center	NOUN
ajst-13261	98	32	of	of	ADP
ajst-13261	98	33	mass	mass	NOUN
ajst-13261	98	34	;	;	PUNCT
ajst-13261	98	35	transverse	transverse	VERB
ajst-13261	98	36	angular	angular	ADJ
ajst-13261	98	37	velocity	velocity	NOUN
ajst-13261	98	38	and	and	CCONJ
ajst-13261	98	39	longitudinal	longitudinal	ADJ
ajst-13261	98	40	vehicle	vehicle	NOUN
ajst-13261	98	41	speed	speed	NOUN
ajst-13261	98	42	.	.	PUNCT
ajst-13261	99	1	the	the	DET
ajst-13261	99	2	final	final	ADJ
ajst-13261	99	3	normalized	normalize	VERB
ajst-13261	99	4	tyre	tyre	NOUN
ajst-13261	99	5	force	force	NOUN
ajst-13261	99	6	is	be	AUX
ajst-13261	99	7	obtained	obtain	VERB
ajst-13261	99	8	for	for	ADP
ajst-13261	99	9	all	all	DET
ajst-13261	99	10	four	four	NUM
ajst-13261	99	11	wheels	wheel	NOUN
ajst-13261	99	12	(	(	PUNCT
ajst-13261	99	13	including	include	VERB
ajst-13261	99	14	vertical	vertical	ADJ
ajst-13261	99	15	and	and	CCONJ
ajst-13261	99	16	lateral	lateral	ADJ
ajst-13261	99	17	total	total	NOUN
ajst-13261	99	18	of	of	ADP
ajst-13261	99	19	8)	8)	NUM
ajst-13261	99	20	,	,	PUNCT
ajst-13261	99	21	as	as	ADP
ajst-13261	99	22	input	input	NOUN
ajst-13261	99	23	to	to	ADP
ajst-13261	99	24	the	the	DET
ajst-13261	99	25	ckf	ckf	NOUN
ajst-13261	99	26	parameter	parameter	PROPN
ajst-13261	99	27	estimator	estimator	NOUN
ajst-13261	99	28	.	.	PUNCT
ajst-13261	100	1	the	the	DET
ajst-13261	100	2	following	follow	VERB
ajst-13261	100	3	figure	figure	NOUN
ajst-13261	100	4	shows	show	VERB
ajst-13261	100	5	the	the	DET
ajst-13261	100	6	schematic	schematic	ADJ
ajst-13261	100	7	diagram	diagram	NOUN
ajst-13261	100	8	of	of	ADP
ajst-13261	100	9	the	the	DET
ajst-13261	100	10	ckf	ckf	NOUN
ajst-13261	100	11	based	base	VERB
ajst-13261	100	12	pavement	pavement	NOUN
ajst-13261	100	13	adhesion	adhesion	NOUN
ajst-13261	100	14	coefficient	coefficient	NOUN
ajst-13261	100	15	estimation	estimation	NOUN
ajst-13261	100	16	algorithm	algorithm	NOUN
ajst-13261	100	17	as	as	SCONJ
ajst-13261	100	18	shown	show	VERB
ajst-13261	100	19	in	in	ADP
ajst-13261	100	20	fig2	fig2	PROPN
ajst-13261	100	21	.	.	PUNCT
ajst-13261	101	1	figure	figure	VERB
ajst-13261	101	2	2	2	NUM
ajst-13261	101	3	.	.	PUNCT
ajst-13261	101	4	schematic	schematic	ADJ
ajst-13261	101	5	diagram	diagram	NOUN
ajst-13261	101	6	of	of	ADP
ajst-13261	101	7	ckf	ckf	NOUN
ajst-13261	101	8	based	base	VERB
ajst-13261	101	9	pavement	pavement	NOUN
ajst-13261	101	10	adhesion	adhesion	NOUN
ajst-13261	101	11	coefficient	coefficient	NOUN
ajst-13261	101	12	estimation	estimation	NOUN
ajst-13261	101	13	algorithm	algorithm	NOUN
ajst-13261	101	14	3.2	3.2	NUM
ajst-13261	101	15	.	.	PUNCT
ajst-13261	102	1	classical	classical	ADJ
ajst-13261	102	2	kalman	kalman	PROPN
ajst-13261	102	3	filter	filter	PROPN
ajst-13261	102	4	classical	classical	ADJ
ajst-13261	102	5	kalman	kalman	PROPN
ajst-13261	102	6	filter	filter	NOUN
ajst-13261	102	7	theory	theory	NOUN
ajst-13261	102	8	is	be	AUX
ajst-13261	102	9	a	a	DET
ajst-13261	102	10	filter	filter	NOUN
ajst-13261	102	11	theory	theory	NOUN
ajst-13261	102	12	applied	apply	VERB
ajst-13261	102	13	to	to	ADP
ajst-13261	102	14	linear	linear	PROPN
ajst-13261	102	15	systems	system	NOUN
ajst-13261	102	16	.	.	PUNCT
ajst-13261	103	1	many	many	ADJ
ajst-13261	103	2	physical	physical	ADJ
ajst-13261	103	3	processes	process	NOUN
ajst-13261	103	4	,	,	PUNCT
ajst-13261	103	5	such	such	ADJ
ajst-13261	103	6	as	as	ADP
ajst-13261	103	7	changes	change	NOUN
ajst-13261	103	8	in	in	ADP
ajst-13261	103	9	room	room	NOUN
ajst-13261	103	10	temperature	temperature	NOUN
ajst-13261	103	11	,	,	PUNCT
ajst-13261	103	12	free	free	ADJ
ajst-13261	103	13	-	-	PUNCT
ajst-13261	103	14	fall	fall	NOUN
ajst-13261	103	15	,	,	PUNCT
ajst-13261	103	16	the	the	DET
ajst-13261	103	17	movement	movement	NOUN
ajst-13261	103	18	of	of	ADP
ajst-13261	103	19	satellites	satellite	NOUN
ajst-13261	103	20	in	in	ADP
ajst-13261	103	21	orbit	orbit	NOUN
ajst-13261	103	22	around	around	ADP
ajst-13261	103	23	the	the	DET
ajst-13261	103	24	earth	earth	NOUN
ajst-13261	103	25	,	,	PUNCT
ajst-13261	103	26	and	and	CCONJ
ajst-13261	103	27	the	the	DET
ajst-13261	103	28	gps	gps	PROPN
ajst-13261	103	29	navigation	navigation	NOUN
ajst-13261	103	30	of	of	ADP
ajst-13261	103	31	ships	ship	NOUN
ajst-13261	103	32	,	,	PUNCT
ajst-13261	103	33	can	can	AUX
ajst-13261	103	34	be	be	AUX
ajst-13261	103	35	approximated	approximate	VERB
ajst-13261	103	36	as	as	ADP
ajst-13261	103	37	a	a	DET
ajst-13261	103	38	linear	linear	ADJ
ajst-13261	103	39	system	system	NOUN
ajst-13261	103	40	.	.	PUNCT
ajst-13261	104	1	consider	consider	VERB
ajst-13261	104	2	the	the	DET
ajst-13261	104	3	following	follow	VERB
ajst-13261	104	4	state	state	NOUN
ajst-13261	104	5	space	space	NOUN
ajst-13261	104	6	expression	expression	NOUN
ajst-13261	104	7	to	to	PART
ajst-13261	104	8	describe	describe	VERB
ajst-13261	104	9	a	a	DET
ajst-13261	104	10	linear	linear	ADJ
ajst-13261	104	11	system	system	NOUN
ajst-13261	104	12	.	.	PUNCT
ajst-13261	105	1	equation	equation	NOUN
ajst-13261	105	2	of	of	ADP
ajst-13261	105	3	state	state	NOUN
ajst-13261	105	4	:	:	PUNCT
ajst-13261	105	5	(	(	PUNCT
ajst-13261	105	6	)	)	PUNCT
ajst-13261	105	7	(	(	PUNCT
ajst-13261	105	8	-1	-1	INTJ
ajst-13261	105	9	)	)	PUNCT
ajst-13261	105	10	(	(	PUNCT
ajst-13261	105	11	)	)	PUNCT
ajst-13261	105	12	(	(	PUNCT
ajst-13261	105	13	-1)x	-1)x	NOUN
ajst-13261	105	14	k	k	PROPN
ajst-13261	105	15	ax	ax	NOUN
ajst-13261	106	1	k	k	PROPN
ajst-13261	106	2	bu	bu	PROPN
ajst-13261	107	1	k	k	PROPN
ajst-13261	107	2	w	w	PROPN
ajst-13261	107	3	k	k	PROPN
ajst-13261	107	4			PUNCT
ajst-13261	107	5			PUNCT
ajst-13261	107	6	observation	observation	NOUN
ajst-13261	107	7	equation	equation	NOUN
ajst-13261	107	8	:	:	PUNCT
ajst-13261	107	9	(	(	PUNCT
ajst-13261	107	10	)	)	PUNCT
ajst-13261	107	11	(	(	PUNCT
ajst-13261	107	12	)	)	PUNCT
ajst-13261	107	13	(	(	PUNCT
ajst-13261	107	14	)	)	PUNCT
ajst-13261	108	1	y	y	PROPN
ajst-13261	108	2	k	k	PROPN
ajst-13261	109	1	hx	hx	PROPN
ajst-13261	110	1	k	k	PROPN
ajst-13261	111	1	v	v	PROPN
ajst-13261	112	1	k	k	NOUN
ajst-13261	112	2			PUNCT
ajst-13261	112	3	where	where	SCONJ
ajst-13261	112	4	,	,	PUNCT
ajst-13261	112	5	k	k	X
ajst-13261	112	6	discrete	discrete	ADJ
ajst-13261	112	7	time	time	NOUN
ajst-13261	112	8	,	,	PUNCT
ajst-13261	112	9	the	the	DET
ajst-13261	112	10	state	state	NOUN
ajst-13261	112	11	of	of	ADP
ajst-13261	112	12	the	the	DET
ajst-13261	112	13	system	system	NOUN
ajst-13261	112	14	at	at	ADP
ajst-13261	112	15	moment	moment	NOUN
ajst-13261	112	16	k	k	X
ajst-13261	112	17	;	;	PUNCT
ajst-13261	112	18	(	(	PUNCT
ajst-13261	112	19	)	)	PUNCT
ajst-13261	112	20	u	u	NOUN
ajst-13261	112	21	k	k	PROPN
ajst-13261	112	22	is	be	AUX
ajst-13261	112	23	the	the	DET
ajst-13261	112	24	control	control	NOUN
ajst-13261	112	25	input	input	NOUN
ajst-13261	112	26	to	to	ADP
ajst-13261	112	27	the	the	DET
ajst-13261	112	28	system	system	NOUN
ajst-13261	112	29	,	,	PUNCT
ajst-13261	112	30	(	(	PUNCT
ajst-13261	112	31	)	)	PUNCT
ajst-13261	112	32	y	y	PROPN
ajst-13261	112	33	k	k	PROPN
ajst-13261	112	34	is	be	AUX
ajst-13261	112	35	the	the	DET
ajst-13261	112	36	observed	observe	VERB
ajst-13261	112	37	signal	signal	NOUN
ajst-13261	112	38	to	to	ADP
ajst-13261	112	39	the	the	DET
ajst-13261	112	40	state	state	NOUN
ajst-13261	112	41	.	.	PUNCT
ajst-13261	113	1	(	(	PUNCT
ajst-13261	113	2	)	)	PUNCT
ajst-13261	113	3	w	w	X
ajst-13261	113	4	k	k	PROPN
ajst-13261	113	5	is	be	AUX
ajst-13261	113	6	the	the	DET
ajst-13261	113	7	input	input	ADJ
ajst-13261	113	8	white	white	ADJ
ajst-13261	113	9	noise	noise	NOUN
ajst-13261	113	10	,	,	PUNCT
ajst-13261	113	11	also	also	ADV
ajst-13261	113	12	known	know	VERB
ajst-13261	113	13	as	as	ADP
ajst-13261	113	14	process	process	NOUN
ajst-13261	113	15	noise	noise	NOUN
ajst-13261	113	16	,	,	PUNCT
ajst-13261	113	17	and	and	CCONJ
ajst-13261	113	18	(	(	PUNCT
ajst-13261	113	19	)	)	PUNCT
ajst-13261	113	20	v	v	X
ajst-13261	113	21	k	k	PROPN
ajst-13261	113	22	is	be	AUX
ajst-13261	113	23	the	the	DET
ajst-13261	113	24	observation	observation	NOUN
ajst-13261	113	25	noise	noise	NOUN
ajst-13261	113	26	.	.	PUNCT
ajst-13261	114	1	a	a	PRON
ajst-13261	114	2	is	be	AUX
ajst-13261	114	3	the	the	DET
ajst-13261	114	4	state	state	NOUN
ajst-13261	114	5	transfer	transfer	NOUN
ajst-13261	114	6	matrix	matrix	NOUN
ajst-13261	114	7	,	,	PUNCT
ajst-13261	114	8	b	b	NOUN
ajst-13261	114	9	is	be	AUX
ajst-13261	114	10	the	the	DET
ajst-13261	114	11	noise	noise	NOUN
ajst-13261	114	12	distribution	distribution	NOUN
ajst-13261	114	13	matrix	matrix	NOUN
ajst-13261	114	14	,	,	PUNCT
ajst-13261	114	15	and	and	CCONJ
ajst-13261	114	16	h	h	NOUN
ajst-13261	114	17	is	be	AUX
ajst-13261	114	18	the	the	DET
ajst-13261	114	19	observation	observation	NOUN
ajst-13261	114	20	matrix	matrix	NOUN
ajst-13261	114	21	.	.	PUNCT
ajst-13261	115	1	(	(	PUNCT
ajst-13261	115	2	)	)	PUNCT
ajst-13261	115	3	w	w	PROPN
ajst-13261	115	4	k	k	PROPN
ajst-13261	115	5	and	and	CCONJ
ajst-13261	115	6	(	(	PUNCT
ajst-13261	115	7	)	)	PUNCT
ajst-13261	115	8	v	v	NOUN
ajst-13261	115	9	k	k	PROPN
ajst-13261	115	10	are	be	AUX
ajst-13261	115	11	are	be	AUX
ajst-13261	115	12	white	white	ADJ
ajst-13261	115	13	noises	noise	NOUN
ajst-13261	115	14	with	with	ADP
ajst-13261	115	15	zero	zero	NUM
ajst-13261	115	16	mean	mean	NOUN
ajst-13261	115	17	.	.	PUNCT
ajst-13261	116	1	and	and	CCONJ
ajst-13261	116	2	,	,	PUNCT
ajst-13261	116	3	134	134	NUM
ajst-13261	116	4	they	they	PRON
ajst-13261	116	5	are	be	AUX
ajst-13261	116	6	independent	independent	ADJ
ajst-13261	116	7	of	of	ADP
ajst-13261	116	8	each	each	DET
ajst-13261	116	9	other	other	ADJ
ajst-13261	116	10	.	.	PUNCT
ajst-13261	117	1	thus	thus	ADV
ajst-13261	117	2	the	the	DET
ajst-13261	117	3	following	follow	VERB
ajst-13261	117	4	equation	equation	NOUN
ajst-13261	117	5	can	can	AUX
ajst-13261	117	6	be	be	AUX
ajst-13261	117	7	obtained	obtain	VERB
ajst-13261	117	8	.	.	PUNCT
ajst-13261	118	1			NOUN
ajst-13261	118	2			PROPN
ajst-13261	118	3	(	(	PUNCT
ajst-13261	118	4	)	)	PUNCT
ajst-13261	118	5	0	0	NUM
ajst-13261	118	6	(	(	PUNCT
ajst-13261	118	7	)	)	PUNCT
ajst-13261	118	8	0	0	NUM
ajst-13261	118	9	(	(	PUNCT
ajst-13261	118	10	)	)	PUNCT
ajst-13261	118	11	(	(	PUNCT
ajst-13261	118	12	)	)	PUNCT
ajst-13261	118	13	0	0	NUM
ajst-13261	118	14	,	,	PUNCT
ajst-13261	118	15	,	,	PUNCT
ajst-13261	118	16			NUM
ajst-13261	118	17			VERB
ajst-13261	118	18			NUM
ajst-13261	119	1			NUM
ajst-13261	120	1			NUM
ajst-13261	120	2			NOUN
ajst-13261	121	1			NUM
ajst-13261	121	2			NUM
ajst-13261	121	3	t	t	NOUN
ajst-13261	122	1	ew	ew	INTJ
ajst-13261	122	2	k	k	PROPN
ajst-13261	122	3	ev	ev	PROPN
ajst-13261	122	4	k	k	PROPN
ajst-13261	122	5	e	e	PROPN
ajst-13261	122	6	w	w	PROPN
ajst-13261	122	7	k	k	PROPN
ajst-13261	122	8	v	v	PROPN
ajst-13261	122	9	j	j	PROPN
ajst-13261	122	10	k	k	PROPN
ajst-13261	122	11	j	j	PROPN
ajst-13261	122	12	(	(	PUNCT
ajst-13261	122	13	13	13	NUM
ajst-13261	122	14	)	)	PUNCT
ajst-13261	122	15	the	the	DET
ajst-13261	122	16	matrices	matrix	NOUN
ajst-13261	122	17	q	q	NOUN
ajst-13261	123	1	and	and	CCONJ
ajst-13261	123	2	r	r	NOUN
ajst-13261	123	3	are	be	AUX
ajst-13261	123	4	the	the	DET
ajst-13261	123	5	variance	variance	NOUN
ajst-13261	123	6	arrays	array	VERB
ajst-13261	123	7	corresponding	correspond	VERB
ajst-13261	123	8	to	to	ADP
ajst-13261	123	9	two	two	NUM
ajst-13261	123	10	noises	noise	NOUN
ajst-13261	123	11	which	which	PRON
ajst-13261	123	12	satisfy	satisfy	VERB
ajst-13261	123	13	:	:	PUNCT
ajst-13261	123	14			NOUN
ajst-13261	123	15			SYM
ajst-13261	123	16			NOUN
ajst-13261	123	17			PROPN
ajst-13261	123	18	(	(	PUNCT
ajst-13261	123	19	)	)	PUNCT
ajst-13261	123	20	(	(	PUNCT
ajst-13261	123	21	)	)	PUNCT
ajst-13261	123	22	(	(	PUNCT
ajst-13261	123	23	)	)	PUNCT
ajst-13261	123	24	(	(	PUNCT
ajst-13261	123	25	)	)	PUNCT
ajst-13261	123	26			X
ajst-13261	123	27			NUM
ajst-13261	123	28			NOUN
ajst-13261	124	1			PROPN
ajst-13261	125	1			PROPN
ajst-13261	125	2	t	t	PROPN
ajst-13261	125	3	kj	kj	PROPN
ajst-13261	125	4	t	t	PROPN
ajst-13261	126	1	kj	kj	PROPN
ajst-13261	126	2	e	e	PROPN
ajst-13261	126	3	w	w	PROPN
ajst-13261	126	4	k	k	PROPN
ajst-13261	126	5	w	w	PROPN
ajst-13261	126	6	j	j	PROPN
ajst-13261	126	7	q	q	X
ajst-13261	126	8	e	e	X
ajst-13261	126	9	v	v	ADP
ajst-13261	126	10	k	k	PROPN
ajst-13261	126	11	v	v	NUM
ajst-13261	126	12	j	j	PROPN
ajst-13261	126	13	r	r	NOUN
ajst-13261	126	14			NUM
ajst-13261	126	15			NUM
ajst-13261	126	16	(	(	PUNCT
ajst-13261	126	17	14	14	NUM
ajst-13261	126	18	)	)	PUNCT
ajst-13261	126	19	where	where	SCONJ
ajst-13261	126	20	,	,	PUNCT
ajst-13261	126	21	kjq	kjq	ADJ
ajst-13261	126	22	=	=	SYM
ajst-13261	126	23	0，k≠j	0，k≠j	NOUN
ajst-13261	126	24	，	，	PUNCT
ajst-13261	126	25	k	k	PROPN
ajst-13261	126	26	jr	jr	PROPN
ajst-13261	126	27	takes	take	VERB
ajst-13261	126	28	any	any	DET
ajst-13261	126	29	positive	positive	ADJ
ajst-13261	126	30	real	real	ADJ
ajst-13261	126	31	number	number	NOUN
ajst-13261	126	32	,	,	PUNCT
ajst-13261	126	33	depending	depend	VERB
ajst-13261	126	34	on	on	ADP
ajst-13261	126	35	the	the	DET
ajst-13261	126	36	actual	actual	ADJ
ajst-13261	126	37	equation	equation	NOUN
ajst-13261	126	38	.	.	PUNCT
ajst-13261	127	1	the	the	DET
ajst-13261	127	2	system	system	NOUN
ajst-13261	127	3	gives	give	VERB
ajst-13261	127	4	the	the	DET
ajst-13261	127	5	exact	exact	ADJ
ajst-13261	127	6	procedure	procedure	NOUN
ajst-13261	127	7	of	of	ADP
ajst-13261	127	8	kalman	kalman	PROPN
ajst-13261	127	9	filtering	filtering	PROPN
ajst-13261	127	10	:	:	PUNCT
ajst-13261	127	11	state	state	NOUN
ajst-13261	127	12	prediction	prediction	NOUN
ajst-13261	127	13	equations	equation	NOUN
ajst-13261	127	14	:	:	PUNCT
ajst-13261	127	15	ˆ	ˆ	NOUN
ajst-13261	127	16	(	(	PUNCT
ajst-13261	127	17	)	)	PUNCT
ajst-13261	127	18	(	(	PUNCT
ajst-13261	127	19	1	1	X
ajst-13261	127	20	)	)	PUNCT
ajst-13261	127	21	(	(	PUNCT
ajst-13261	127	22	)	)	PUNCT
ajst-13261	127	23	(	(	PUNCT
ajst-13261	127	24	1)x	1)x	NUM
ajst-13261	127	25	k	k	NOUN
ajst-13261	127	26	ax	ax	NOUN
ajst-13261	127	27	k	k	PROPN
ajst-13261	127	28	bu	bu	PROPN
ajst-13261	127	29	k	k	PROPN
ajst-13261	127	30	w	w	PROPN
ajst-13261	127	31	k	k	PROPN
ajst-13261	127	32			PROPN
ajst-13261	127	33			ADV
ajst-13261	127	34			PUNCT
ajst-13261	127	35			X
ajst-13261	127	36	(	(	PUNCT
ajst-13261	127	37	15	15	NUM
ajst-13261	127	38	)	)	PUNCT
ajst-13261	127	39	error	error	NOUN
ajst-13261	127	40	covariance	covariance	NOUN
ajst-13261	127	41	prediction	prediction	NOUN
ajst-13261	127	42	equation	equation	NOUN
ajst-13261	127	43	:	:	PUNCT
ajst-13261	127	44	ˆ	ˆ	X
ajst-13261	127	45	(	(	PUNCT
ajst-13261	127	46	)	)	PUNCT
ajst-13261	127	47	(	(	PUNCT
ajst-13261	127	48	1	1	X
ajst-13261	127	49	)	)	PUNCT
ajst-13261	127	50	tp	tp	ADP
ajst-13261	127	51	k	k	PROPN
ajst-13261	127	52	ap	ap	PROPN
ajst-13261	128	1	k	k	PROPN
ajst-13261	128	2	a	a	DET
ajst-13261	128	3	q	q	ADJ
ajst-13261	128	4			NOUN
ajst-13261	128	5			X
ajst-13261	128	6	(	(	PUNCT
ajst-13261	128	7	16	16	NUM
ajst-13261	128	8	)	)	PUNCT
ajst-13261	128	9	gain	gain	VERB
ajst-13261	128	10	equations	equation	NOUN
ajst-13261	128	11	:	:	PUNCT
ajst-13261	128	12			NOUN
ajst-13261	128	13			PUNCT
ajst-13261	128	14	1ˆ	1ˆ	NOUN
ajst-13261	128	15	ˆ	ˆ	PROPN
ajst-13261	128	16	(	(	PUNCT
ajst-13261	128	17	)	)	PUNCT
ajst-13261	128	18	(	(	PUNCT
ajst-13261	128	19	)	)	PUNCT
ajst-13261	128	20	(	(	PUNCT
ajst-13261	128	21	)	)	PUNCT
ajst-13261	128	22	t	t	PROPN
ajst-13261	128	23	tk	tk	PROPN
ajst-13261	129	1	k	k	PROPN
ajst-13261	129	2	p	p	PROPN
ajst-13261	129	3	k	k	PROPN
ajst-13261	129	4	h	h	PROPN
ajst-13261	129	5	hp	hp	PROPN
ajst-13261	130	1	k	k	PROPN
ajst-13261	130	2	h	h	NOUN
ajst-13261	130	3	r	r	NOUN
ajst-13261	130	4			PROPN
ajst-13261	130	5			PRON
ajst-13261	130	6			PUNCT
ajst-13261	130	7	(	(	PUNCT
ajst-13261	130	8	17	17	NUM
ajst-13261	130	9	)	)	PUNCT
ajst-13261	130	10	filtering	filter	VERB
ajst-13261	130	11	equations	equation	NOUN
ajst-13261	130	12	ˆ	ˆ	VERB
ajst-13261	130	13	ˆ	ˆ	ADJ
ajst-13261	130	14	(	(	PUNCT
ajst-13261	130	15	)	)	PUNCT
ajst-13261	130	16	(	(	PUNCT
ajst-13261	130	17	)	)	PUNCT
ajst-13261	130	18	(	(	PUNCT
ajst-13261	130	19	)	)	PUNCT
ajst-13261	130	20	(	(	PUNCT
ajst-13261	130	21	(	(	PUNCT
ajst-13261	130	22	)	)	PUNCT
ajst-13261	130	23	(	(	PUNCT
ajst-13261	130	24	)	)	PUNCT
ajst-13261	130	25	)	)	PUNCT
ajst-13261	130	26	x	x	X
ajst-13261	131	1	k	k	NOUN
ajst-13261	131	2	x	x	PUNCT
ajst-13261	131	3	k	k	PROPN
ajst-13261	131	4	k	k	PROPN
ajst-13261	131	5	k	k	PROPN
ajst-13261	131	6	y	y	PROPN
ajst-13261	131	7	k	k	PROPN
ajst-13261	131	8	hx	hx	PROPN
ajst-13261	131	9	k	k	PROPN
ajst-13261	131	10			PUNCT
ajst-13261	131	11			PROPN
ajst-13261	131	12	(	(	PUNCT
ajst-13261	131	13	18	18	NUM
ajst-13261	131	14	)	)	PUNCT
ajst-13261	131	15	error	error	NOUN
ajst-13261	131	16	covariance	covariance	NOUN
ajst-13261	131	17	update	update	NOUN
ajst-13261	131	18	equation	equation	NOUN
ajst-13261	131	19	:	:	PUNCT
ajst-13261	131	20	ˆ	ˆ	NOUN
ajst-13261	131	21	(	(	PUNCT
ajst-13261	131	22	)	)	PUNCT
ajst-13261	131	23	(	(	PUNCT
ajst-13261	131	24	1	1	NUM
ajst-13261	131	25	(	(	PUNCT
ajst-13261	131	26	)	)	PUNCT
ajst-13261	131	27	)	)	PUNCT
ajst-13261	131	28	(	(	PUNCT
ajst-13261	131	29	)	)	PUNCT
ajst-13261	131	30	p	p	X
ajst-13261	131	31	k	k	PROPN
ajst-13261	131	32	k	k	PROPN
ajst-13261	131	33	k	k	PROPN
ajst-13261	131	34	h	h	PROPN
ajst-13261	132	1	p	p	X
ajst-13261	132	2	k	k	ADJ
ajst-13261	132	3			X
ajst-13261	132	4	(	(	PUNCT
ajst-13261	132	5	19	19	NUM
ajst-13261	132	6	)	)	PUNCT
ajst-13261	132	7	a	a	DET
ajst-13261	132	8	total	total	NOUN
ajst-13261	132	9	of	of	ADP
ajst-13261	132	10	five	five	NUM
ajst-13261	132	11	formulas	formula	NOUN
ajst-13261	132	12	that	that	SCONJ
ajst-13261	132	13	the	the	DET
ajst-13261	132	14	five	five	NUM
ajst-13261	132	15	core	core	NOUN
ajst-13261	132	16	formulas	formula	NOUN
ajst-13261	132	17	of	of	ADP
ajst-13261	132	18	the	the	DET
ajst-13261	132	19	classical	classical	ADJ
ajst-13261	132	20	kalman	kalman	NOUN
ajst-13261	132	21	filter	filter	NOUN
ajst-13261	132	22	,	,	PUNCT
ajst-13261	132	23	the	the	DET
ajst-13261	132	24	above	above	ADJ
ajst-13261	132	25	classical	classical	ADJ
ajst-13261	132	26	kalman	kalman	NOUN
ajst-13261	132	27	filter	filter	NOUN
ajst-13261	132	28	is	be	AUX
ajst-13261	132	29	introduced	introduce	VERB
ajst-13261	132	30	.	.	PUNCT
ajst-13261	133	1	3.3	3.3	NUM
ajst-13261	133	2	.	.	PUNCT
ajst-13261	134	1	volumetric	volumetric	NOUN
ajst-13261	134	2	kalman	kalman	PROPN
ajst-13261	134	3	filter	filter	NOUN
ajst-13261	134	4	ckf	ckf	NOUN
ajst-13261	134	5	transforms	transform	VERB
ajst-13261	134	6	the	the	DET
ajst-13261	134	7	nonlinear	nonlinear	ADJ
ajst-13261	134	8	filtering	filtering	NOUN
ajst-13261	134	9	problem	problem	NOUN
ajst-13261	134	10	into	into	ADP
ajst-13261	134	11	a	a	DET
ajst-13261	134	12	problem	problem	NOUN
ajst-13261	134	13	of	of	ADP
ajst-13261	134	14	solving	solve	VERB
ajst-13261	134	15	the	the	DET
ajst-13261	134	16	product	product	NOUN
ajst-13261	134	17	of	of	ADP
ajst-13261	134	18	a	a	DET
ajst-13261	134	19	nonlinear	nonlinear	ADJ
ajst-13261	134	20	function	function	NOUN
ajst-13261	134	21	and	and	CCONJ
ajst-13261	134	22	a	a	DET
ajst-13261	134	23	gaussian	gaussian	ADJ
ajst-13261	134	24	probability	probability	NOUN
ajst-13261	134	25	density	density	NOUN
ajst-13261	134	26	function	function	NOUN
ajst-13261	134	27	,	,	PUNCT
ajst-13261	134	28	using	use	VERB
ajst-13261	134	29	the	the	DET
ajst-13261	134	30	principle	principle	NOUN
ajst-13261	134	31	of	of	ADP
ajst-13261	134	32	volumetric	volumetric	ADJ
ajst-13261	134	33	numerical	numerical	ADJ
ajst-13261	134	34	integration	integration	NOUN
ajst-13261	134	35	to	to	PART
ajst-13261	134	36	approximate	approximate	VERB
ajst-13261	134	37	the	the	DET
ajst-13261	134	38	state	state	NOUN
ajst-13261	134	39	posterior	posterior	ADJ
ajst-13261	134	40	distribution	distribution	NOUN
ajst-13261	134	41	.	.	PUNCT
ajst-13261	135	1	the	the	DET
ajst-13261	135	2	algorithm	algorithm	NOUN
ajst-13261	135	3	is	be	AUX
ajst-13261	135	4	highly	highly	ADV
ajst-13261	135	5	accurate	accurate	ADJ
ajst-13261	135	6	and	and	CCONJ
ajst-13261	135	7	stable[7	stable[7	NOUN
ajst-13261	135	8	]	]	PUNCT
ajst-13261	135	9	.	.	PUNCT
ajst-13261	136	1	and	and	CCONJ
ajst-13261	136	2	with	with	ADP
ajst-13261	136	3	the	the	DET
ajst-13261	136	4	increase	increase	NOUN
ajst-13261	136	5	of	of	ADP
ajst-13261	136	6	the	the	DET
ajst-13261	136	7	dimension	dimension	NOUN
ajst-13261	136	8	of	of	ADP
ajst-13261	136	9	the	the	DET
ajst-13261	136	10	system	system	NOUN
ajst-13261	136	11	,	,	PUNCT
ajst-13261	136	12	the	the	DET
ajst-13261	136	13	stability	stability	NOUN
ajst-13261	136	14	and	and	CCONJ
ajst-13261	136	15	accuracy	accuracy	NOUN
ajst-13261	136	16	of	of	ADP
ajst-13261	136	17	ckf	ckf	NOUN
ajst-13261	136	18	will	will	AUX
ajst-13261	136	19	be	be	AUX
ajst-13261	136	20	more	more	ADJ
ajst-13261	136	21	than	than	ADP
ajst-13261	136	22	ukf[8	ukf[8	ADV
ajst-13261	136	23	]	]	PUNCT
ajst-13261	136	24	,	,	PUNCT
ajst-13261	136	25	at	at	ADP
ajst-13261	136	26	the	the	DET
ajst-13261	136	27	same	same	ADJ
ajst-13261	136	28	time	time	NOUN
ajst-13261	136	29	,	,	PUNCT
ajst-13261	136	30	the	the	DET
ajst-13261	136	31	computational	computational	ADJ
ajst-13261	136	32	amount	amount	NOUN
ajst-13261	136	33	of	of	ADP
ajst-13261	136	34	ckf	ckf	NOUN
ajst-13261	136	35	is	be	AUX
ajst-13261	136	36	smaller	small	ADJ
ajst-13261	136	37	than	than	ADP
ajst-13261	136	38	ukf	ukf	NOUN
ajst-13261	136	39	,	,	PUNCT
ajst-13261	136	40	in	in	ADP
ajst-13261	136	41	view	view	NOUN
ajst-13261	136	42	of	of	ADP
ajst-13261	136	43	the	the	DET
ajst-13261	136	44	advantages	advantage	NOUN
ajst-13261	136	45	of	of	ADP
ajst-13261	136	46	ckf	ckf	NOUN
ajst-13261	136	47	,	,	PUNCT
ajst-13261	136	48	this	this	DET
ajst-13261	136	49	paper	paper	NOUN
ajst-13261	136	50	selects	select	NOUN
ajst-13261	136	51	ckf	ckf	NOUN
ajst-13261	136	52	for	for	ADP
ajst-13261	136	53	the	the	DET
ajst-13261	136	54	soft	soft	ADJ
ajst-13261	136	55	measurement	measurement	NOUN
ajst-13261	136	56	of	of	ADP
ajst-13261	136	57	road	road	NOUN
ajst-13261	136	58	adhesion	adhesion	NOUN
ajst-13261	136	59	coefficient	coefficient	NOUN
ajst-13261	136	60	.	.	PUNCT
ajst-13261	137	1	the	the	DET
ajst-13261	137	2	design	design	NOUN
ajst-13261	137	3	of	of	ADP
ajst-13261	137	4	ckf	ckf	NOUN
ajst-13261	137	5	is	be	AUX
ajst-13261	137	6	based	base	VERB
ajst-13261	137	7	on	on	ADP
ajst-13261	137	8	bayesian	bayesian	NOUN
ajst-13261	137	9	filtering	filtering	NOUN
ajst-13261	137	10	principle	principle	NOUN
ajst-13261	137	11	.	.	PUNCT
ajst-13261	138	1	according	accord	VERB
ajst-13261	138	2	to	to	ADP
ajst-13261	138	3	the	the	DET
ajst-13261	138	4	third	third	ADJ
ajst-13261	138	5	-	-	PUNCT
ajst-13261	138	6	order	order	NOUN
ajst-13261	138	7	spherical	spherical	ADJ
ajst-13261	138	8	-	-	PUNCT
ajst-13261	138	9	radial	radial	ADJ
ajst-13261	138	10	law	law	NOUN
ajst-13261	138	11	,	,	PUNCT
ajst-13261	138	12	when	when	SCONJ
ajst-13261	138	13	the	the	DET
ajst-13261	138	14	variable	variable	NOUN
ajst-13261	138	15	x	x	PRON
ajst-13261	138	16	obeys	obey	VERB
ajst-13261	138	17	the	the	DET
ajst-13261	138	18	normal	normal	ADJ
ajst-13261	138	19	distribution	distribution	NOUN
ajst-13261	138	20	,	,	PUNCT
ajst-13261	138	21	it	it	PRON
ajst-13261	138	22	can	can	AUX
ajst-13261	138	23	be	be	AUX
ajst-13261	138	24	obtained	obtain	VERB
ajst-13261	138	25	as	as	ADP
ajst-13261	138	26	follows	follow	NOUN
ajst-13261	138	27	.	.	PUNCT
ajst-13261	139	1			NOUN
ajst-13261	139	2			PUNCT
ajst-13261	139	3	2	2	NUM
ajst-13261	139	4	1	1	NUM
ajst-13261	139	5	(	(	PUNCT
ajst-13261	139	6	)	)	PUNCT
ajst-13261	139	7	(	(	PUNCT
ajst-13261	139	8	)	)	PUNCT
ajst-13261	139	9	(	(	PUNCT
ajst-13261	139	10	;	;	PUNCT
ajst-13261	139	11	,	,	PUNCT
ajst-13261	139	12	)	)	PUNCT
ajst-13261	139	13	n	n	CCONJ
ajst-13261	139	14	n	n	CCONJ
ajst-13261	139	15	n	n	NOUN
ajst-13261	140	1	i	i	PRON
ajst-13261	140	2	ir	ir	INTJ
ajst-13261	141	1	i	i	INTJ
ajst-13261	141	2	i	i	PRON
ajst-13261	142	1	f	f	NOUN
ajst-13261	142	2	f	f	NOUN
ajst-13261	142	3	x	x	SYM
ajst-13261	142	4	n	n	PROPN
ajst-13261	142	5	x	x	NOUN
ajst-13261	142	6	p	p	X
ajst-13261	142	7	dx	dx	PROPN
ajst-13261	142	8	f	f	PROPN
ajst-13261	142	9	p	p	NUM
ajst-13261	142	10			X
ajst-13261	142	11			NOUN
ajst-13261	142	12			NOUN
ajst-13261	142	13			NUM
ajst-13261	142	14			NUM
ajst-13261	142	15			X
ajst-13261	142	16			NOUN
ajst-13261	142	17	(	(	PUNCT
ajst-13261	142	18	20	20	NUM
ajst-13261	142	19	)	)	PUNCT
ajst-13261	142	20	the	the	DET
ajst-13261	142	21	covariance	covariance	NOUN
ajst-13261	142	22	matrix	matrix	NOUN
ajst-13261	142	23	p	p	NOUN
ajst-13261	142	24	satisfies	satisfie	NOUN
ajst-13261	142	25	=	=	PUNCT
ajst-13261	142	26	t	t	X
ajst-13261	142	27	p	p	X
ajst-13261	142	28	p	p	X
ajst-13261	142	29	p	p	X
ajst-13261	142	30	；	；	PROPN
ajst-13261	142	31	1	1	NUM
ajst-13261	142	32	/	/	SYM
ajst-13261	142	33	2i	2i	NUM
ajst-13261	142	34	n	n	NOUN
ajst-13261	143	1			NUM
ajst-13261	143	2	；	；	PROPN
ajst-13261	144	1	[	[	PUNCT
ajst-13261	144	2	]	]	X
ajst-13261	144	3	i	i	PRON
ajst-13261	144	4	in	in	NOUN
ajst-13261	145	1			NOUN
ajst-13261	145	2	；	；	NOUN
ajst-13261	145	3	1	1	NUM
ajst-13261	145	4	0	0	NUM
ajst-13261	145	5	1	1	NUM
ajst-13261	145	6	0	0	NUM
ajst-13261	145	7	0	0	NUM
ajst-13261	145	8	0	0	NUM
ajst-13261	145	9	0	0	NUM
ajst-13261	145	10	0	0	NUM
ajst-13261	146	1	[	[	PUNCT
ajst-13261	146	2	]	]	X
ajst-13261	146	3	0	0	NUM
ajst-13261	146	4	1	1	NUM
ajst-13261	146	5	0	0	NUM
ajst-13261	146	6	1	1	NUM
ajst-13261	146	7	i	i	PROPN
ajst-13261	146	8			PROPN
ajst-13261	146	9			SYM
ajst-13261	146	10			NOUN
ajst-13261	146	11			VERB
ajst-13261	146	12			PROPN
ajst-13261	146	13			PROPN
ajst-13261	146	14			NOUN
ajst-13261	146	15			PROPN
ajst-13261	146	16			VERB
ajst-13261	146	17			VERB
ajst-13261	146	18			PROPN
ajst-13261	146	19			PROPN
ajst-13261	146	20			NOUN
ajst-13261	147	1			PROPN
ajst-13261	148	1			PROPN
ajst-13261	148	2			PROPN
ajst-13261	148	3			PROPN
ajst-13261	148	4			NOUN
ajst-13261	148	5			PROPN
ajst-13261	148	6			PROPN
ajst-13261	148	7			NOUN
ajst-13261	149	1			PROPN
ajst-13261	150	1			PROPN
ajst-13261	151	1			PROPN
ajst-13261	151	2			PROPN
ajst-13261	151	3			PROPN
ajst-13261	151	4			NOUN
ajst-13261	151	5			PROPN
ajst-13261	151	6			PROPN
ajst-13261	152	1			NOUN
ajst-13261	153	1			PROPN
ajst-13261	154	1			PROPN
ajst-13261	154	2			PROPN
ajst-13261	154	3			PROPN
ajst-13261	154	4			NOUN
ajst-13261	154	5			PROPN
ajst-13261	154	6			PROPN
ajst-13261	154	7			NOUN
ajst-13261	155	1			INTJ
ajst-13261	156	1			INTJ
ajst-13261	156	2			PROPN
ajst-13261	157	1			NOUN
ajst-13261	157	2			NOUN
ajst-13261	157	3			NOUN
ajst-13261	157	4			NOUN
ajst-13261	157	5			NOUN
ajst-13261	157	6			NOUN
ajst-13261	157	7			PROPN
ajst-13261	157	8			PROPN
ajst-13261	157	9			PROPN
ajst-13261	157	10	�	�	PROPN
ajst-13261	157	11	�	�	PROPN
ajst-13261	157	12	�	�	PROPN
ajst-13261	157	13	�	�	PROPN
ajst-13261	157	14	the	the	DET
ajst-13261	157	15	core	core	NOUN
ajst-13261	157	16	idea	idea	NOUN
ajst-13261	157	17	of	of	ADP
ajst-13261	157	18	ckf	ckf	PROPN
ajst-13261	157	19	's	's	PART
ajst-13261	157	20	algorithm	algorithm	NOUN
ajst-13261	157	21	is	be	AUX
ajst-13261	157	22	to	to	PART
ajst-13261	157	23	implement	implement	VERB
ajst-13261	157	24	the	the	DET
ajst-13261	157	25	nonlinear	nonlinear	ADJ
ajst-13261	157	26	estimation	estimation	NOUN
ajst-13261	157	27	of	of	ADP
ajst-13261	157	28	2n	2n	NUM
ajst-13261	157	29	equally	equally	ADV
ajst-13261	157	30	weighted	weight	VERB
ajst-13261	157	31	volume	volume	NOUN
ajst-13261	157	32	points	point	NOUN
ajst-13261	157	33	calculated	calculate	VERB
ajst-13261	157	34	by	by	ADP
ajst-13261	157	35	the	the	DET
ajst-13261	157	36	spherical	spherical	ADJ
ajst-13261	157	37	-	-	PUNCT
ajst-13261	157	38	radial	radial	NOUN
ajst-13261	157	39	volume	volume	NOUN
ajst-13261	157	40	rule	rule	NOUN
ajst-13261	157	41	.	.	PUNCT
ajst-13261	158	1	the	the	DET
ajst-13261	158	2	algorithmic	algorithmic	ADJ
ajst-13261	158	3	processing	processing	NOUN
ajst-13261	158	4	flow	flow	NOUN
ajst-13261	158	5	of	of	ADP
ajst-13261	158	6	ckf	ckf	NOUN
ajst-13261	158	7	filtering	filtering	NOUN
ajst-13261	158	8	is	be	AUX
ajst-13261	158	9	as	as	SCONJ
ajst-13261	158	10	follows	follow	VERB
ajst-13261	158	11	:	:	PUNCT
ajst-13261	158	12	based	base	VERB
ajst-13261	158	13	on	on	ADP
ajst-13261	158	14	the	the	DET
ajst-13261	158	15	estimate	estimate	VERB
ajst-13261	158	16	-	-	PUNCT
ajst-13261	158	17	and	and	CCONJ
ajst-13261	158	18	discrepancy	discrepancy	NOUN
ajst-13261	158	19	moment	moment	NOUN
ajst-13261	158	20	k-1	k-1	PROPN
ajst-13261	158	21	,	,	PUNCT
ajst-13261	158	22	the	the	DET
ajst-13261	158	23	volume	volume	NOUN
ajst-13261	158	24	point	point	NOUN
ajst-13261	158	25	initialisation	initialisation	NOUN
ajst-13261	158	26	is	be	AUX
ajst-13261	158	27	calculated	calculate	VERB
ajst-13261	158	28	using	use	VERB
ajst-13261	158	29	equation	equation	NOUN
ajst-13261	158	30	(	(	PUNCT
ajst-13261	158	31	20	20	NUM
ajst-13261	158	32	)	)	PUNCT
ajst-13261	158	33	to	to	PART
ajst-13261	158	34	generate	generate	VERB
ajst-13261	158	35	the	the	DET
ajst-13261	158	36	volume	volume	NOUN
ajst-13261	158	37	point	point	NOUN
ajst-13261	158	38	:	:	PUNCT
ajst-13261	158	39	(	(	PUNCT
ajst-13261	158	40	1	1	X
ajst-13261	158	41	)	)	PUNCT
ajst-13261	158	42	chol	chol	NOUN
ajst-13261	158	43	{	{	PUNCT
ajst-13261	158	44	(	(	PUNCT
ajst-13261	158	45	1	1	NUM
ajst-13261	158	46	)	)	PUNCT
ajst-13261	158	47	}	}	PUNCT
ajst-13261	158	48	ˆ	ˆ	PROPN
ajst-13261	158	49	(	(	PUNCT
ajst-13261	158	50	1	1	NUM
ajst-13261	158	51	)	)	PUNCT
ajst-13261	158	52	(	(	PUNCT
ajst-13261	158	53	1	1	X
ajst-13261	158	54	)	)	PUNCT
ajst-13261	158	55	(	(	PUNCT
ajst-13261	158	56	1	1	X
ajst-13261	158	57	)	)	PUNCT
ajst-13261	158	58			NOUN
ajst-13261	158	59			NOUN
ajst-13261	158	60			PROPN
ajst-13261	158	61			NUM
ajst-13261	158	62			NOUN
ajst-13261	158	63			PROPN
ajst-13261	158	64			PROPN
ajst-13261	158	65			ADV
ajst-13261	159	1			PROPN
ajst-13261	160	1	i	i	PRON
ajst-13261	160	2	i	i	PRON
ajst-13261	160	3	s	s	VERB
ajst-13261	161	1	k	k	X
ajst-13261	161	2	p	p	X
ajst-13261	161	3	k	k	PROPN
ajst-13261	161	4	x	x	X
ajst-13261	161	5	k	k	PROPN
ajst-13261	161	6	s	s	X
ajst-13261	161	7	k	k	X
ajst-13261	161	8	x	x	X
ajst-13261	161	9	k	k	X
ajst-13261	161	10	(	(	PUNCT
ajst-13261	161	11	21	21	NUM
ajst-13261	161	12	)	)	PUNCT
ajst-13261	161	13	nonlinear	nonlinear	ADJ
ajst-13261	161	14	propagation	propagation	NOUN
ajst-13261	161	15	of	of	ADP
ajst-13261	161	16	volume	volume	NOUN
ajst-13261	161	17	points	point	NOUN
ajst-13261	161	18	:	:	PUNCT
ajst-13261	161	19			PROPN
ajst-13261	161	20			PROPN
ajst-13261	161	21	*	*	SYM
ajst-13261	161	22	ˆ	ˆ	PROPN
ajst-13261	161	23	(	(	PUNCT
ajst-13261	161	24	1	1	NUM
ajst-13261	161	25	)	)	PUNCT
ajst-13261	161	26	(	(	PUNCT
ajst-13261	161	27	1	1	NUM
ajst-13261	161	28	)	)	PUNCT
ajst-13261	161	29	,	,	PUNCT
ajst-13261	161	30	(	(	PUNCT
ajst-13261	161	31	)	)	PUNCT
ajst-13261	161	32	i	i	PRON
ajst-13261	161	33	ix	ix	VERB
ajst-13261	162	1	k	k	PROPN
ajst-13261	162	2	f	f	PROPN
ajst-13261	162	3	x	x	X
ajst-13261	162	4	k	k	PROPN
ajst-13261	162	5	u	u	PROPN
ajst-13261	162	6	k	k	PROPN
ajst-13261	162	7			PROPN
ajst-13261	162	8			PROPN
ajst-13261	162	9	(	(	PUNCT
ajst-13261	162	10	22	22	NUM
ajst-13261	162	11	)	)	PUNCT
ajst-13261	162	12	status	status	NOUN
ajst-13261	162	13	prediction	prediction	NOUN
ajst-13261	162	14	:	:	PUNCT
ajst-13261	162	15	2	2	NUM
ajst-13261	162	16	*	*	SYM
ajst-13261	162	17	ˆ	ˆ	NOUN
ajst-13261	162	18	(	(	PUNCT
ajst-13261	162	19	)	)	PUNCT
ajst-13261	162	20	(	(	PUNCT
ajst-13261	162	21	1	1	X
ajst-13261	162	22	)	)	PUNCT
ajst-13261	162	23	n	n	NOUN
ajst-13261	163	1	i	i	PRON
ajst-13261	163	2	ix	ix	INTJ
ajst-13261	164	1	k	k	PROPN
ajst-13261	164	2	x	x	X
ajst-13261	164	3	k	k	PUNCT
ajst-13261	164	4			NOUN
ajst-13261	164	5	(	(	PUNCT
ajst-13261	164	6	23	23	NUM
ajst-13261	164	7	)	)	PUNCT
ajst-13261	164	8	forecast	forecast	NOUN
ajst-13261	164	9	variance	variance	NOUN
ajst-13261	164	10	:	:	PUNCT
ajst-13261	164	11	2	2	NUM
ajst-13261	164	12	*	*	PUNCT
ajst-13261	164	13	*	*	PUNCT
ajst-13261	164	14	1	1	NUM
ajst-13261	164	15	ˆ	ˆ	NOUN
ajst-13261	164	16	ˆ	ˆ	NOUN
ajst-13261	164	17	ˆ	ˆ	ADJ
ajst-13261	164	18	(	(	PUNCT
ajst-13261	164	19	)	)	PUNCT
ajst-13261	164	20	(	(	PUNCT
ajst-13261	164	21	1	1	X
ajst-13261	164	22	)	)	PUNCT
ajst-13261	164	23	(	(	PUNCT
ajst-13261	164	24	1	1	X
ajst-13261	164	25	)	)	PUNCT
ajst-13261	164	26	(	(	PUNCT
ajst-13261	164	27	)	)	PUNCT
ajst-13261	164	28	(	(	PUNCT
ajst-13261	164	29	)	)	PUNCT
ajst-13261	164	30	n	n	ADP
ajst-13261	164	31	t	t	NOUN
ajst-13261	164	32	t	t	NOUN
ajst-13261	165	1	i	i	PRON
ajst-13261	165	2	i	i	PRON
ajst-13261	166	1	i	i	PRON
ajst-13261	167	1	i	i	PRON
ajst-13261	167	2	p	p	X
ajst-13261	168	1	k	k	X
ajst-13261	168	2	x	x	X
ajst-13261	169	1	k	k	NOUN
ajst-13261	169	2	x	x	X
ajst-13261	170	1	k	k	NOUN
ajst-13261	170	2	x	x	SYM
ajst-13261	171	1	k	k	NOUN
ajst-13261	171	2	x	x	X
ajst-13261	172	1	k	k	X
ajst-13261	172	2	q	q	PROPN
ajst-13261	173	1			NUM
ajst-13261	173	2			PROPN
ajst-13261	173	3			PROPN
ajst-13261	173	4			PROPN
ajst-13261	173	5			PROPN
ajst-13261	173	6			NOUN
ajst-13261	173	7	(	(	PUNCT
ajst-13261	173	8	24	24	NUM
ajst-13261	173	9	)	)	PUNCT
ajst-13261	173	10	calculate	calculate	VERB
ajst-13261	173	11	the	the	DET
ajst-13261	173	12	volume	volume	NOUN
ajst-13261	173	13	point	point	NOUN
ajst-13261	173	14	based	base	VERB
ajst-13261	173	15	on	on	ADP
ajst-13261	173	16	the	the	DET
ajst-13261	173	17	estimate	estimate	NOUN
ajst-13261	173	18	and	and	CCONJ
ajst-13261	173	19	variance	variance	NOUN
ajst-13261	173	20	at	at	ADP
ajst-13261	173	21	moment	moment	NOUN
ajst-13261	174	1	k	k	NOUN
ajst-13261	174	2	:	:	PUNCT
ajst-13261	174	3	ˆ	ˆ	PRON
ajst-13261	174	4	ˆ	ˆ	PROPN
ajst-13261	174	5	(	(	PUNCT
ajst-13261	174	6	)	)	PUNCT
ajst-13261	174	7	chol	chol	NOUN
ajst-13261	174	8	{	{	PUNCT
ajst-13261	174	9	(	(	PUNCT
ajst-13261	174	10	)	)	PUNCT
ajst-13261	174	11	}	}	PUNCT
ajst-13261	174	12	s	s	PART
ajst-13261	174	13	k	k	X
ajst-13261	174	14	p	p	X
ajst-13261	174	15	k	k	PROPN
ajst-13261	174	16	(	(	PUNCT
ajst-13261	174	17	25	25	NUM
ajst-13261	174	18	)	)	PUNCT
ajst-13261	174	19	ˆˆ	ˆˆ	PROPN
ajst-13261	174	20	ˆ	ˆ	PROPN
ajst-13261	174	21	(	(	PUNCT
ajst-13261	174	22	)	)	PUNCT
ajst-13261	174	23	(	(	PUNCT
ajst-13261	174	24	)	)	PUNCT
ajst-13261	174	25	(	(	PUNCT
ajst-13261	174	26	)	)	PUNCT
ajst-13261	175	1	i	i	PRON
ajst-13261	175	2	ix	ix	VERB
ajst-13261	176	1	k	k	PROPN
ajst-13261	176	2	s	s	PROPN
ajst-13261	176	3	k	k	X
ajst-13261	176	4	x	x	X
ajst-13261	176	5	k	k	X
ajst-13261	176	6			X
ajst-13261	176	7	(	(	PUNCT
ajst-13261	176	8	26	26	NUM
ajst-13261	176	9	)	)	PUNCT
ajst-13261	176	10	calculation	calculation	NOUN
ajst-13261	176	11	of	of	ADP
ajst-13261	176	12	volumetric	volumetric	NOUN
ajst-13261	176	13	point	point	NOUN
ajst-13261	176	14	values	value	NOUN
ajst-13261	176	15	after	after	ADP
ajst-13261	176	16	propagation	propagation	NOUN
ajst-13261	176	17	of	of	ADP
ajst-13261	176	18	the	the	DET
ajst-13261	176	19	observation	observation	NOUN
ajst-13261	176	20	equation	equation	NOUN
ajst-13261	176	21	:	:	PUNCT
ajst-13261	176	22			PROPN
ajst-13261	176	23			PROPN
ajst-13261	176	24	*	*	SYM
ajst-13261	176	25	ˆ	ˆ	PROPN
ajst-13261	176	26	(	(	PUNCT
ajst-13261	176	27	)	)	PUNCT
ajst-13261	176	28	(	(	PUNCT
ajst-13261	176	29	)	)	PUNCT
ajst-13261	176	30	,	,	PUNCT
ajst-13261	176	31	(	(	PUNCT
ajst-13261	176	32	)	)	PUNCT
ajst-13261	176	33	i	i	PRON
ajst-13261	176	34	iy	iy	INTJ
ajst-13261	177	1	k	k	INTJ
ajst-13261	177	2	h	h	NOUN
ajst-13261	177	3	x	x	X
ajst-13261	177	4	k	k	X
ajst-13261	177	5	u	u	X
ajst-13261	177	6	k	k	NOUN
ajst-13261	177	7	(	(	PUNCT
ajst-13261	177	8	27	27	NUM
ajst-13261	177	9	)	)	PUNCT
ajst-13261	177	10	observations	observation	NOUN
ajst-13261	177	11	forecast	forecast	NOUN
ajst-13261	177	12	:	:	PUNCT
ajst-13261	177	13	*	*	SYM
ajst-13261	177	14	1	1	NUM
ajst-13261	177	15	ˆ	ˆ	NOUN
ajst-13261	177	16	(	(	PUNCT
ajst-13261	177	17	)	)	PUNCT
ajst-13261	177	18	(	(	PUNCT
ajst-13261	177	19	)	)	PUNCT
ajst-13261	178	1			NUM
ajst-13261	178	2			NUM
ajst-13261	178	3			X
ajst-13261	179	1	m	m	VERB
ajst-13261	179	2	i	i	PRON
ajst-13261	180	1	i	i	PRON
ajst-13261	181	1	i	i	VERB
ajst-13261	181	2	y	y	VERB
ajst-13261	182	1	k	k	PROPN
ajst-13261	182	2	y	y	PROPN
ajst-13261	182	3	k	k	X
ajst-13261	183	1	(	(	PUNCT
ajst-13261	183	2	28	28	NUM
ajst-13261	183	3	)	)	PUNCT
ajst-13261	183	4	estimating	estimate	VERB
ajst-13261	183	5	the	the	DET
ajst-13261	183	6	new	new	ADJ
ajst-13261	183	7	observation	observation	NOUN
ajst-13261	183	8	covariance	covariance	NOUN
ajst-13261	183	9	:	:	PUNCT
ajst-13261	184	1	*	*	PUNCT
ajst-13261	184	2	*	*	PUNCT
ajst-13261	184	3	1	1	NUM
ajst-13261	184	4	(	(	PUNCT
ajst-13261	184	5	)	)	PUNCT
ajst-13261	184	6	(	(	PUNCT
ajst-13261	184	7	)	)	PUNCT
ajst-13261	184	8	(	(	PUNCT
ajst-13261	184	9	)	)	PUNCT
ajst-13261	184	10	(	(	PUNCT
ajst-13261	184	11	)	)	PUNCT
ajst-13261	184	12	(	(	PUNCT
ajst-13261	184	13	)	)	PUNCT
ajst-13261	184	14	m	m	VERB
ajst-13261	185	1	t	t	NOUN
ajst-13261	185	2	t	t	X
ajst-13261	186	1	yy	yy	INTJ
ajst-13261	187	1	i	i	PRON
ajst-13261	188	1	i	i	PRON
ajst-13261	189	1	i	i	PRON
ajst-13261	190	1	i	i	PRON
ajst-13261	190	2	p	p	X
ajst-13261	191	1	k	k	PROPN
ajst-13261	191	2	y	y	PROPN
ajst-13261	191	3	k	k	PROPN
ajst-13261	191	4	y	y	PROPN
ajst-13261	191	5	k	k	PROPN
ajst-13261	191	6	y	y	PROPN
ajst-13261	191	7	k	k	PROPN
ajst-13261	191	8	y	y	PROPN
ajst-13261	191	9	k	k	PROPN
ajst-13261	191	10	r	r	PROPN
ajst-13261	191	11			PROPN
ajst-13261	192	1			PROPN
ajst-13261	192	2			PROPN
ajst-13261	192	3			NOUN
ajst-13261	192	4	(	(	PUNCT
ajst-13261	192	5	29	29	NUM
ajst-13261	192	6	)	)	PUNCT
ajst-13261	192	7	estimating	estimate	VERB
ajst-13261	192	8	the	the	DET
ajst-13261	192	9	covariance	covariance	NOUN
ajst-13261	192	10	:	:	PUNCT
ajst-13261	192	11	*	*	PUNCT
ajst-13261	192	12	1	1	NUM
ajst-13261	192	13	ˆ	ˆ	NOUN
ajst-13261	192	14	ˆ	ˆ	NOUN
ajst-13261	192	15	ˆ	ˆ	ADJ
ajst-13261	192	16	(	(	PUNCT
ajst-13261	192	17	)	)	PUNCT
ajst-13261	192	18	(	(	PUNCT
ajst-13261	192	19	)	)	PUNCT
ajst-13261	192	20	(	(	PUNCT
ajst-13261	192	21	)	)	PUNCT
ajst-13261	192	22	(	(	PUNCT
ajst-13261	192	23	)	)	PUNCT
ajst-13261	192	24	(	(	PUNCT
ajst-13261	192	25	)	)	PUNCT
ajst-13261	193	1	m	m	VERB
ajst-13261	193	2	t	t	NOUN
ajst-13261	194	1	t	t	X
ajst-13261	194	2	xy	xy	INTJ
ajst-13261	195	1	i	i	PRON
ajst-13261	195	2	i	i	PRON
ajst-13261	196	1	i	i	PRON
ajst-13261	197	1	i	i	PRON
ajst-13261	197	2	p	p	X
ajst-13261	198	1	k	k	X
ajst-13261	198	2	x	x	X
ajst-13261	199	1	k	k	PROPN
ajst-13261	199	2	y	y	PROPN
ajst-13261	199	3	k	k	PROPN
ajst-13261	199	4	x	x	X
ajst-13261	199	5	k	k	PROPN
ajst-13261	199	6	y	y	PROPN
ajst-13261	200	1	k	k	NOUN
ajst-13261	201	1			NUM
ajst-13261	201	2			NUM
ajst-13261	202	1			X
ajst-13261	202	2	(	(	PUNCT
ajst-13261	202	3	30	30	NUM
ajst-13261	202	4	)	)	PUNCT
ajst-13261	202	5	calculating	calculate	VERB
ajst-13261	202	6	kalman	kalman	NOUN
ajst-13261	202	7	gain	gain	NOUN
ajst-13261	202	8	:	:	PUNCT
ajst-13261	202	9	1	1	NUM
ajst-13261	202	10	(	(	PUNCT
ajst-13261	202	11	)	)	PUNCT
ajst-13261	202	12	(	(	PUNCT
ajst-13261	202	13	)	)	PUNCT
ajst-13261	202	14	(	(	PUNCT
ajst-13261	202	15	)	)	PUNCT
ajst-13261	202	16	xy	xy	PROPN
ajst-13261	203	1	yyk	yyk	PRON
ajst-13261	204	1	k	k	NOUN
ajst-13261	204	2	p	p	X
ajst-13261	205	1	k	k	PROPN
ajst-13261	205	2	p	p	X
ajst-13261	205	3	k	k	PROPN
ajst-13261	205	4	(	(	PUNCT
ajst-13261	205	5	31	31	NUM
ajst-13261	205	6	)	)	SYM
ajst-13261	205	7	135	135	NUM
ajst-13261	205	8	status	status	NOUN
ajst-13261	205	9	update	update	NOUN
ajst-13261	205	10	:	:	PUNCT
ajst-13261	205	11	ˆ	ˆ	PRON
ajst-13261	205	12	ˆ	ˆ	PROPN
ajst-13261	205	13	(	(	PUNCT
ajst-13261	205	14	)	)	PUNCT
ajst-13261	205	15	(	(	PUNCT
ajst-13261	205	16	)	)	PUNCT
ajst-13261	205	17	(	(	PUNCT
ajst-13261	205	18	)	)	PUNCT
ajst-13261	205	19	(	(	PUNCT
ajst-13261	205	20	(	(	PUNCT
ajst-13261	205	21	)	)	PUNCT
ajst-13261	205	22	(	(	PUNCT
ajst-13261	205	23	)	)	PUNCT
ajst-13261	205	24	)	)	PUNCT
ajst-13261	205	25	x	x	X
ajst-13261	206	1	k	k	NOUN
ajst-13261	206	2	x	x	PUNCT
ajst-13261	206	3	k	k	PROPN
ajst-13261	206	4	k	k	PROPN
ajst-13261	206	5	k	k	PROPN
ajst-13261	206	6	y	y	PROPN
ajst-13261	206	7	k	k	PROPN
ajst-13261	206	8	y	y	PROPN
ajst-13261	206	9	k	k	PROPN
ajst-13261	206	10			PUNCT
ajst-13261	206	11			X
ajst-13261	206	12	(	(	PUNCT
ajst-13261	206	13	32	32	NUM
ajst-13261	206	14	)	)	PUNCT
ajst-13261	206	15	estimated	estimate	VERB
ajst-13261	206	16	covariance	covariance	NOUN
ajst-13261	206	17	values	value	NOUN
ajst-13261	206	18	:	:	PUNCT
ajst-13261	206	19	ˆ	ˆ	X
ajst-13261	206	20	(	(	PUNCT
ajst-13261	206	21	)	)	PUNCT
ajst-13261	206	22	(	(	PUNCT
ajst-13261	206	23	)	)	PUNCT
ajst-13261	206	24	(	(	PUNCT
ajst-13261	206	25	)	)	PUNCT
ajst-13261	206	26	(	(	PUNCT
ajst-13261	206	27	)	)	PUNCT
ajst-13261	206	28	(	(	PUNCT
ajst-13261	206	29	)	)	PUNCT
ajst-13261	206	30	tyyp	tyyp	PROPN
ajst-13261	207	1	k	k	PROPN
ajst-13261	207	2	p	p	X
ajst-13261	208	1	k	k	PROPN
ajst-13261	208	2	k	k	PROPN
ajst-13261	209	1	k	k	PROPN
ajst-13261	209	2	p	p	X
ajst-13261	209	3	k	k	PROPN
ajst-13261	209	4	k	k	PROPN
ajst-13261	209	5	k	k	PROPN
ajst-13261	209	6			X
ajst-13261	209	7	(	(	PUNCT
ajst-13261	209	8	33	33	NUM
ajst-13261	209	9	)	)	PUNCT
ajst-13261	209	10	at	at	ADP
ajst-13261	209	11	this	this	DET
ajst-13261	209	12	point	point	NOUN
ajst-13261	209	13	,	,	PUNCT
ajst-13261	209	14	the	the	DET
ajst-13261	209	15	ckf	ckf	NOUN
ajst-13261	209	16	algorithm	algorithm	NOUN
ajst-13261	209	17	process	process	NOUN
ajst-13261	209	18	ends	end	VERB
ajst-13261	209	19	,	,	PUNCT
ajst-13261	209	20	and	and	CCONJ
ajst-13261	209	21	the	the	DET
ajst-13261	209	22	ckf	ckf	NOUN
ajst-13261	209	23	will	will	AUX
ajst-13261	209	24	recursively	recursively	ADV
ajst-13261	209	25	push	push	VERB
ajst-13261	209	26	in	in	ADP
ajst-13261	209	27	real	real	ADJ
ajst-13261	209	28	time	time	NOUN
ajst-13261	209	29	to	to	ADP
ajst-13261	209	30	the	the	DET
ajst-13261	209	31	next	next	ADJ
ajst-13261	209	32	point	point	NOUN
ajst-13261	209	33	of	of	ADP
ajst-13261	209	34	the	the	DET
ajst-13261	209	35	calculation	calculation	NOUN
ajst-13261	209	36	of	of	ADP
ajst-13261	209	37	the	the	DET
ajst-13261	209	38	iterative	iterative	NOUN
ajst-13261	209	39	loop	loop	NOUN
ajst-13261	209	40	has	have	AUX
ajst-13261	209	41	reached	reach	VERB
ajst-13261	209	42	the	the	DET
ajst-13261	209	43	final	final	ADJ
ajst-13261	209	44	result	result	NOUN
ajst-13261	209	45	.	.	PUNCT
ajst-13261	210	1	4	4	X
ajst-13261	210	2	.	.	X
ajst-13261	210	3	simulation	simulation	NOUN
ajst-13261	210	4	analysis	analysis	NOUN
ajst-13261	210	5	of	of	ADP
ajst-13261	210	6	road	road	NOUN
ajst-13261	210	7	attachment	attachment	NOUN
ajst-13261	210	8	coefficient	coefficient	NOUN
ajst-13261	210	9	estimation	estimation	NOUN
ajst-13261	210	10	this	this	DET
ajst-13261	210	11	paper	paper	NOUN
ajst-13261	210	12	addresses	address	VERB
ajst-13261	210	13	the	the	DET
ajst-13261	210	14	design	design	NOUN
ajst-13261	210	15	of	of	ADP
ajst-13261	210	16	soft	soft	ADJ
ajst-13261	210	17	measurement	measurement	NOUN
ajst-13261	210	18	of	of	ADP
ajst-13261	210	19	road	road	NOUN
ajst-13261	210	20	adhesion	adhesion	NOUN
ajst-13261	210	21	coefficient	coefficient	NOUN
ajst-13261	210	22	,	,	PUNCT
ajst-13261	210	23	while	while	SCONJ
ajst-13261	210	24	carsim	carsim	PROPN
ajst-13261	210	25	simulation	simulation	NOUN
ajst-13261	210	26	software	software	PROPN
ajst-13261	210	27	has	have	VERB
ajst-13261	210	28	a	a	DET
ajst-13261	210	29	wealth	wealth	NOUN
ajst-13261	210	30	of	of	ADP
ajst-13261	210	31	vehicle	vehicle	NOUN
ajst-13261	210	32	dynamics	dynamic	NOUN
ajst-13261	210	33	models	model	NOUN
ajst-13261	210	34	,	,	PUNCT
ajst-13261	210	35	including	include	VERB
ajst-13261	210	36	the	the	DET
ajst-13261	210	37	body	body	NOUN
ajst-13261	210	38	,	,	PUNCT
ajst-13261	210	39	tyres	tyre	NOUN
ajst-13261	210	40	,	,	PUNCT
ajst-13261	210	41	braking	brake	VERB
ajst-13261	210	42	system	system	NOUN
ajst-13261	210	43	and	and	CCONJ
ajst-13261	210	44	transmission	transmission	NOUN
ajst-13261	210	45	system	system	NOUN
ajst-13261	210	46	.	.	PUNCT
ajst-13261	211	1	vehicle	vehicle	NOUN
ajst-13261	211	2	dynamics	dynamic	NOUN
ajst-13261	211	3	model	model	NOUN
ajst-13261	211	4	,	,	PUNCT
ajst-13261	211	5	including	include	VERB
ajst-13261	211	6	the	the	DET
ajst-13261	211	7	body	body	NOUN
ajst-13261	211	8	,	,	PUNCT
ajst-13261	211	9	tyres	tyre	NOUN
ajst-13261	211	10	,	,	PUNCT
ajst-13261	211	11	braking	brake	VERB
ajst-13261	211	12	system	system	NOUN
ajst-13261	211	13	,	,	PUNCT
ajst-13261	211	14	driveline	driveline	NOUN
ajst-13261	211	15	system	system	NOUN
ajst-13261	211	16	and	and	CCONJ
ajst-13261	211	17	other	other	ADJ
ajst-13261	211	18	subsystems	subsystem	NOUN
ajst-13261	211	19	,	,	PUNCT
ajst-13261	211	20	the	the	DET
ajst-13261	211	21	model	model	NOUN
ajst-13261	211	22	precision	precision	NOUN
ajst-13261	211	23	is	be	AUX
ajst-13261	211	24	high	high	ADJ
ajst-13261	211	25	,	,	PUNCT
ajst-13261	211	26	and	and	CCONJ
ajst-13261	211	27	its	its	PRON
ajst-13261	211	28	simulation	simulation	NOUN
ajst-13261	211	29	test	test	NOUN
ajst-13261	211	30	application	application	NOUN
ajst-13261	211	31	has	have	VERB
ajst-13261	211	32	a	a	DET
ajst-13261	211	33	strong	strong	ADJ
ajst-13261	211	34	practical	practical	ADJ
ajst-13261	211	35	application	application	NOUN
ajst-13261	211	36	.	.	PUNCT
ajst-13261	212	1	its	its	PRON
ajst-13261	212	2	simulation	simulation	NOUN
ajst-13261	212	3	test	test	NOUN
ajst-13261	212	4	application	application	NOUN
ajst-13261	212	5	has	have	VERB
ajst-13261	212	6	strong	strong	ADJ
ajst-13261	212	7	practical	practical	ADJ
ajst-13261	212	8	application	application	NOUN
ajst-13261	212	9	value	value	NOUN
ajst-13261	212	10	.	.	PUNCT
ajst-13261	213	1	therefore	therefore	ADV
ajst-13261	213	2	,	,	PUNCT
ajst-13261	213	3	this	this	DET
ajst-13261	213	4	paper	paper	NOUN
ajst-13261	213	5	adopts	adopt	VERB
ajst-13261	213	6	the	the	DET
ajst-13261	213	7	joint	joint	ADJ
ajst-13261	213	8	simulation	simulation	NOUN
ajst-13261	213	9	test	test	NOUN
ajst-13261	213	10	of	of	ADP
ajst-13261	213	11	carsim	carsim	PROPN
ajst-13261	213	12	and	and	CCONJ
ajst-13261	213	13	simulink	simulink	NOUN
ajst-13261	213	14	,	,	PUNCT
ajst-13261	213	15	and	and	CCONJ
ajst-13261	213	16	selects	select	VERB
ajst-13261	213	17	the	the	DET
ajst-13261	213	18	sdan	sdan	PROPN
ajst-13261	213	19	e	e	PROPN
ajst-13261	213	20	-	-	NOUN
ajst-13261	213	21	class	class	ADJ
ajst-13261	213	22	car	car	NOUN
ajst-13261	213	23	as	as	ADP
ajst-13261	213	24	the	the	DET
ajst-13261	213	25	simulation	simulation	NOUN
ajst-13261	213	26	vehicle	vehicle	NOUN
ajst-13261	213	27	in	in	ADP
ajst-13261	213	28	this	this	DET
ajst-13261	213	29	paper	paper	NOUN
ajst-13261	213	30	,	,	PUNCT
ajst-13261	213	31	and	and	CCONJ
ajst-13261	213	32	some	some	PRON
ajst-13261	213	33	of	of	ADP
ajst-13261	213	34	its	its	PRON
ajst-13261	213	35	parameters	parameter	NOUN
ajst-13261	213	36	are	be	AUX
ajst-13261	213	37	shown	show	VERB
ajst-13261	213	38	in	in	ADP
ajst-13261	213	39	the	the	DET
ajst-13261	213	40	table	table	NOUN
ajst-13261	213	41	:	:	PUNCT
ajst-13261	213	42	table	table	NOUN
ajst-13261	213	43	1	1	NUM
ajst-13261	213	44	.	.	PUNCT
ajst-13261	214	1	the	the	DET
ajst-13261	214	2	part	part	NOUN
ajst-13261	214	3	parameters	parameter	NOUN
ajst-13261	214	4	of	of	ADP
ajst-13261	214	5	the	the	DET
ajst-13261	214	6	vehicle	vehicle	NOUN
ajst-13261	214	7	table	table	NOUN
ajst-13261	214	8	vehicle	vehicle	NOUN
ajst-13261	214	9	parameter	parameter	NOUN
ajst-13261	214	10	symbol	symbol	PROPN
ajst-13261	214	11	numerical	numerical	PROPN
ajst-13261	214	12	value	value	PROPN
ajst-13261	214	13	unit	unit	NOUN
ajst-13261	214	14	overall	overall	ADJ
ajst-13261	214	15	vehicle	vehicle	PROPN
ajst-13261	214	16	mass	mass	PROPN
ajst-13261	214	17	m	m	PROPN
ajst-13261	214	18	1650	1650	NUM
ajst-13261	214	19	kg	kg	NOUN
ajst-13261	214	20	wheel	wheel	NOUN
ajst-13261	214	21	base	base	NOUN
ajst-13261	214	22	d	d	PROPN
ajst-13261	214	23	3050	3050	NUM
ajst-13261	214	24	mm	mm	NOUN
ajst-13261	214	25	center	center	NOUN
ajst-13261	214	26	of	of	ADP
ajst-13261	214	27	gravity	gravity	NOUN
ajst-13261	214	28	height	height	NOUN
ajst-13261	214	29	h	h	NOUN
ajst-13261	214	30	530	530	NUM
ajst-13261	214	31	mm	mm	NUM
ajst-13261	214	32	effective	effective	ADJ
ajst-13261	214	33	radius	radius	NOUN
ajst-13261	214	34	of	of	ADP
ajst-13261	214	35	tires	tire	NOUN
ajst-13261	214	36	s	s	PART
ajst-13261	214	37	353	353	NUM
ajst-13261	214	38	mm	mm	NOUN
ajst-13261	214	39	vehicle	vehicle	NOUN
ajst-13261	214	40	length	length	PROPN
ajst-13261	214	41	l	l	PROPN
ajst-13261	214	42	4868	4868	NUM
ajst-13261	214	43	mm	mm	NOUN
ajst-13261	214	44	after	after	ADP
ajst-13261	214	45	setting	set	VERB
ajst-13261	214	46	three	three	NUM
ajst-13261	214	47	different	different	ADJ
ajst-13261	214	48	road	road	NOUN
ajst-13261	214	49	conditions	condition	NOUN
ajst-13261	214	50	with	with	ADP
ajst-13261	214	51	different	different	ADJ
ajst-13261	214	52	road	road	NOUN
ajst-13261	214	53	adhesion	adhesion	NOUN
ajst-13261	214	54	coefficients	coefficient	NOUN
ajst-13261	214	55	in	in	ADP
ajst-13261	214	56	carsim	carsim	NOUN
ajst-13261	214	57	,	,	PUNCT
ajst-13261	214	58	the	the	DET
ajst-13261	214	59	filtered	filter	VERB
ajst-13261	214	60	estimates	estimate	NOUN
ajst-13261	214	61	of	of	ADP
ajst-13261	214	62	the	the	DET
ajst-13261	214	63	road	road	NOUN
ajst-13261	214	64	adhesion	adhesion	NOUN
ajst-13261	214	65	coefficients	coefficient	NOUN
ajst-13261	214	66	were	be	AUX
ajst-13261	214	67	compared	compare	VERB
ajst-13261	214	68	with	with	ADP
ajst-13261	214	69	the	the	DET
ajst-13261	214	70	actual	actual	ADJ
ajst-13261	214	71	values	value	NOUN
ajst-13261	214	72	as	as	ADP
ajst-13261	214	73	a	a	DET
ajst-13261	214	74	way	way	NOUN
ajst-13261	214	75	to	to	PART
ajst-13261	214	76	verify	verify	VERB
ajst-13261	214	77	that	that	SCONJ
ajst-13261	214	78	the	the	DET
ajst-13261	214	79	algorithm	algorithm	NOUN
ajst-13261	214	80	proposed	propose	VERB
ajst-13261	214	81	in	in	ADP
ajst-13261	214	82	this	this	DET
ajst-13261	214	83	paper	paper	NOUN
ajst-13261	214	84	is	be	AUX
ajst-13261	214	85	effective	effective	ADJ
ajst-13261	214	86	.	.	PUNCT
ajst-13261	215	1	the	the	DET
ajst-13261	215	2	model	model	NOUN
ajst-13261	215	3	is	be	AUX
ajst-13261	215	4	simulated	simulate	VERB
ajst-13261	215	5	,	,	PUNCT
ajst-13261	215	6	and	and	CCONJ
ajst-13261	215	7	the	the	DET
ajst-13261	215	8	relationship	relationship	NOUN
ajst-13261	215	9	between	between	ADP
ajst-13261	215	10	the	the	DET
ajst-13261	215	11	estimated	estimate	VERB
ajst-13261	215	12	and	and	CCONJ
ajst-13261	215	13	given	give	VERB
ajst-13261	215	14	values	value	NOUN
ajst-13261	215	15	of	of	ADP
ajst-13261	215	16	the	the	DET
ajst-13261	215	17	road	road	NOUN
ajst-13261	215	18	simulation	simulation	NOUN
ajst-13261	215	19	coefficients	coefficient	NOUN
ajst-13261	215	20	is	be	AUX
ajst-13261	215	21	obtained	obtain	VERB
ajst-13261	215	22	as	as	SCONJ
ajst-13261	215	23	shown	show	VERB
ajst-13261	215	24	in	in	ADP
ajst-13261	215	25	fig	fig	NOUN
ajst-13261	215	26	.	.	PUNCT
ajst-13261	216	1	3	3	X
ajst-13261	216	2	.	.	X
ajst-13261	216	3	from	from	ADP
ajst-13261	216	4	the	the	DET
ajst-13261	216	5	simulation	simulation	NOUN
ajst-13261	216	6	results	result	NOUN
ajst-13261	216	7	,	,	PUNCT
ajst-13261	216	8	it	it	PRON
ajst-13261	216	9	can	can	AUX
ajst-13261	216	10	be	be	AUX
ajst-13261	216	11	obtained	obtain	VERB
ajst-13261	216	12	that	that	SCONJ
ajst-13261	216	13	the	the	DET
ajst-13261	216	14	road	road	NOUN
ajst-13261	216	15	adhesion	adhesion	NOUN
ajst-13261	216	16	coefficients	coefficient	NOUN
ajst-13261	216	17	of	of	ADP
ajst-13261	216	18	all	all	DET
ajst-13261	216	19	four	four	NUM
ajst-13261	216	20	wheels	wheel	NOUN
ajst-13261	216	21	converge	converge	VERB
ajst-13261	216	22	to	to	ADP
ajst-13261	216	23	the	the	DET
ajst-13261	216	24	real	real	ADJ
ajst-13261	216	25	values	value	NOUN
ajst-13261	216	26	in	in	ADP
ajst-13261	216	27	a	a	DET
ajst-13261	216	28	short	short	ADJ
ajst-13261	216	29	time	time	NOUN
ajst-13261	216	30	.	.	PUNCT
ajst-13261	217	1	the	the	DET
ajst-13261	217	2	details	detail	NOUN
ajst-13261	217	3	are	be	AUX
ajst-13261	217	4	as	as	SCONJ
ajst-13261	217	5	follows	follow	VERB
ajst-13261	217	6	:	:	PUNCT
ajst-13261	217	7	setting	set	VERB
ajst-13261	217	8	the	the	DET
ajst-13261	217	9	road	road	NOUN
ajst-13261	217	10	adhesion	adhesion	NOUN
ajst-13261	217	11	coefficient	coefficient	NOUN
ajst-13261	217	12	at	at	ADP
ajst-13261	217	13	0.9	0.9	NUM
ajst-13261	217	14	corresponds	correspond	NOUN
ajst-13261	217	15	to	to	ADP
ajst-13261	217	16	a	a	DET
ajst-13261	217	17	dry	dry	ADJ
ajst-13261	217	18	concrete	concrete	ADJ
ajst-13261	217	19	road	road	NOUN
ajst-13261	217	20	surface	surface	NOUN
ajst-13261	217	21	,	,	PUNCT
ajst-13261	217	22	and	and	CCONJ
ajst-13261	217	23	the	the	DET
ajst-13261	217	24	vehicle	vehicle	NOUN
ajst-13261	217	25	simulation	simulation	NOUN
ajst-13261	217	26	condition	condition	NOUN
ajst-13261	217	27	is	be	AUX
ajst-13261	217	28	:	:	PUNCT
ajst-13261	217	29	driving	drive	VERB
ajst-13261	217	30	at	at	ADP
ajst-13261	217	31	an	an	DET
ajst-13261	217	32	initial	initial	ADJ
ajst-13261	217	33	speed	speed	NOUN
ajst-13261	217	34	of	of	ADP
ajst-13261	217	35	60	60	NUM
ajst-13261	217	36	km	km	NOUN
ajst-13261	217	37	/	/	SYM
ajst-13261	217	38	h	h	NOUN
ajst-13261	217	39	,	,	PUNCT
ajst-13261	217	40	the	the	DET
ajst-13261	217	41	simulation	simulation	NOUN
ajst-13261	217	42	results	result	VERB
ajst-13261	217	43	using	use	VERB
ajst-13261	217	44	the	the	DET
ajst-13261	217	45	ukf	ukf	PROPN
ajst-13261	217	46	algorithm	algorithm	NOUN
ajst-13261	217	47	are	be	AUX
ajst-13261	217	48	shown	show	VERB
ajst-13261	217	49	in	in	ADP
ajst-13261	217	50	fig	fig	NOUN
ajst-13261	217	51	.	.	PUNCT
ajst-13261	218	1	3	3	X
ajst-13261	218	2	.	.	X
ajst-13261	219	1	under	under	ADP
ajst-13261	219	2	the	the	DET
ajst-13261	219	3	high	high	ADJ
ajst-13261	219	4	road	road	NOUN
ajst-13261	219	5	adhesion	adhesion	NOUN
ajst-13261	219	6	coefficient	coefficient	NOUN
ajst-13261	219	7	of	of	ADP
ajst-13261	219	8	0.9	0.9	NUM
ajst-13261	219	9	,	,	PUNCT
ajst-13261	219	10	the	the	DET
ajst-13261	219	11	estimated	estimate	VERB
ajst-13261	219	12	value	value	NOUN
ajst-13261	219	13	stabilizes	stabilize	VERB
ajst-13261	219	14	to	to	ADP
ajst-13261	219	15	the	the	DET
ajst-13261	219	16	set	set	VERB
ajst-13261	219	17	value	value	NOUN
ajst-13261	219	18	of	of	ADP
ajst-13261	219	19	0.9	0.9	NUM
ajst-13261	219	20	in	in	ADP
ajst-13261	219	21	about	about	ADP
ajst-13261	219	22	15s	15s	NUM
ajst-13261	219	23	,	,	PUNCT
ajst-13261	219	24	and	and	CCONJ
ajst-13261	219	25	converges	converge	VERB
ajst-13261	219	26	to	to	ADP
ajst-13261	219	27	0.88	0.88	NUM
ajst-13261	219	28	-	-	SYM
ajst-13261	219	29	0.92	0.92	NUM
ajst-13261	219	30	after	after	ADP
ajst-13261	219	31	15s	15s	NUM
ajst-13261	219	32	.	.	PUNCT
ajst-13261	220	1	figure	figure	VERB
ajst-13261	220	2	3	3	NUM
ajst-13261	220	3	.	.	PUNCT
ajst-13261	220	4	simulation	simulation	NOUN
ajst-13261	220	5	of	of	ADP
ajst-13261	220	6	high	high	ADJ
ajst-13261	220	7	adhesion	adhesion	NOUN
ajst-13261	220	8	coefficient	coefficient	NOUN
ajst-13261	220	9	pavement	pavement	NOUN
ajst-13261	220	10	setting	set	VERB
ajst-13261	220	11	the	the	DET
ajst-13261	220	12	road	road	NOUN
ajst-13261	220	13	adhesion	adhesion	NOUN
ajst-13261	220	14	coefficient	coefficient	NOUN
ajst-13261	220	15	to	to	ADP
ajst-13261	220	16	0.6	0.6	NUM
ajst-13261	220	17	corresponds	correspond	NOUN
ajst-13261	220	18	to	to	ADP
ajst-13261	220	19	the	the	DET
ajst-13261	220	20	wet	wet	ADJ
ajst-13261	220	21	concrete	concrete	ADJ
ajst-13261	220	22	road	road	NOUN
ajst-13261	220	23	surface	surface	NOUN
ajst-13261	220	24	,	,	PUNCT
ajst-13261	220	25	the	the	DET
ajst-13261	220	26	vehicle	vehicle	NOUN
ajst-13261	220	27	simulation	simulation	NOUN
ajst-13261	220	28	condition	condition	NOUN
ajst-13261	220	29	is	be	AUX
ajst-13261	220	30	:	:	PUNCT
ajst-13261	220	31	driving	drive	VERB
ajst-13261	220	32	at	at	ADP
ajst-13261	220	33	an	an	DET
ajst-13261	220	34	initial	initial	ADJ
ajst-13261	220	35	speed	speed	NOUN
ajst-13261	220	36	of	of	ADP
ajst-13261	220	37	60	60	NUM
ajst-13261	220	38	km	km	NOUN
ajst-13261	220	39	/	/	SYM
ajst-13261	220	40	h	h	NOUN
ajst-13261	220	41	,	,	PUNCT
ajst-13261	220	42	the	the	DET
ajst-13261	220	43	simulation	simulation	NOUN
ajst-13261	220	44	results	result	VERB
ajst-13261	220	45	using	use	VERB
ajst-13261	220	46	the	the	DET
ajst-13261	220	47	ukf	ukf	PROPN
ajst-13261	220	48	algorithm	algorithm	NOUN
ajst-13261	220	49	are	be	AUX
ajst-13261	220	50	shown	show	VERB
ajst-13261	220	51	in	in	ADP
ajst-13261	220	52	fig	fig	NOUN
ajst-13261	220	53	.	.	PUNCT
ajst-13261	221	1	4	4	X
ajst-13261	221	2	.	.	X
ajst-13261	221	3	in	in	ADP
ajst-13261	221	4	the	the	DET
ajst-13261	221	5	case	case	NOUN
ajst-13261	221	6	of	of	ADP
ajst-13261	221	7	the	the	DET
ajst-13261	221	8	set	set	ADJ
ajst-13261	221	9	medium	medium	ADJ
ajst-13261	221	10	road	road	NOUN
ajst-13261	221	11	adhesion	adhesion	NOUN
ajst-13261	221	12	coefficient	coefficient	NOUN
ajst-13261	221	13	of	of	ADP
ajst-13261	221	14	0.6	0.6	NUM
ajst-13261	221	15	,	,	PUNCT
ajst-13261	221	16	the	the	DET
ajst-13261	221	17	estimated	estimate	VERB
ajst-13261	221	18	value	value	NOUN
ajst-13261	221	19	stabilizes	stabilize	VERB
ajst-13261	221	20	to	to	ADP
ajst-13261	221	21	the	the	DET
ajst-13261	221	22	set	set	VERB
ajst-13261	221	23	value	value	NOUN
ajst-13261	221	24	of	of	ADP
ajst-13261	221	25	0.6	0.6	NUM
ajst-13261	221	26	in	in	ADP
ajst-13261	221	27	about	about	ADP
ajst-13261	221	28	10s	10	NOUN
ajst-13261	221	29	,	,	PUNCT
ajst-13261	221	30	and	and	CCONJ
ajst-13261	221	31	converges	converge	VERB
ajst-13261	221	32	to	to	ADP
ajst-13261	221	33	0.57	0.57	NUM
ajst-13261	221	34	-	-	SYM
ajst-13261	221	35	0.62	0.62	NUM
ajst-13261	221	36	after	after	ADP
ajst-13261	221	37	10s	10	NOUN
ajst-13261	221	38	.	.	PUNCT
ajst-13261	221	39	136	136	NUM
ajst-13261	221	40	figure	figure	NOUN
ajst-13261	221	41	4	4	NUM
ajst-13261	221	42	.	.	PUNCT
ajst-13261	221	43	simulation	simulation	NOUN
ajst-13261	221	44	of	of	ADP
ajst-13261	221	45	middle	middle	ADJ
ajst-13261	221	46	adhesion	adhesion	NOUN
ajst-13261	221	47	coefficient	coefficient	NOUN
ajst-13261	221	48	pavement	pavement	NOUN
ajst-13261	221	49	setting	set	VERB
ajst-13261	221	50	the	the	DET
ajst-13261	221	51	road	road	NOUN
ajst-13261	221	52	adhesion	adhesion	NOUN
ajst-13261	221	53	coefficient	coefficient	NOUN
ajst-13261	221	54	to	to	ADP
ajst-13261	221	55	0.3	0.3	NUM
ajst-13261	221	56	corresponds	correspond	NOUN
ajst-13261	221	57	to	to	ADP
ajst-13261	221	58	the	the	DET
ajst-13261	221	59	rainy	rainy	ADJ
ajst-13261	221	60	road	road	NOUN
ajst-13261	221	61	surface	surface	NOUN
ajst-13261	221	62	,	,	PUNCT
ajst-13261	221	63	and	and	CCONJ
ajst-13261	221	64	the	the	DET
ajst-13261	221	65	simulation	simulation	NOUN
ajst-13261	221	66	condition	condition	NOUN
ajst-13261	221	67	of	of	ADP
ajst-13261	221	68	the	the	DET
ajst-13261	221	69	vehicle	vehicle	NOUN
ajst-13261	221	70	is	be	AUX
ajst-13261	221	71	:	:	PUNCT
ajst-13261	221	72	driving	drive	VERB
ajst-13261	221	73	at	at	ADP
ajst-13261	221	74	an	an	DET
ajst-13261	221	75	initial	initial	ADJ
ajst-13261	221	76	speed	speed	NOUN
ajst-13261	221	77	of	of	ADP
ajst-13261	221	78	60	60	NUM
ajst-13261	221	79	km	km	NOUN
ajst-13261	221	80	/	/	SYM
ajst-13261	221	81	h	h	NOUN
ajst-13261	221	82	,	,	PUNCT
ajst-13261	221	83	the	the	DET
ajst-13261	221	84	simulation	simulation	NOUN
ajst-13261	221	85	results	result	VERB
ajst-13261	221	86	using	use	VERB
ajst-13261	221	87	the	the	DET
ajst-13261	221	88	ukf	ukf	PROPN
ajst-13261	221	89	algorithm	algorithm	NOUN
ajst-13261	221	90	are	be	AUX
ajst-13261	221	91	shown	show	VERB
ajst-13261	221	92	in	in	ADP
ajst-13261	221	93	fig	fig	NOUN
ajst-13261	221	94	.	.	PUNCT
ajst-13261	222	1	5	5	NUM
ajst-13261	222	2	.	.	X
ajst-13261	222	3	with	with	ADP
ajst-13261	222	4	the	the	DET
ajst-13261	222	5	low	low	ADJ
ajst-13261	222	6	road	road	NOUN
ajst-13261	222	7	adhesion	adhesion	NOUN
ajst-13261	222	8	coefficient	coefficient	NOUN
ajst-13261	222	9	of	of	ADP
ajst-13261	222	10	0.3	0.3	NUM
ajst-13261	222	11	,	,	PUNCT
ajst-13261	222	12	the	the	DET
ajst-13261	222	13	estimated	estimate	VERB
ajst-13261	222	14	value	value	NOUN
ajst-13261	222	15	stabilise	stabilise	NOUN
ajst-13261	222	16	to	to	ADP
ajst-13261	222	17	the	the	DET
ajst-13261	222	18	set	set	VERB
ajst-13261	222	19	value	value	NOUN
ajst-13261	222	20	of	of	ADP
ajst-13261	222	21	0.3	0.3	NUM
ajst-13261	222	22	in	in	ADP
ajst-13261	222	23	about	about	ADP
ajst-13261	222	24	7s	7	NOUN
ajst-13261	222	25	and	and	CCONJ
ajst-13261	222	26	converges	converge	NOUN
ajst-13261	222	27	to	to	ADP
ajst-13261	222	28	0.29	0.29	NUM
ajst-13261	222	29	-	-	SYM
ajst-13261	222	30	0.31	0.31	NUM
ajst-13261	222	31	after	after	ADP
ajst-13261	222	32	7s	7	NOUN
ajst-13261	222	33	.	.	PUNCT
ajst-13261	223	1	figure	figure	NOUN
ajst-13261	223	2	5	5	NUM
ajst-13261	223	3	.	.	PUNCT
ajst-13261	223	4	simulation	simulation	NOUN
ajst-13261	223	5	of	of	ADP
ajst-13261	223	6	low	low	ADJ
ajst-13261	223	7	adhesion	adhesion	NOUN
ajst-13261	223	8	coefficient	coefficient	NOUN
ajst-13261	223	9	pavement	pavement	VERB
ajst-13261	223	10	the	the	DET
ajst-13261	223	11	overall	overall	ADJ
ajst-13261	223	12	convergence	convergence	NOUN
ajst-13261	223	13	of	of	ADP
ajst-13261	223	14	per	per	ADP
ajst-13261	223	15	-	-	PUNCT
ajst-13261	223	16	wheel	wheel	NOUN
ajst-13261	223	17	recognition	recognition	NOUN
ajst-13261	223	18	is	be	AUX
ajst-13261	223	19	slightly	slightly	ADV
ajst-13261	223	20	slower	slow	ADJ
ajst-13261	223	21	for	for	ADP
ajst-13261	223	22	medium	medium	ADJ
ajst-13261	223	23	and	and	CCONJ
ajst-13261	223	24	high	high	ADJ
ajst-13261	223	25	road	road	NOUN
ajst-13261	223	26	adhesion	adhesion	NOUN
ajst-13261	223	27	coefficients	coefficient	NOUN
ajst-13261	223	28	compared	compare	VERB
ajst-13261	223	29	to	to	ADP
ajst-13261	223	30	low	low	ADJ
ajst-13261	223	31	road	road	NOUN
ajst-13261	223	32	adhesion	adhesion	NOUN
ajst-13261	223	33	coefficients	coefficient	NOUN
ajst-13261	223	34	,	,	PUNCT
ajst-13261	223	35	which	which	PRON
ajst-13261	223	36	is	be	AUX
ajst-13261	223	37	in	in	ADP
ajst-13261	223	38	line	line	NOUN
ajst-13261	223	39	with	with	ADP
ajst-13261	223	40	the	the	DET
ajst-13261	223	41	actual	actual	ADJ
ajst-13261	223	42	driving	driving	NOUN
ajst-13261	223	43	conditions[9	conditions[9	NOUN
ajst-13261	223	44	]	]	PUNCT
ajst-13261	223	45	.	.	PUNCT
ajst-13261	224	1	this	this	PRON
ajst-13261	224	2	shows	show	VERB
ajst-13261	224	3	the	the	DET
ajst-13261	224	4	effectiveness	effectiveness	NOUN
ajst-13261	224	5	of	of	ADP
ajst-13261	224	6	applying	apply	VERB
ajst-13261	224	7	the	the	DET
ajst-13261	224	8	ukf	ukf	NOUN
ajst-13261	224	9	filter	filter	NOUN
ajst-13261	224	10	estimator	estimator	NOUN
ajst-13261	224	11	in	in	ADP
ajst-13261	224	12	this	this	DET
ajst-13261	224	13	paper	paper	NOUN
ajst-13261	224	14	for	for	ADP
ajst-13261	224	15	the	the	DET
ajst-13261	224	16	estimation	estimation	NOUN
ajst-13261	224	17	of	of	ADP
ajst-13261	224	18	road	road	NOUN
ajst-13261	224	19	adhesion	adhesion	NOUN
ajst-13261	224	20	coefficients	coefficient	NOUN
ajst-13261	224	21	for	for	ADP
ajst-13261	224	22	different	different	ADJ
ajst-13261	224	23	road	road	NOUN
ajst-13261	224	24	surfaces	surface	NOUN
ajst-13261	224	25	.	.	PUNCT
ajst-13261	225	1	5	5	X
ajst-13261	225	2	.	.	X
ajst-13261	225	3	conclusion	conclusion	NOUN
ajst-13261	225	4	the	the	DET
ajst-13261	225	5	paper	paper	NOUN
ajst-13261	225	6	establishes	establish	VERB
ajst-13261	225	7	a	a	DET
ajst-13261	225	8	three	three	NUM
ajst-13261	225	9	-	-	PUNCT
ajst-13261	225	10	degree	degree	NOUN
ajst-13261	225	11	-	-	PUNCT
ajst-13261	225	12	of	of	ADP
ajst-13261	225	13	-	-	PUNCT
ajst-13261	225	14	freedom	freedom	NOUN
ajst-13261	225	15	vehicle	vehicle	NOUN
ajst-13261	225	16	estimation	estimation	NOUN
ajst-13261	225	17	model	model	NOUN
ajst-13261	225	18	using	use	VERB
ajst-13261	225	19	dugoff	dugoff	PROPN
ajst-13261	225	20	tyre	tyre	PROPN
ajst-13261	225	21	model	model	NOUN
ajst-13261	225	22	,	,	PUNCT
ajst-13261	225	23	and	and	CCONJ
ajst-13261	225	24	designs	design	VERB
ajst-13261	225	25	a	a	DET
ajst-13261	225	26	road	road	NOUN
ajst-13261	225	27	adhesion	adhesion	NOUN
ajst-13261	225	28	estimation	estimation	NOUN
ajst-13261	225	29	algorithm	algorithm	NOUN
ajst-13261	225	30	based	base	VERB
ajst-13261	225	31	on	on	ADP
ajst-13261	225	32	the	the	DET
ajst-13261	225	33	theory	theory	NOUN
ajst-13261	225	34	of	of	ADP
ajst-13261	225	35	volumetric	volumetric	NOUN
ajst-13261	225	36	kalman	kalman	NOUN
ajst-13261	225	37	filtering	filtering	PROPN
ajst-13261	225	38	,	,	PUNCT
ajst-13261	225	39	the	the	DET
ajst-13261	225	40	estimation	estimation	NOUN
ajst-13261	225	41	value	value	NOUN
ajst-13261	225	42	stabilizes	stabilize	VERB
ajst-13261	225	43	to	to	ADP
ajst-13261	225	44	the	the	DET
ajst-13261	225	45	set	set	VERB
ajst-13261	225	46	value	value	NOUN
ajst-13261	225	47	of	of	ADP
ajst-13261	225	48	0.9	0.9	NUM
ajst-13261	225	49	around	around	ADP
ajst-13261	225	50	15s	15s	NUM
ajst-13261	225	51	,	,	PUNCT
ajst-13261	225	52	and	and	CCONJ
ajst-13261	225	53	then	then	ADV
ajst-13261	225	54	converges	converge	VERB
ajst-13261	225	55	to	to	ADP
ajst-13261	225	56	0.880.92	0.880.92	NOUN
ajst-13261	225	57	after	after	ADP
ajst-13261	225	58	15s	15s	NUM
ajst-13261	225	59	,	,	PUNCT
ajst-13261	225	60	and	and	CCONJ
ajst-13261	225	61	stabilizes	stabilize	VERB
ajst-13261	225	62	to	to	ADP
ajst-13261	225	63	the	the	DET
ajst-13261	225	64	set	set	VERB
ajst-13261	225	65	value	value	NOUN
ajst-13261	225	66	of	of	ADP
ajst-13261	225	67	0.6	0.6	NUM
ajst-13261	225	68	around	around	ADP
ajst-13261	225	69	10s	10	NOUN
ajst-13261	225	70	,	,	PUNCT
ajst-13261	225	71	and	and	CCONJ
ajst-13261	225	72	converges	converge	VERB
ajst-13261	225	73	to	to	ADP
ajst-13261	225	74	0.57	0.57	NUM
ajst-13261	225	75	-	-	SYM
ajst-13261	225	76	0.62	0.62	NUM
ajst-13261	225	77	after	after	ADP
ajst-13261	225	78	10s	10	NOUN
ajst-13261	225	79	.	.	PUNCT
ajst-13261	225	80	0.57	0.57	NUM
ajst-13261	225	81	-	-	SYM
ajst-13261	225	82	0.62	0.62	NUM
ajst-13261	225	83	,	,	PUNCT
ajst-13261	225	84	stabilized	stabilize	VERB
ajst-13261	225	85	to	to	ADP
ajst-13261	225	86	the	the	DET
ajst-13261	225	87	set	set	VERB
ajst-13261	225	88	value	value	NOUN
ajst-13261	225	89	of	of	ADP
ajst-13261	225	90	0.3	0.3	NUM
ajst-13261	225	91	in	in	ADP
ajst-13261	225	92	about	about	ADP
ajst-13261	225	93	7s	7	NOUN
ajst-13261	225	94	,	,	PUNCT
ajst-13261	225	95	and	and	CCONJ
ajst-13261	225	96	converged	converge	VERB
ajst-13261	225	97	to	to	ADP
ajst-13261	225	98	0.29	0.29	NUM
ajst-13261	225	99	-	-	SYM
ajst-13261	225	100	0.31	0.31	NUM
ajst-13261	225	101	after	after	ADP
ajst-13261	225	102	7s	7	NOUN
ajst-13261	225	103	.	.	PUNCT
ajst-13261	226	1	calculations	calculation	NOUN
ajst-13261	226	2	show	show	VERB
ajst-13261	226	3	that	that	SCONJ
ajst-13261	226	4	the	the	DET
ajst-13261	226	5	estimation	estimation	NOUN
ajst-13261	226	6	error	error	NOUN
ajst-13261	226	7	of	of	ADP
ajst-13261	226	8	the	the	DET
ajst-13261	226	9	estimation	estimation	NOUN
ajst-13261	226	10	algorithm	algorithm	NOUN
ajst-13261	226	11	based	base	VERB
ajst-13261	226	12	on	on	ADP
ajst-13261	226	13	the	the	DET
ajst-13261	226	14	volumetric	volumetric	NOUN
ajst-13261	226	15	kalman	kalman	NOUN
ajst-13261	226	16	filter	filter	NOUN
ajst-13261	226	17	is	be	AUX
ajst-13261	226	18	less	less	ADJ
ajst-13261	226	19	than	than	ADP
ajst-13261	226	20	5	5	NUM
ajst-13261	226	21	%	%	NOUN
ajst-13261	226	22	,	,	PUNCT
ajst-13261	226	23	which	which	PRON
ajst-13261	226	24	proves	prove	VERB
ajst-13261	226	25	that	that	SCONJ
ajst-13261	226	26	the	the	DET
ajst-13261	226	27	algorithm	algorithm	NOUN
ajst-13261	226	28	is	be	AUX
ajst-13261	226	29	accurate	accurate	ADJ
ajst-13261	226	30	and	and	CCONJ
ajst-13261	226	31	consistent	consistent	ADJ
ajst-13261	226	32	with	with	ADP
ajst-13261	226	33	the	the	DET
ajst-13261	226	34	real	real	ADJ
ajst-13261	226	35	-	-	PUNCT
ajst-13261	226	36	time	time	NOUN
ajst-13261	226	37	estimation	estimation	NOUN
ajst-13261	226	38	.	.	PUNCT
ajst-13261	227	1	it	it	PRON
ajst-13261	227	2	is	be	AUX
ajst-13261	227	3	proved	prove	VERB
ajst-13261	227	4	that	that	SCONJ
ajst-13261	227	5	the	the	DET
ajst-13261	227	6	algorithm	algorithm	NOUN
ajst-13261	227	7	can	can	AUX
ajst-13261	227	8	complete	complete	VERB
ajst-13261	227	9	the	the	DET
ajst-13261	227	10	initial	initial	ADJ
ajst-13261	227	11	design	design	NOUN
ajst-13261	227	12	well	well	ADV
ajst-13261	227	13	in	in	ADP
ajst-13261	227	14	terms	term	NOUN
ajst-13261	227	15	of	of	ADP
ajst-13261	227	16	both	both	PRON
ajst-13261	227	17	accuracy	accuracy	NOUN
ajst-13261	227	18	and	and	CCONJ
ajst-13261	227	19	real	real	ADJ
ajst-13261	227	20	-	-	PUNCT
ajst-13261	227	21	time	time	NOUN
ajst-13261	227	22	performance	performance	NOUN
ajst-13261	227	23	to	to	PART
ajst-13261	227	24	achieve	achieve	VERB
ajst-13261	227	25	the	the	DET
ajst-13261	227	26	purpose	purpose	NOUN
ajst-13261	227	27	of	of	ADP
ajst-13261	227	28	soft	soft	ADJ
ajst-13261	227	29	measurement	measurement	NOUN
ajst-13261	227	30	of	of	ADP
ajst-13261	227	31	road	road	NOUN
ajst-13261	227	32	adhesion	adhesion	NOUN
ajst-13261	227	33	coefficient	coefficient	NOUN
ajst-13261	227	34	.	.	PUNCT
ajst-13261	228	1	acknowledgment	acknowledgment	NOUN
ajst-13261	228	2	this	this	DET
ajst-13261	228	3	paper	paper	NOUN
ajst-13261	228	4	was	be	AUX
ajst-13261	228	5	supported	support	VERB
ajst-13261	228	6	by	by	ADP
ajst-13261	228	7	the	the	DET
ajst-13261	228	8	funds	fund	NOUN
ajst-13261	228	9	.	.	PUNCT
ajst-13261	229	1	the	the	DET
ajst-13261	229	2	funds	fund	NOUN
ajst-13261	229	3	are	be	AUX
ajst-13261	229	4	as	as	SCONJ
ajst-13261	229	5	follows	follow	VERB
ajst-13261	229	6	:	:	PUNCT
ajst-13261	229	7	tianjin	tianjin	PROPN
ajst-13261	229	8	graduate	graduate	PROPN
ajst-13261	229	9	student	student	NOUN
ajst-13261	229	10	scientific	scientific	ADJ
ajst-13261	229	11	research	research	NOUN
ajst-13261	229	12	and	and	CCONJ
ajst-13261	229	13	innovation	innovation	NOUN
ajst-13261	229	14	projects	project	NOUN
ajst-13261	229	15	(	(	PUNCT
ajst-13261	229	16	2022skyz380	2022skyz380	NUM
ajst-13261	229	17	)	)	PUNCT
ajst-13261	229	18	;	;	PUNCT
ajst-13261	229	19	tianjin	tianjin	PROPN
ajst-13261	229	20	graduate	graduate	PROPN
ajst-13261	229	21	student	student	NOUN
ajst-13261	229	22	scientific	scientific	ADJ
ajst-13261	229	23	research	research	NOUN
ajst-13261	229	24	and	and	CCONJ
ajst-13261	229	25	innovation	innovation	NOUN
ajst-13261	229	26	projects	project	NOUN
ajst-13261	229	27	(	(	PUNCT
ajst-13261	229	28	2022skyz388	2022skyz388	NUM
ajst-13261	229	29	)	)	PUNCT
ajst-13261	229	30	.	.	PUNCT
ajst-13261	230	1	references	reference	NOUN
ajst-13261	230	2	[	[	X
ajst-13261	230	3	1	1	NUM
ajst-13261	230	4	]	]	PUNCT
ajst-13261	230	5	yu	yu	PROPN
ajst-13261	230	6	zhuo	zhuo	PROPN
ajst-13261	230	7	-	-	PUNCT
ajst-13261	230	8	ping	ping	PROPN
ajst-13261	230	9	,	,	PUNCT
ajst-13261	230	10	zuo	zuo	PROPN
ajst-13261	230	11	jian	jian	PROPN
ajst-13261	230	12	-	-	PUNCT
ajst-13261	230	13	ling	ling	PROPN
ajst-13261	230	14	and	and	CCONJ
ajst-13261	230	15	zhang	zhang	PROPN
ajst-13261	230	16	li	li	PROPN
ajst-13261	230	17	-	-	PROPN
ajst-13261	230	18	jun	jun	PROPN
ajst-13261	230	19	,	,	PUNCT
ajst-13261	230	20	"	"	PUNCT
ajst-13261	230	21	a	a	DET
ajst-13261	230	22	review	review	NOUN
ajst-13261	230	23	of	of	ADP
ajst-13261	230	24	the	the	DET
ajst-13261	230	25	development	development	NOUN
ajst-13261	230	26	status	status	NOUN
ajst-13261	230	27	of	of	ADP
ajst-13261	230	28	pavement	pavement	NOUN
ajst-13261	230	29	adhesion	adhesion	NOUN
ajst-13261	230	30	coefficient	coefficient	NOUN
ajst-13261	230	31	estimation	estimation	NOUN
ajst-13261	230	32	technology	technology	NOUN
ajst-13261	230	33	"	"	PUNCT
ajst-13261	230	34	,	,	PUNCT
ajst-13261	230	35	automotive	automotive	ADJ
ajst-13261	230	36	engineering	engineering	NOUN
ajst-13261	230	37	,	,	PUNCT
ajst-13261	230	38	vol	vol	NOUN
ajst-13261	230	39	.	.	PROPN
ajst-13261	230	40	6	6	NUM
ajst-13261	230	41	,	,	PUNCT
ajst-13261	230	42	pp	pp	ADJ
ajst-13261	230	43	.	.	PUNCT
ajst-13261	231	1	[	[	X
ajst-13261	231	2	2	2	X
ajst-13261	231	3	]	]	X
ajst-13261	231	4	yanliang	yanliang	PROPN
ajst-13261	231	5	pei	pei	PROPN
ajst-13261	231	6	,	,	PUNCT
ajst-13261	231	7	"	"	PUNCT
ajst-13261	231	8	estimation	estimation	NOUN
ajst-13261	231	9	of	of	ADP
ajst-13261	231	10	road	road	NOUN
ajst-13261	231	11	surface	surface	NOUN
ajst-13261	231	12	adhesion	adhesion	NOUN
ajst-13261	231	13	coefficient	coefficient	NOUN
ajst-13261	231	14	for	for	ADP
ajst-13261	231	15	active	active	ADJ
ajst-13261	231	16	safety	safety	NOUN
ajst-13261	231	17	system	system	NOUN
ajst-13261	231	18	of	of	ADP
ajst-13261	231	19	electric	electric	ADJ
ajst-13261	231	20	vehicle	vehicle	NOUN
ajst-13261	231	21	"	"	PUNCT
ajst-13261	231	22	,	,	PUNCT
ajst-13261	231	23	master	master	PROPN
ajst-13261	231	24	,	,	PUNCT
ajst-13261	231	25	shenyang	shenyang	PROPN
ajst-13261	231	26	university	university	PROPN
ajst-13261	231	27	of	of	ADP
ajst-13261	231	28	technology	technology	NOUN
ajst-13261	231	29	,	,	PUNCT
ajst-13261	231	30	2013	2013	NUM
ajst-13261	231	31	.	.	PUNCT
ajst-13261	232	1	available	available	ADJ
ajst-13261	232	2	on	on	ADP
ajst-13261	232	3	:	:	PUNCT
ajst-13261	232	4	16	16	NUM
ajst-13261	232	5	october	october	PROPN
ajst-13261	232	6	2023	2023	NUM
ajst-13261	232	7	.	.	PUNCT
ajst-13261	233	1	[	[	X
ajst-13261	233	2	3	3	X
ajst-13261	233	3	]	]	PUNCT
ajst-13261	233	4	m.	m.	NOUN
ajst-13261	233	5	morii	morii	PROPN
ajst-13261	233	6	,	,	PUNCT
ajst-13261	233	7	h.	h.	PROPN
ajst-13261	233	8	yasuo	yasuo	PROPN
ajst-13261	233	9	,	,	PUNCT
ajst-13261	233	10	t.	t.	PROPN
ajst-13261	233	11	kashihara	kashihara	PROPN
ajst-13261	233	12	,	,	PUNCT
ajst-13261	233	13	t.	t.	PROPN
ajst-13261	233	14	iwamoto	iwamoto	ADJ
ajst-13261	233	15	,	,	PUNCT
ajst-13261	233	16	and	and	CCONJ
ajst-13261	233	17	m.	m.	PROPN
ajst-13261	233	18	sugimoto	sugimoto	PROPN
ajst-13261	233	19	,	,	PUNCT
ajst-13261	233	20	"	"	PUNCT
ajst-13261	233	21	pavement	pavement	NOUN
ajst-13261	233	22	condition	condition	NOUN
ajst-13261	233	23	detector	detector	NOUN
ajst-13261	233	24	using	use	VERB
ajst-13261	233	25	a	a	DET
ajst-13261	233	26	high	high	ADJ
ajst-13261	233	27	peak	peak	NOUN
ajst-13261	233	28	power	power	NOUN
ajst-13261	233	29	fibre	fibre	NOUN
ajst-13261	233	30	laser	laser	NOUN
ajst-13261	233	31	,	,	PUNCT
ajst-13261	233	32	"	"	PUNCT
ajst-13261	233	33	ieee	ieee	NOUN
ajst-13261	233	34	transactions	transaction	NOUN
ajst-13261	233	35	on	on	ADP
ajst-13261	233	36	industry	industry	NOUN
ajst-13261	233	37	applications	application	NOUN
ajst-13261	233	38	,	,	PUNCT
ajst-13261	233	39	vol	vol	NOUN
ajst-13261	233	40	.	.	PROPN
ajst-13261	233	41	120	120	NUM
ajst-13261	233	42	,	,	PUNCT
ajst-13261	233	43	pp	pp	ADJ
ajst-13261	233	44	.	.	PUNCT
ajst-13261	234	1	[	[	X
ajst-13261	234	2	4	4	X
ajst-13261	234	3	]	]	X
ajst-13261	234	4	wang	wang	PROPN
ajst-13261	234	5	hesen	hesen	PROPN
ajst-13261	234	6	,	,	PUNCT
ajst-13261	234	7	"	"	PUNCT
ajst-13261	234	8	research	research	NOUN
ajst-13261	234	9	on	on	ADP
ajst-13261	234	10	longitudinal	longitudinal	ADJ
ajst-13261	234	11	safety	safety	NOUN
ajst-13261	234	12	control	control	NOUN
ajst-13261	234	13	strategy	strategy	NOUN
ajst-13261	234	14	for	for	ADP
ajst-13261	234	15	cargo	cargo	NOUN
ajst-13261	234	16	vehicles	vehicle	NOUN
ajst-13261	234	17	based	base	VERB
ajst-13261	234	18	on	on	ADP
ajst-13261	234	19	the	the	DET
ajst-13261	234	20	estimation	estimation	NOUN
ajst-13261	234	21	of	of	ADP
ajst-13261	234	22	road	road	NOUN
ajst-13261	234	23	137	137	NUM
ajst-13261	234	24	surface	surface	NOUN
ajst-13261	234	25	adhesion	adhesion	NOUN
ajst-13261	234	26	coefficient	coefficient	NOUN
ajst-13261	234	27	"	"	PUNCT
ajst-13261	234	28	,	,	PUNCT
ajst-13261	234	29	m.s	m.s	PROPN
ajst-13261	234	30	.	.	PROPN
ajst-13261	234	31	,	,	PUNCT
ajst-13261	234	32	shijiazhuang	shijiazhuang	PROPN
ajst-13261	234	33	railway	railway	PROPN
ajst-13261	234	34	university	university	PROPN
ajst-13261	234	35	,	,	PUNCT
ajst-13261	234	36	2020.000191	2020.000191	NUM
ajst-13261	234	37	.	.	PUNCT
ajst-13261	235	1	[	[	X
ajst-13261	235	2	5	5	NUM
ajst-13261	235	3	]	]	PUNCT
ajst-13261	235	4	jinxi	jinxi	PROPN
ajst-13261	235	5	chen	chen	PROPN
ajst-13261	235	6	,	,	PUNCT
ajst-13261	235	7	"	"	PUNCT
ajst-13261	235	8	research	research	NOUN
ajst-13261	235	9	on	on	ADP
ajst-13261	235	10	algorithm	algorithm	NOUN
ajst-13261	235	11	of	of	ADP
ajst-13261	235	12	pavement	pavement	NOUN
ajst-13261	235	13	adhesion	adhesion	NOUN
ajst-13261	235	14	coefficient	coefficient	NOUN
ajst-13261	235	15	estimation	estimation	NOUN
ajst-13261	235	16	based	base	VERB
ajst-13261	235	17	on	on	ADP
ajst-13261	235	18	volumetric	volumetric	NOUN
ajst-13261	235	19	kalman	kalman	NOUN
ajst-13261	235	20	filtering	filtering	PROPN
ajst-13261	235	21	"	"	PUNCT
ajst-13261	235	22	,	,	PUNCT
ajst-13261	235	23	master	master	NOUN
ajst-13261	235	24	's	's	PART
ajst-13261	235	25	degree	degree	NOUN
ajst-13261	235	26	,	,	PUNCT
ajst-13261	235	27	university	university	NOUN
ajst-13261	235	28	of	of	ADP
ajst-13261	235	29	electronic	electronic	ADJ
ajst-13261	235	30	science	science	NOUN
ajst-13261	235	31	and	and	CCONJ
ajst-13261	235	32	technology	technology	NOUN
ajst-13261	235	33	,	,	PUNCT
ajst-13261	235	34	17	17	NUM
ajst-13261	235	35	april	april	PROPN
ajst-13261	235	36	2023	2023	NUM
ajst-13261	235	37	.	.	PUNCT
ajst-13261	236	1	[	[	X
ajst-13261	236	2	6	6	NUM
ajst-13261	236	3	]	]	PUNCT
ajst-13261	236	4	g.	g.	PROPN
ajst-13261	236	5	li	li	PROPN
ajst-13261	236	6	,	,	PUNCT
ajst-13261	236	7	r.c	r.c	PROPN
ajst-13261	236	8	.	.	PROPN
ajst-13261	236	9	xie	xie	PROPN
ajst-13261	236	10	,	,	PUNCT
ajst-13261	236	11	s.y	s.y	PROPN
ajst-13261	236	12	.	.	PROPN
ajst-13261	236	13	wei	wei	PROPN
ajst-13261	236	14	and	and	CCONJ
ajst-13261	236	15	c.f	c.f	PROPN
ajst-13261	236	16	.	.	PROPN
ajst-13261	236	17	zong	zong	PROPN
ajst-13261	236	18	,	,	PUNCT
ajst-13261	236	19	"	"	PUNCT
ajst-13261	236	20	estimation	estimation	NOUN
ajst-13261	236	21	of	of	ADP
ajst-13261	236	22	vehicle	vehicle	NOUN
ajst-13261	236	23	state	state	NOUN
ajst-13261	236	24	and	and	CCONJ
ajst-13261	236	25	road	road	NOUN
ajst-13261	236	26	surface	surface	NOUN
ajst-13261	236	27	adhesion	adhesion	NOUN
ajst-13261	236	28	coefficient	coefficient	NOUN
ajst-13261	236	29	based	base	VERB
ajst-13261	236	30	on	on	ADP
ajst-13261	236	31	two	two	NUM
ajst-13261	236	32	-	-	PUNCT
ajst-13261	236	33	volume	volume	NOUN
ajst-13261	236	34	kalman	kalman	NOUN
ajst-13261	236	35	filtering	filtering	PROPN
ajst-13261	236	36	"	"	PUNCT
ajst-13261	236	37	,	,	PUNCT
ajst-13261	236	38	science	science	NOUN
ajst-13261	236	39	in	in	ADP
ajst-13261	236	40	china	china	PROPN
ajst-13261	236	41	:	:	PUNCT
ajst-13261	236	42	technological	technological	ADJ
ajst-13261	236	43	sciences	science	NOUN
ajst-13261	236	44	,	,	PUNCT
ajst-13261	236	45	vol	vol	NOUN
ajst-13261	236	46	.	.	PROPN
ajst-13261	236	47	45	45	NUM
ajst-13261	236	48	,	,	PUNCT
ajst-13261	236	49	no	no	INTJ
ajst-13261	236	50	.	.	NOUN
ajst-13261	236	51	4	4	NUM
ajst-13261	236	52	,	,	PUNCT
ajst-13261	236	53	pp	pp	ADJ
ajst-13261	236	54	.	.	PUNCT
ajst-13261	237	1	403	403	NUM
ajst-13261	237	2	-	-	SYM
ajst-13261	237	3	414	414	NUM
ajst-13261	237	4	,	,	PUNCT
ajst-13261	237	5	2015	2015	NUM
ajst-13261	237	6	.	.	PUNCT
ajst-13261	238	1	[	[	X
ajst-13261	238	2	7	7	X
ajst-13261	238	3	]	]	X
ajst-13261	238	4	c.	c.	PROPN
ajst-13261	238	5	fernandez	fernandez	PROPN
ajst-13261	238	6	-	-	PUNCT
ajst-13261	238	7	prades	prade	NOUN
ajst-13261	238	8	and	and	CCONJ
ajst-13261	238	9	j.	j.	PROPN
ajst-13261	238	10	vila	vila	PROPN
ajst-13261	238	11	-	-	PUNCT
ajst-13261	238	12	valls	valls	PROPN
ajst-13261	238	13	,	,	PUNCT
ajst-13261	238	14	bayesian	bayesian	NOUN
ajst-13261	238	15	nonlinear	nonlinear	ADJ
ajst-13261	238	16	filtering	filtering	NOUN
ajst-13261	238	17	using	use	VERB
ajst-13261	238	18	orthogonal	orthogonal	ADJ
ajst-13261	238	19	and	and	CCONJ
ajst-13261	238	20	cubic	cubic	ADJ
ajst-13261	238	21	rules	rule	NOUN
ajst-13261	238	22	applied	apply	VERB
ajst-13261	238	23	to	to	ADP
ajst-13261	238	24	positioning	positioning	NOUN
ajst-13261	238	25	sensor	sensor	NOUN
ajst-13261	238	26	data	datum	NOUN
ajst-13261	238	27	fusion	fusion	NOUN
ajst-13261	238	28	,	,	PUNCT
ajst-13261	238	29	2010	2010	NUM
ajst-13261	238	30	ieee	ieee	NOUN
ajst-13261	238	31	international	international	ADJ
ajst-13261	238	32	conference	conference	NOUN
ajst-13261	238	33	on	on	ADP
ajst-13261	238	34	communications	communication	NOUN
ajst-13261	238	35	,	,	PUNCT
ajst-13261	238	36	cape	cape	NOUN
ajst-13261	238	37	town	town	NOUN
ajst-13261	238	38	,	,	PUNCT
ajst-13261	238	39	south	south	PROPN
ajst-13261	238	40	africa	africa	PROPN
ajst-13261	238	41	:	:	PUNCT
ajst-13261	238	42	may	may	AUX
ajst-13261	238	43	2010	2010	NUM
ajst-13261	238	44	,	,	PUNCT
ajst-13261	238	45	pp	pp	ADJ
ajst-13261	238	46	.	.	PUNCT
ajst-13261	239	1	1	1	NUM
ajst-13261	239	2	-	-	SYM
ajst-13261	239	3	5	5	NUM
ajst-13261	239	4	.	.	PUNCT
ajst-13261	240	1	[	[	X
ajst-13261	240	2	8	8	NUM
ajst-13261	240	3	]	]	X
ajst-13261	240	4	li	li	PROPN
ajst-13261	240	5	jun	jun	PROPN
ajst-13261	240	6	tang	tang	PROPN
ajst-13261	240	7	,	,	PUNCT
ajst-13261	240	8	"	"	PUNCT
ajst-13261	240	9	research	research	NOUN
ajst-13261	240	10	on	on	ADP
ajst-13261	240	11	cubature	cubature	ADJ
ajst-13261	240	12	kalman	kalman	NOUN
ajst-13261	240	13	filter	filter	NOUN
ajst-13261	240	14	and	and	CCONJ
ajst-13261	240	15	its	its	PRON
ajst-13261	240	16	application	application	NOUN
ajst-13261	240	17	in	in	ADP
ajst-13261	240	18	navigation	navigation	NOUN
ajst-13261	240	19	"	"	PUNCT
ajst-13261	240	20	,	,	PUNCT
ajst-13261	240	21	phd	phd	NOUN
ajst-13261	240	22	,	,	PUNCT
ajst-13261	240	23	harbin	harbin	PROPN
ajst-13261	240	24	engineering	engineering	PROPN
ajst-13261	240	25	university	university	PROPN
ajst-13261	240	26	,	,	PUNCT
ajst-13261	240	27	2012	2012	NUM
ajst-13261	240	28	.	.	PUNCT
ajst-13261	241	1	available	available	ADJ
ajst-13261	241	2	on	on	ADP
ajst-13261	241	3	:	:	PUNCT
ajst-13261	241	4	16	16	NUM
ajst-13261	241	5	october	october	PROPN
ajst-13261	241	6	2023	2023	NUM
ajst-13261	241	7	.	.	PUNCT
ajst-13261	242	1	[	[	X
ajst-13261	242	2	9	9	NUM
ajst-13261	242	3	]	]	X
ajst-13261	242	4	hou	hou	NOUN
ajst-13261	242	5	-	-	PUNCT
ajst-13261	242	6	long	long	ADJ
ajst-13261	242	7	li	li	NOUN
ajst-13261	242	8	,	,	PUNCT
ajst-13261	242	9	"	"	PUNCT
ajst-13261	242	10	research	research	NOUN
ajst-13261	242	11	and	and	CCONJ
ajst-13261	242	12	simulation	simulation	NOUN
ajst-13261	242	13	on	on	ADP
ajst-13261	242	14	control	control	NOUN
ajst-13261	242	15	strategy	strategy	NOUN
ajst-13261	242	16	of	of	ADP
ajst-13261	242	17	automatic	automatic	ADJ
ajst-13261	242	18	emergency	emergency	NOUN
ajst-13261	242	19	braking	brake	VERB
ajst-13261	242	20	system	system	NOUN
ajst-13261	242	21	based	base	VERB
ajst-13261	242	22	on	on	ADP
ajst-13261	242	23	driving	drive	VERB
ajst-13261	242	24	characteristics	characteristic	NOUN
ajst-13261	242	25	and	and	CCONJ
ajst-13261	242	26	road	road	NOUN
ajst-13261	242	27	surface	surface	NOUN
ajst-13261	242	28	adhesion	adhesion	NOUN
ajst-13261	242	29	coefficient	coefficient	NOUN
ajst-13261	242	30	"	"	PUNCT
ajst-13261	242	31	,	,	PUNCT
ajst-13261	242	32	m.s	m.s	PROPN
ajst-13261	242	33	.	.	PROPN
ajst-13261	242	34	,	,	PUNCT
ajst-13261	242	35	chang'an	chang'an	VERB
ajst-13261	242	36	university	university	NOUN
ajst-13261	242	37	,	,	PUNCT
ajst-13261	242	38	china	china	PROPN
ajst-13261	242	39	,	,	PUNCT
ajst-13261	242	40	2021	2021	NUM
ajst-13261	242	41	.	.	PUNCT