id	sid	tid	token	lemma	pos
ajst-14153	1	1	academic	academic	ADJ
ajst-14153	1	2	journal	journal	NOUN
ajst-14153	1	3	of	of	ADP
ajst-14153	1	4	science	science	NOUN
ajst-14153	1	5	and	and	CCONJ
ajst-14153	1	6	technology	technology	NOUN
ajst-14153	1	7	issn	issn	NOUN
ajst-14153	1	8	:	:	PUNCT
ajst-14153	1	9	2771	2771	NUM
ajst-14153	1	10	-	-	SYM
ajst-14153	1	11	3032	3032	NUM
ajst-14153	1	12	|	|	NOUN
ajst-14153	1	13	vol	vol	NOUN
ajst-14153	1	14	.	.	PROPN
ajst-14153	1	15	8	8	NUM
ajst-14153	1	16	,	,	PUNCT
ajst-14153	1	17	no	no	INTJ
ajst-14153	1	18	.	.	NOUN
ajst-14153	1	19	1	1	NUM
ajst-14153	1	20	,	,	PUNCT
ajst-14153	1	21	2023	2023	NUM
ajst-14153	1	22	156	156	NUM
ajst-14153	1	23	research	research	NOUN
ajst-14153	1	24	on	on	ADP
ajst-14153	1	25	indoor	indoor	ADJ
ajst-14153	1	26	fusion	fusion	NOUN
ajst-14153	1	27	positioning	positioning	NOUN
ajst-14153	1	28	based	base	VERB
ajst-14153	1	29	on	on	ADP
ajst-14153	1	30	ekf	ekf	NOUN
ajst-14153	1	31	for	for	ADP
ajst-14153	1	32	uwb_imu	uwb_imu	ADJ
ajst-14153	1	33	lin	lin	PROPN
ajst-14153	1	34	long1	long1	PROPN
ajst-14153	1	35	,	,	PUNCT
ajst-14153	1	36	jiaye	jiaye	VERB
ajst-14153	1	37	wu2	wu2	PROPN
ajst-14153	1	38	,	,	PUNCT
ajst-14153	1	39	*	*	PUNCT
ajst-14153	2	1	1school	1school	NUM
ajst-14153	2	2	of	of	ADP
ajst-14153	2	3	automation	automation	NOUN
ajst-14153	2	4	and	and	CCONJ
ajst-14153	2	5	information	information	NOUN
ajst-14153	2	6	engineering	engineering	NOUN
ajst-14153	2	7	,	,	PUNCT
ajst-14153	2	8	sichuan	sichuan	PROPN
ajst-14153	2	9	university	university	PROPN
ajst-14153	2	10	of	of	ADP
ajst-14153	2	11	science	science	PROPN
ajst-14153	2	12	&	&	CCONJ
ajst-14153	2	13	engineering	engineering	PROPN
ajst-14153	2	14	,	,	PUNCT
ajst-14153	2	15	yibin	yibin	PROPN
ajst-14153	2	16	644000	644000	NUM
ajst-14153	2	17	,	,	PUNCT
ajst-14153	2	18	china	china	PROPN
ajst-14153	2	19	2school	2school	NUM
ajst-14153	2	20	of	of	ADP
ajst-14153	2	21	mechanical	mechanical	ADJ
ajst-14153	2	22	and	and	CCONJ
ajst-14153	2	23	electrical	electrical	ADJ
ajst-14153	2	24	engineering	engineering	NOUN
ajst-14153	2	25	,	,	PUNCT
ajst-14153	2	26	southwest	southwest	ADJ
ajst-14153	2	27	petroleum	petroleum	PROPN
ajst-14153	2	28	university	university	PROPN
ajst-14153	2	29	,	,	PUNCT
ajst-14153	2	30	chengdu	chengdu	PROPN
ajst-14153	2	31	,	,	PUNCT
ajst-14153	2	32	610000	610000	NUM
ajst-14153	2	33	,	,	PUNCT
ajst-14153	2	34	china	china	PROPN
ajst-14153	2	35	*	*	PUNCT
ajst-14153	2	36	corresponding	correspond	VERB
ajst-14153	2	37	author	author	NOUN
ajst-14153	2	38	abstract	abstract	NOUN
ajst-14153	2	39	:	:	PUNCT
ajst-14153	2	40	the	the	DET
ajst-14153	2	41	study	study	NOUN
ajst-14153	2	42	aims	aim	VERB
ajst-14153	2	43	to	to	PART
ajst-14153	2	44	improve	improve	VERB
ajst-14153	2	45	the	the	DET
ajst-14153	2	46	accuracy	accuracy	NOUN
ajst-14153	2	47	and	and	CCONJ
ajst-14153	2	48	stability	stability	NOUN
ajst-14153	2	49	of	of	ADP
ajst-14153	2	50	indoor	indoor	ADJ
ajst-14153	2	51	positioning	positioning	NOUN
ajst-14153	2	52	by	by	ADP
ajst-14153	2	53	integrating	integrate	VERB
ajst-14153	2	54	information	information	NOUN
ajst-14153	2	55	from	from	ADP
ajst-14153	2	56	two	two	NUM
ajst-14153	2	57	types	type	NOUN
ajst-14153	2	58	of	of	ADP
ajst-14153	2	59	sensors	sensor	NOUN
ajst-14153	2	60	:	:	PUNCT
ajst-14153	2	61	uwb	uwb	PROPN
ajst-14153	2	62	(	(	PUNCT
ajst-14153	2	63	ultra	ultra	ADJ
ajst-14153	2	64	-	-	ADJ
ajst-14153	2	65	wideband	wideband	NOUN
ajst-14153	2	66	)	)	PUNCT
ajst-14153	2	67	and	and	CCONJ
ajst-14153	2	68	imu	imu	NOUN
ajst-14153	2	69	(	(	PUNCT
ajst-14153	2	70	inertial	inertial	ADJ
ajst-14153	2	71	measurement	measurement	NOUN
ajst-14153	2	72	unit	unit	NOUN
ajst-14153	2	73	)	)	PUNCT
ajst-14153	2	74	calibrated	calibrate	VERB
ajst-14153	2	75	to	to	PART
ajst-14153	2	76	eliminate	eliminate	VERB
ajst-14153	2	77	system	system	NOUN
ajst-14153	2	78	errors	error	NOUN
ajst-14153	2	79	.	.	PUNCT
ajst-14153	3	1	the	the	DET
ajst-14153	3	2	fusion	fusion	NOUN
ajst-14153	3	3	algorithm	algorithm	NOUN
ajst-14153	3	4	utilizes	utilize	VERB
ajst-14153	3	5	extended	extend	VERB
ajst-14153	3	6	kalman	kalman	NOUN
ajst-14153	3	7	filter	filter	PROPN
ajst-14153	3	8	(	(	PUNCT
ajst-14153	3	9	ekf	ekf	PROPN
ajst-14153	3	10	)	)	PUNCT
ajst-14153	3	11	to	to	PART
ajst-14153	3	12	combine	combine	VERB
ajst-14153	3	13	uwb	uwb	PROPN
ajst-14153	3	14	data	data	PROPN
ajst-14153	3	15	and	and	CCONJ
ajst-14153	3	16	imu	imu	NOUN
ajst-14153	3	17	measurements	measurement	NOUN
ajst-14153	3	18	.	.	PUNCT
ajst-14153	4	1	first	first	ADV
ajst-14153	4	2	,	,	PUNCT
ajst-14153	4	3	the	the	DET
ajst-14153	4	4	imu	imu	NOUN
ajst-14153	4	5	undergoes	undergoe	NOUN
ajst-14153	4	6	selfcalibration	selfcalibration	NOUN
ajst-14153	4	7	to	to	PART
ajst-14153	4	8	correct	correct	VERB
ajst-14153	4	9	system	system	NOUN
ajst-14153	4	10	errors	error	NOUN
ajst-14153	4	11	.	.	PUNCT
ajst-14153	5	1	then	then	ADV
ajst-14153	5	2	,	,	PUNCT
ajst-14153	5	3	uwb	uwb	PROPN
ajst-14153	5	4	ranging	range	VERB
ajst-14153	5	5	technology	technology	NOUN
ajst-14153	5	6	is	be	AUX
ajst-14153	5	7	used	use	VERB
ajst-14153	5	8	to	to	PART
ajst-14153	5	9	estimate	estimate	VERB
ajst-14153	5	10	the	the	DET
ajst-14153	5	11	target	target	NOUN
ajst-14153	5	12	's	's	PART
ajst-14153	5	13	position	position	NOUN
ajst-14153	5	14	,	,	PUNCT
ajst-14153	5	15	and	and	CCONJ
ajst-14153	5	16	the	the	DET
ajst-14153	5	17	information	information	NOUN
ajst-14153	5	18	from	from	ADP
ajst-14153	5	19	the	the	DET
ajst-14153	5	20	imu	imu	NOUN
ajst-14153	5	21	's	's	PART
ajst-14153	5	22	gyroscope	gyroscope	NOUN
ajst-14153	5	23	and	and	CCONJ
ajst-14153	5	24	accelerometer	accelerometer	NOUN
ajst-14153	5	25	is	be	AUX
ajst-14153	5	26	used	use	VERB
ajst-14153	5	27	to	to	PART
ajst-14153	5	28	update	update	VERB
ajst-14153	5	29	the	the	DET
ajst-14153	5	30	kinematic	kinematic	ADJ
ajst-14153	5	31	model	model	NOUN
ajst-14153	5	32	.	.	PUNCT
ajst-14153	6	1	finally	finally	ADV
ajst-14153	6	2	,	,	PUNCT
ajst-14153	6	3	the	the	DET
ajst-14153	6	4	ekf	ekf	NOUN
ajst-14153	6	5	filters	filter	NOUN
ajst-14153	6	6	and	and	CCONJ
ajst-14153	6	7	predicts	predict	VERB
ajst-14153	6	8	measurement	measurement	NOUN
ajst-14153	6	9	errors	error	NOUN
ajst-14153	6	10	and	and	CCONJ
ajst-14153	6	11	system	system	NOUN
ajst-14153	6	12	noise	noise	NOUN
ajst-14153	6	13	to	to	PART
ajst-14153	6	14	obtain	obtain	VERB
ajst-14153	6	15	accurate	accurate	ADJ
ajst-14153	6	16	target	target	NOUN
ajst-14153	6	17	position	position	NOUN
ajst-14153	6	18	estimation	estimation	NOUN
ajst-14153	6	19	.	.	PUNCT
ajst-14153	7	1	experimental	experimental	ADJ
ajst-14153	7	2	results	result	NOUN
ajst-14153	7	3	demonstrate	demonstrate	VERB
ajst-14153	7	4	that	that	SCONJ
ajst-14153	7	5	this	this	DET
ajst-14153	7	6	fusion	fusion	NOUN
ajst-14153	7	7	method	method	NOUN
ajst-14153	7	8	can	can	AUX
ajst-14153	7	9	enhance	enhance	VERB
ajst-14153	7	10	the	the	DET
ajst-14153	7	11	precision	precision	NOUN
ajst-14153	7	12	and	and	CCONJ
ajst-14153	7	13	robustness	robustness	NOUN
ajst-14153	7	14	of	of	ADP
ajst-14153	7	15	indoor	indoor	ADJ
ajst-14153	7	16	static	static	ADJ
ajst-14153	7	17	target	target	NOUN
ajst-14153	7	18	positioning	positioning	NOUN
ajst-14153	7	19	.	.	PUNCT
ajst-14153	8	1	the	the	DET
ajst-14153	8	2	research	research	NOUN
ajst-14153	8	3	findings	finding	NOUN
ajst-14153	8	4	are	be	AUX
ajst-14153	8	5	highly	highly	ADV
ajst-14153	8	6	applicable	applicable	ADJ
ajst-14153	8	7	in	in	ADP
ajst-14153	8	8	areas	area	NOUN
ajst-14153	8	9	such	such	ADJ
ajst-14153	8	10	as	as	ADP
ajst-14153	8	11	indoor	indoor	ADJ
ajst-14153	8	12	positioning	positioning	NOUN
ajst-14153	8	13	and	and	CCONJ
ajst-14153	8	14	intelligent	intelligent	ADJ
ajst-14153	8	15	surveillance	surveillance	NOUN
ajst-14153	8	16	.	.	PUNCT
ajst-14153	9	1	keywords	keyword	NOUN
ajst-14153	9	2	:	:	PUNCT
ajst-14153	9	3	ultra	ultra	ADJ
ajst-14153	9	4	-	-	ADJ
ajst-14153	9	5	wideband	wideband	ADJ
ajst-14153	9	6	,	,	PUNCT
ajst-14153	9	7	inertial	inertial	ADJ
ajst-14153	9	8	measurement	measurement	NOUN
ajst-14153	9	9	unit	unit	NOUN
ajst-14153	9	10	,	,	PUNCT
ajst-14153	9	11	extended	extend	VERB
ajst-14153	9	12	kalman	kalman	NOUN
ajst-14153	9	13	filter	filter	NOUN
ajst-14153	9	14	,	,	PUNCT
ajst-14153	9	15	information	information	NOUN
ajst-14153	9	16	fusion	fusion	NOUN
ajst-14153	9	17	,	,	PUNCT
ajst-14153	9	18	indoor	indoor	ADJ
ajst-14153	9	19	positioning	positioning	NOUN
ajst-14153	9	20	.	.	PUNCT
ajst-14153	10	1	1	1	X
ajst-14153	10	2	.	.	X
ajst-14153	10	3	introduction	introduction	NOUN
ajst-14153	10	4	with	with	ADP
ajst-14153	10	5	the	the	DET
ajst-14153	10	6	increasing	increase	VERB
ajst-14153	10	7	demand	demand	NOUN
ajst-14153	10	8	for	for	ADP
ajst-14153	10	9	indoor	indoor	ADJ
ajst-14153	10	10	positioning	positioning	NOUN
ajst-14153	10	11	,	,	PUNCT
ajst-14153	10	12	such	such	ADJ
ajst-14153	10	13	as	as	ADP
ajst-14153	10	14	indoor	indoor	ADJ
ajst-14153	10	15	navigation	navigation	NOUN
ajst-14153	10	16	and	and	CCONJ
ajst-14153	10	17	smart	smart	ADJ
ajst-14153	10	18	surveillance	surveillance	NOUN
ajst-14153	10	19	,	,	PUNCT
ajst-14153	10	20	the	the	DET
ajst-14153	10	21	requirements	requirement	NOUN
ajst-14153	10	22	for	for	ADP
ajst-14153	10	23	the	the	DET
ajst-14153	10	24	accuracy	accuracy	NOUN
ajst-14153	10	25	and	and	CCONJ
ajst-14153	10	26	stability	stability	NOUN
ajst-14153	10	27	of	of	ADP
ajst-14153	10	28	indoor	indoor	ADJ
ajst-14153	10	29	positioning	positioning	NOUN
ajst-14153	10	30	technology	technology	NOUN
ajst-14153	10	31	are	be	AUX
ajst-14153	10	32	also	also	ADV
ajst-14153	10	33	increasing	increase	VERB
ajst-14153	10	34	.	.	PUNCT
ajst-14153	11	1	single	single	ADJ
ajst-14153	11	2	uwb	uwb	NOUN
ajst-14153	11	3	(	(	PUNCT
ajst-14153	11	4	ultra	ultra	ADJ
ajst-14153	11	5	-	-	ADJ
ajst-14153	11	6	wideband	wideband	ADJ
ajst-14153	11	7	)	)	PUNCT
ajst-14153	11	8	positioning	positioning	NOUN
ajst-14153	11	9	methods	method	NOUN
ajst-14153	11	10	often	often	ADV
ajst-14153	11	11	can	can	AUX
ajst-14153	11	12	not	not	PART
ajst-14153	11	13	meet	meet	VERB
ajst-14153	11	14	these	these	DET
ajst-14153	11	15	requirements	requirement	NOUN
ajst-14153	11	16	,	,	PUNCT
ajst-14153	11	17	therefore	therefore	ADV
ajst-14153	11	18	,	,	PUNCT
ajst-14153	11	19	new	new	ADJ
ajst-14153	11	20	positioning	positioning	NOUN
ajst-14153	11	21	methods	method	NOUN
ajst-14153	11	22	need	need	VERB
ajst-14153	11	23	to	to	PART
ajst-14153	11	24	be	be	AUX
ajst-14153	11	25	found	find	VERB
ajst-14153	11	26	to	to	PART
ajst-14153	11	27	solve	solve	VERB
ajst-14153	11	28	the	the	DET
ajst-14153	11	29	indoor	indoor	ADJ
ajst-14153	11	30	positioning	positioning	NOUN
ajst-14153	11	31	problem	problem	NOUN
ajst-14153	11	32	.	.	PUNCT
ajst-14153	12	1	among	among	ADP
ajst-14153	12	2	them	they	PRON
ajst-14153	12	3	,	,	PUNCT
ajst-14153	12	4	the	the	DET
ajst-14153	12	5	fusion	fusion	NOUN
ajst-14153	12	6	of	of	ADP
ajst-14153	12	7	uwb	uwb	NOUN
ajst-14153	12	8	and	and	CCONJ
ajst-14153	12	9	imu	imu	NOUN
ajst-14153	12	10	(	(	PUNCT
ajst-14153	12	11	inertial	inertial	ADJ
ajst-14153	12	12	measurement	measurement	NOUN
ajst-14153	12	13	unit	unit	NOUN
ajst-14153	12	14	)	)	PUNCT
ajst-14153	12	15	sensor	sensor	NOUN
ajst-14153	12	16	information	information	NOUN
ajst-14153	12	17	has	have	AUX
ajst-14153	12	18	received	receive	VERB
ajst-14153	12	19	considerable	considerable	ADJ
ajst-14153	12	20	attention[2	attention[2	NOUN
ajst-14153	12	21	-	-	PROPN
ajst-14153	12	22	6	6	NUM
ajst-14153	12	23	]	]	PUNCT
ajst-14153	12	24	.	.	PUNCT
ajst-14153	13	1	uwb	uwb	PROPN
ajst-14153	13	2	technology	technology	PROPN
ajst-14153	13	3	is	be	AUX
ajst-14153	13	4	a	a	DET
ajst-14153	13	5	broadband	broadband	NOUN
ajst-14153	13	6	signal	signal	NOUN
ajst-14153	13	7	transmission	transmission	NOUN
ajst-14153	13	8	technology	technology	NOUN
ajst-14153	13	9	that	that	PRON
ajst-14153	13	10	obtains	obtain	VERB
ajst-14153	13	11	target	target	NOUN
ajst-14153	13	12	position	position	NOUN
ajst-14153	13	13	information	information	NOUN
ajst-14153	13	14	by	by	ADP
ajst-14153	13	15	measuring	measure	VERB
ajst-14153	13	16	the	the	DET
ajst-14153	13	17	arrival	arrival	NOUN
ajst-14153	13	18	time	time	NOUN
ajst-14153	13	19	difference	difference	NOUN
ajst-14153	13	20	of	of	ADP
ajst-14153	13	21	signals	signal	NOUN
ajst-14153	13	22	.	.	PUNCT
ajst-14153	14	1	it	it	PRON
ajst-14153	14	2	has	have	VERB
ajst-14153	14	3	the	the	DET
ajst-14153	14	4	characteristics	characteristic	NOUN
ajst-14153	14	5	of	of	ADP
ajst-14153	14	6	high	high	ADJ
ajst-14153	14	7	accuracy	accuracy	NOUN
ajst-14153	14	8	and	and	CCONJ
ajst-14153	14	9	strong	strong	ADJ
ajst-14153	14	10	anti	anti	ADJ
ajst-14153	14	11	-	-	ADJ
ajst-14153	14	12	interference	interference	ADJ
ajst-14153	14	13	ability	ability	NOUN
ajst-14153	14	14	,	,	PUNCT
ajst-14153	14	15	making	make	VERB
ajst-14153	14	16	it	it	PRON
ajst-14153	14	17	suitable	suitable	ADJ
ajst-14153	14	18	for	for	ADP
ajst-14153	14	19	indoor	indoor	ADJ
ajst-14153	14	20	positioning	positioning	NOUN
ajst-14153	14	21	applications	application	NOUN
ajst-14153	14	22	.	.	PUNCT
ajst-14153	15	1	however	however	ADV
ajst-14153	15	2	,	,	PUNCT
ajst-14153	15	3	using	use	VERB
ajst-14153	15	4	uwb	uwb	PROPN
ajst-14153	15	5	technology	technology	NOUN
ajst-14153	15	6	alone	alone	ADV
ajst-14153	15	7	may	may	AUX
ajst-14153	15	8	have	have	VERB
ajst-14153	15	9	issues	issue	NOUN
ajst-14153	15	10	with	with	ADP
ajst-14153	15	11	measurement	measurement	NOUN
ajst-14153	15	12	errors	error	NOUN
ajst-14153	15	13	and	and	CCONJ
ajst-14153	15	14	instability	instability	NOUN
ajst-14153	15	15	.	.	PUNCT
ajst-14153	16	1	on	on	ADP
ajst-14153	16	2	the	the	DET
ajst-14153	16	3	other	other	ADJ
ajst-14153	16	4	hand	hand	NOUN
ajst-14153	16	5	,	,	PUNCT
ajst-14153	16	6	imu	imu	PROPN
ajst-14153	16	7	is	be	AUX
ajst-14153	16	8	a	a	DET
ajst-14153	16	9	sensor	sensor	NOUN
ajst-14153	16	10	that	that	PRON
ajst-14153	16	11	measures	measure	VERB
ajst-14153	16	12	the	the	DET
ajst-14153	16	13	orientation	orientation	NOUN
ajst-14153	16	14	and	and	CCONJ
ajst-14153	16	15	acceleration	acceleration	NOUN
ajst-14153	16	16	of	of	ADP
ajst-14153	16	17	an	an	DET
ajst-14153	16	18	object	object	NOUN
ajst-14153	16	19	,	,	PUNCT
ajst-14153	16	20	usually	usually	ADV
ajst-14153	16	21	consisting	consist	VERB
ajst-14153	16	22	of	of	ADP
ajst-14153	16	23	a	a	DET
ajst-14153	16	24	gyroscope	gyroscope	NOUN
ajst-14153	16	25	and	and	CCONJ
ajst-14153	16	26	accelerometer	accelerometer	NOUN
ajst-14153	16	27	.	.	PUNCT
ajst-14153	17	1	by	by	ADP
ajst-14153	17	2	measuring	measure	VERB
ajst-14153	17	3	the	the	DET
ajst-14153	17	4	rotation	rotation	NOUN
ajst-14153	17	5	and	and	CCONJ
ajst-14153	17	6	acceleration	acceleration	NOUN
ajst-14153	17	7	information	information	NOUN
ajst-14153	17	8	of	of	ADP
ajst-14153	17	9	an	an	DET
ajst-14153	17	10	object	object	NOUN
ajst-14153	17	11	,	,	PUNCT
ajst-14153	17	12	the	the	DET
ajst-14153	17	13	displacement	displacement	NOUN
ajst-14153	17	14	and	and	CCONJ
ajst-14153	17	15	velocity	velocity	NOUN
ajst-14153	17	16	of	of	ADP
ajst-14153	17	17	the	the	DET
ajst-14153	17	18	object	object	NOUN
ajst-14153	17	19	can	can	AUX
ajst-14153	17	20	be	be	AUX
ajst-14153	17	21	estimated	estimate	VERB
ajst-14153	17	22	in	in	ADP
ajst-14153	17	23	real	real	ADJ
ajst-14153	17	24	-	-	PUNCT
ajst-14153	17	25	time	time	NOUN
ajst-14153	17	26	.	.	PUNCT
ajst-14153	18	1	imu	imu	ADJ
ajst-14153	18	2	sensors	sensor	NOUN
ajst-14153	18	3	have	have	VERB
ajst-14153	18	4	the	the	DET
ajst-14153	18	5	characteristics	characteristic	NOUN
ajst-14153	18	6	of	of	ADP
ajst-14153	18	7	high	high	ADJ
ajst-14153	18	8	frequency	frequency	NOUN
ajst-14153	18	9	and	and	CCONJ
ajst-14153	18	10	strong	strong	ADJ
ajst-14153	18	11	real	real	ADJ
ajst-14153	18	12	-	-	PUNCT
ajst-14153	18	13	time	time	NOUN
ajst-14153	18	14	performance	performance	NOUN
ajst-14153	18	15	,	,	PUNCT
ajst-14153	18	16	but	but	CCONJ
ajst-14153	18	17	they	they	PRON
ajst-14153	18	18	may	may	AUX
ajst-14153	18	19	be	be	AUX
ajst-14153	18	20	affected	affect	VERB
ajst-14153	18	21	by	by	ADP
ajst-14153	18	22	accumulated	accumulate	VERB
ajst-14153	18	23	errors	error	NOUN
ajst-14153	18	24	and	and	CCONJ
ajst-14153	18	25	drift	drift	NOUN
ajst-14153	18	26	issues	issue	NOUN
ajst-14153	18	27	during	during	ADP
ajst-14153	18	28	long	long	ADJ
ajst-14153	18	29	-	-	PUNCT
ajst-14153	18	30	term	term	NOUN
ajst-14153	18	31	use	use	NOUN
ajst-14153	18	32	.	.	PUNCT
ajst-14153	19	1	therefore	therefore	ADV
ajst-14153	19	2	,	,	PUNCT
ajst-14153	19	3	fusing	fuse	VERB
ajst-14153	19	4	the	the	DET
ajst-14153	19	5	information	information	NOUN
ajst-14153	19	6	from	from	ADP
ajst-14153	19	7	uwb	uwb	PROPN
ajst-14153	19	8	and	and	CCONJ
ajst-14153	19	9	imu	imu	NOUN
ajst-14153	19	10	sensors	sensor	NOUN
ajst-14153	19	11	can	can	AUX
ajst-14153	19	12	make	make	VERB
ajst-14153	19	13	full	full	ADJ
ajst-14153	19	14	use	use	NOUN
ajst-14153	19	15	of	of	ADP
ajst-14153	19	16	their	their	PRON
ajst-14153	19	17	respective	respective	ADJ
ajst-14153	19	18	advantages	advantage	NOUN
ajst-14153	19	19	and	and	CCONJ
ajst-14153	19	20	improve	improve	VERB
ajst-14153	19	21	the	the	DET
ajst-14153	19	22	accuracy	accuracy	NOUN
ajst-14153	19	23	and	and	CCONJ
ajst-14153	19	24	stability	stability	NOUN
ajst-14153	19	25	of	of	ADP
ajst-14153	19	26	indoor	indoor	ADJ
ajst-14153	19	27	positioning	positioning	NOUN
ajst-14153	19	28	.	.	PUNCT
ajst-14153	20	1	some	some	DET
ajst-14153	20	2	scholars	scholar	NOUN
ajst-14153	20	3	have	have	AUX
ajst-14153	20	4	researched	research	VERB
ajst-14153	20	5	and	and	CCONJ
ajst-14153	20	6	explored	explore	VERB
ajst-14153	20	7	fusion	fusion	NOUN
ajst-14153	20	8	methods	method	NOUN
ajst-14153	20	9	of	of	ADP
ajst-14153	20	10	uwb	uwb	PROPN
ajst-14153	20	11	and	and	CCONJ
ajst-14153	20	12	imu	imu	NOUN
ajst-14153	20	13	.	.	PUNCT
ajst-14153	21	1	yao	yao	PROPN
ajst-14153	21	2	lu[7	lu[7	PROPN
ajst-14153	21	3	]	]	PUNCT
ajst-14153	21	4	et	et	PROPN
ajst-14153	21	5	al	al	PROPN
ajst-14153	21	6	.	.	PROPN
ajst-14153	21	7	proposed	propose	VERB
ajst-14153	21	8	a	a	DET
ajst-14153	21	9	uwb	uwb	PROPN
ajst-14153	21	10	/	/	SYM
ajst-14153	21	11	imu	imu	NOUN
ajst-14153	21	12	fusion	fusion	NOUN
ajst-14153	21	13	method	method	NOUN
ajst-14153	21	14	based	base	VERB
ajst-14153	21	15	on	on	ADP
ajst-14153	21	16	the	the	DET
ajst-14153	21	17	unscented	unscente	VERB
ajst-14153	21	18	kalman	kalman	NOUN
ajst-14153	21	19	filter	filter	PROPN
ajst-14153	21	20	(	(	PUNCT
ajst-14153	21	21	ukf	ukf	NOUN
ajst-14153	21	22	)	)	PUNCT
ajst-14153	21	23	algorithm	algorithm	NOUN
ajst-14153	21	24	,	,	PUNCT
ajst-14153	21	25	with	with	ADP
ajst-14153	21	26	experimental	experimental	ADJ
ajst-14153	21	27	results	result	NOUN
ajst-14153	21	28	showing	show	VERB
ajst-14153	21	29	fusion	fusion	NOUN
ajst-14153	21	30	positioning	positioning	NOUN
ajst-14153	21	31	error	error	NOUN
ajst-14153	21	32	within	within	ADP
ajst-14153	21	33	0.5	0.5	NUM
ajst-14153	21	34	meter	meter	NOUN
ajst-14153	21	35	and	and	CCONJ
ajst-14153	21	36	stability	stability	NOUN
ajst-14153	21	37	almost	almost	ADV
ajst-14153	21	38	up	up	ADP
ajst-14153	21	39	to	to	PART
ajst-14153	21	40	99	99	NUM
ajst-14153	21	41	%	%	NOUN
ajst-14153	21	42	.	.	PUNCT
ajst-14153	22	1	zhang	zhang	PROPN
ajst-14153	22	2	binfei[8	binfei[8	PROPN
ajst-14153	22	3	]	]	X
ajst-14153	22	4	et	et	PROPN
ajst-14153	22	5	al	al	PROPN
ajst-14153	22	6	.	.	PROPN
ajst-14153	22	7	proposed	propose	VERB
ajst-14153	22	8	a	a	DET
ajst-14153	22	9	tightly	tightly	ADV
ajst-14153	22	10	coupled	couple	VERB
ajst-14153	22	11	algorithm	algorithm	NOUN
ajst-14153	22	12	in	in	ADP
ajst-14153	22	13	complex	complex	ADJ
ajst-14153	22	14	indoor	indoor	ADJ
ajst-14153	22	15	environments	environment	NOUN
ajst-14153	22	16	,	,	PUNCT
ajst-14153	22	17	which	which	PRON
ajst-14153	22	18	improved	improve	VERB
ajst-14153	22	19	the	the	DET
ajst-14153	22	20	accuracy	accuracy	NOUN
ajst-14153	22	21	of	of	ADP
ajst-14153	22	22	uwb	uwb	PROPN
ajst-14153	22	23	positioning	positioning	NOUN
ajst-14153	22	24	by	by	ADP
ajst-14153	22	25	88.6	88.6	NUM
ajst-14153	22	26	%	%	NOUN
ajst-14153	22	27	compared	compare	VERB
ajst-14153	22	28	to	to	ADP
ajst-14153	22	29	uwb	uwb	PROPN
ajst-14153	22	30	alone	alone	ADV
ajst-14153	22	31	.	.	PUNCT
ajst-14153	23	1	wang	wang	PROPN
ajst-14153	23	2	peng[9	peng[9	PROPN
ajst-14153	23	3	]	]	X
ajst-14153	23	4	et	et	PROPN
ajst-14153	23	5	al	al	PROPN
ajst-14153	23	6	.	.	PROPN
ajst-14153	23	7	proposed	propose	VERB
ajst-14153	23	8	an	an	DET
ajst-14153	23	9	improved	improved	ADJ
ajst-14153	23	10	particle	particle	NOUN
ajst-14153	23	11	filter	filter	NOUN
ajst-14153	23	12	algorithm	algorithm	NOUN
ajst-14153	23	13	for	for	ADP
ajst-14153	23	14	uwb	uwb	PROPN
ajst-14153	23	15	/	/	SYM
ajst-14153	23	16	imu	imu	NOUN
ajst-14153	23	17	fusion	fusion	NOUN
ajst-14153	23	18	,	,	PUNCT
ajst-14153	23	19	which	which	PRON
ajst-14153	23	20	increased	increase	VERB
ajst-14153	23	21	the	the	DET
ajst-14153	23	22	positioning	positioning	NOUN
ajst-14153	23	23	accuracy	accuracy	NOUN
ajst-14153	23	24	by	by	ADP
ajst-14153	23	25	65.6	65.6	NUM
ajst-14153	23	26	%	%	NOUN
ajst-14153	23	27	and	and	CCONJ
ajst-14153	23	28	56.0	56.0	NUM
ajst-14153	23	29	%	%	NOUN
ajst-14153	23	30	compared	compare	VERB
ajst-14153	23	31	to	to	ADP
ajst-14153	23	32	ekf	ekf	NOUN
ajst-14153	23	33	and	and	CCONJ
ajst-14153	23	34	ukf	ukf	NOUN
ajst-14153	23	35	,	,	PUNCT
ajst-14153	23	36	respectively	respectively	ADV
ajst-14153	23	37	,	,	PUNCT
ajst-14153	23	38	while	while	SCONJ
ajst-14153	23	39	reducing	reduce	VERB
ajst-14153	23	40	the	the	DET
ajst-14153	23	41	running	running	NOUN
ajst-14153	23	42	time	time	NOUN
ajst-14153	23	43	by	by	ADP
ajst-14153	23	44	42.3	42.3	NUM
ajst-14153	23	45	%	%	NOUN
ajst-14153	23	46	compared	compare	VERB
ajst-14153	23	47	to	to	ADP
ajst-14153	23	48	the	the	DET
ajst-14153	23	49	standard	standard	ADJ
ajst-14153	23	50	particle	particle	NOUN
ajst-14153	23	51	filter	filter	NOUN
ajst-14153	23	52	algorithm	algorithm	NOUN
ajst-14153	23	53	.	.	PUNCT
ajst-14153	24	1	yang	yang	PROPN
ajst-14153	24	2	xiujian	xiujian	PROPN
ajst-14153	25	1	[	[	X
ajst-14153	25	2	10	10	NUM
ajst-14153	25	3	]	]	X
ajst-14153	25	4	etal	etal	NOUN
ajst-14153	25	5	.	.	PUNCT
ajst-14153	25	6	proposed	propose	VERB
ajst-14153	25	7	a	a	DET
ajst-14153	25	8	uwb	uwb	PROPN
ajst-14153	25	9	/	/	SYM
ajst-14153	25	10	imu	imu	NOUN
ajst-14153	25	11	/	/	SYM
ajst-14153	25	12	odometer	odometer	NOUN
ajst-14153	25	13	fusion	fusion	NOUN
ajst-14153	25	14	positioning	positioning	NOUN
ajst-14153	25	15	method	method	NOUN
ajst-14153	25	16	based	base	VERB
ajst-14153	25	17	on	on	ADP
ajst-14153	25	18	an	an	DET
ajst-14153	25	19	improved	improved	ADJ
ajst-14153	25	20	ukf	ukf	NOUN
ajst-14153	25	21	algorithm	algorithm	NOUN
ajst-14153	25	22	,	,	PUNCT
ajst-14153	25	23	showing	show	VERB
ajst-14153	25	24	an	an	DET
ajst-14153	25	25	improvement	improvement	NOUN
ajst-14153	25	26	of	of	ADP
ajst-14153	25	27	approximately	approximately	ADV
ajst-14153	25	28	22.8	22.8	NUM
ajst-14153	25	29	%	%	NOUN
ajst-14153	25	30	and	and	CCONJ
ajst-14153	25	31	13.1	13.1	NUM
ajst-14153	25	32	%	%	NOUN
ajst-14153	25	33	in	in	ADP
ajst-14153	25	34	positioning	positioning	NOUN
ajst-14153	25	35	accuracy	accuracy	NOUN
ajst-14153	25	36	compared	compare	VERB
ajst-14153	25	37	to	to	ADP
ajst-14153	25	38	ekf	ekf	NOUN
ajst-14153	25	39	and	and	CCONJ
ajst-14153	25	40	ukf	ukf	NOUN
ajst-14153	25	41	,	,	PUNCT
ajst-14153	25	42	respectively	respectively	ADV
ajst-14153	25	43	.	.	PUNCT
ajst-14153	26	1	this	this	DET
ajst-14153	26	2	article	article	NOUN
ajst-14153	26	3	aims	aim	VERB
ajst-14153	26	4	to	to	PART
ajst-14153	26	5	achieve	achieve	VERB
ajst-14153	26	6	accurate	accurate	ADJ
ajst-14153	26	7	static	static	ADJ
ajst-14153	26	8	positioning	positioning	NOUN
ajst-14153	26	9	of	of	ADP
ajst-14153	26	10	indoor	indoor	ADJ
ajst-14153	26	11	targets	target	NOUN
ajst-14153	26	12	by	by	ADP
ajst-14153	26	13	fusing	fuse	VERB
ajst-14153	26	14	uwb	uwb	NOUN
ajst-14153	26	15	initial	initial	ADJ
ajst-14153	26	16	positioning	positioning	NOUN
ajst-14153	26	17	data	datum	NOUN
ajst-14153	26	18	and	and	CCONJ
ajst-14153	26	19	self	self	NOUN
ajst-14153	26	20	-	-	PUNCT
ajst-14153	26	21	calibrated	calibrate	VERB
ajst-14153	26	22	imu	imu	NOUN
ajst-14153	26	23	data	datum	NOUN
ajst-14153	26	24	using	use	VERB
ajst-14153	26	25	the	the	DET
ajst-14153	26	26	extended	extended	ADJ
ajst-14153	26	27	kalman	kalman	NOUN
ajst-14153	26	28	filter	filter	PROPN
ajst-14153	26	29	(	(	PUNCT
ajst-14153	26	30	ekf	ekf	PROPN
ajst-14153	26	31	)	)	PUNCT
ajst-14153	26	32	.	.	PUNCT
ajst-14153	27	1	the	the	DET
ajst-14153	27	2	ekf	ekf	PROPN
ajst-14153	27	3	,	,	PUNCT
ajst-14153	27	4	as	as	ADP
ajst-14153	27	5	a	a	DET
ajst-14153	27	6	commonly	commonly	ADV
ajst-14153	27	7	used	use	VERB
ajst-14153	27	8	fusion	fusion	NOUN
ajst-14153	27	9	algorithm	algorithm	NOUN
ajst-14153	27	10	,	,	PUNCT
ajst-14153	27	11	can	can	AUX
ajst-14153	27	12	filter	filter	VERB
ajst-14153	27	13	and	and	CCONJ
ajst-14153	27	14	predict	predict	VERB
ajst-14153	27	15	uwb	uwb	PROPN
ajst-14153	27	16	data	data	PROPN
ajst-14153	27	17	and	and	CCONJ
ajst-14153	27	18	imu	imu	NOUN
ajst-14153	27	19	measurements	measurement	NOUN
ajst-14153	27	20	to	to	PART
ajst-14153	27	21	obtain	obtain	VERB
ajst-14153	27	22	an	an	DET
ajst-14153	27	23	accurate	accurate	ADJ
ajst-14153	27	24	estimate	estimate	NOUN
ajst-14153	27	25	of	of	ADP
ajst-14153	27	26	the	the	DET
ajst-14153	27	27	target	target	NOUN
ajst-14153	27	28	's	's	PART
ajst-14153	27	29	position	position	NOUN
ajst-14153	27	30	.	.	PUNCT
ajst-14153	28	1	the	the	DET
ajst-14153	28	2	fusion	fusion	NOUN
ajst-14153	28	3	method	method	NOUN
ajst-14153	28	4	is	be	AUX
ajst-14153	28	5	verified	verify	VERB
ajst-14153	28	6	through	through	ADP
ajst-14153	28	7	an	an	DET
ajst-14153	28	8	experimental	experimental	ADJ
ajst-14153	28	9	environment	environment	NOUN
ajst-14153	28	10	and	and	CCONJ
ajst-14153	28	11	the	the	DET
ajst-14153	28	12	data	datum	NOUN
ajst-14153	28	13	is	be	AUX
ajst-14153	28	14	analyzed	analyze	VERB
ajst-14153	28	15	using	use	VERB
ajst-14153	28	16	matlab	matlab	PROPN
ajst-14153	28	17	software	software	NOUN
ajst-14153	28	18	.	.	PUNCT
ajst-14153	29	1	2	2	X
ajst-14153	29	2	.	.	X
ajst-14153	29	3	imu	imu	NOUN
ajst-14153	29	4	and	and	CCONJ
ajst-14153	29	5	uwb	uwb	NOUN
ajst-14153	29	6	positioning	positioning	NOUN
ajst-14153	29	7	technology	technology	NOUN
ajst-14153	29	8	2.1	2.1	NUM
ajst-14153	29	9	.	.	PUNCT
ajst-14153	29	10	imu	imu	NOUN
ajst-14153	29	11	positioning	positioning	NOUN
ajst-14153	29	12	technology	technology	NOUN
ajst-14153	29	13	imu	imu	NOUN
ajst-14153	29	14	consists	consist	VERB
ajst-14153	29	15	mainly	mainly	ADV
ajst-14153	29	16	of	of	ADP
ajst-14153	29	17	accelerometers	accelerometer	NOUN
ajst-14153	29	18	and	and	CCONJ
ajst-14153	29	19	gyroscopes	gyroscope	NOUN
ajst-14153	29	20	,	,	PUNCT
ajst-14153	29	21	which	which	PRON
ajst-14153	29	22	can	can	AUX
ajst-14153	29	23	measure	measure	VERB
ajst-14153	29	24	the	the	DET
ajst-14153	29	25	acceleration	acceleration	NOUN
ajst-14153	29	26	and	and	CCONJ
ajst-14153	29	27	angular	angular	ADJ
ajst-14153	29	28	velocity	velocity	NOUN
ajst-14153	29	29	of	of	ADP
ajst-14153	29	30	the	the	DET
ajst-14153	29	31	carrier	carrier	NOUN
ajst-14153	29	32	in	in	ADP
ajst-14153	29	33	the	the	DET
ajst-14153	29	34	vehicle	vehicle	NOUN
ajst-14153	29	35	coordinate	coordinate	NOUN
ajst-14153	29	36	system	system	NOUN
ajst-14153	29	37	.	.	PUNCT
ajst-14153	30	1	then	then	ADV
ajst-14153	30	2	,	,	PUNCT
ajst-14153	30	3	these	these	DET
ajst-14153	30	4	measured	measure	VERB
ajst-14153	30	5	values	value	NOUN
ajst-14153	30	6	are	be	AUX
ajst-14153	30	7	converted	convert	VERB
ajst-14153	30	8	to	to	ADP
ajst-14153	30	9	the	the	DET
ajst-14153	30	10	navigation	navigation	NOUN
ajst-14153	30	11	coordinate	coordinate	NOUN
ajst-14153	30	12	system	system	NOUN
ajst-14153	30	13	,	,	PUNCT
ajst-14153	30	14	and	and	CCONJ
ajst-14153	30	15	the	the	DET
ajst-14153	30	16	position	position	NOUN
ajst-14153	30	17	,	,	PUNCT
ajst-14153	30	18	velocity	velocity	NOUN
ajst-14153	30	19	,	,	PUNCT
ajst-14153	30	20	and	and	CCONJ
ajst-14153	30	21	attitude	attitude	NOUN
ajst-14153	30	22	information	information	NOUN
ajst-14153	30	23	are	be	AUX
ajst-14153	30	24	calculated	calculate	VERB
ajst-14153	30	25	through	through	ADP
ajst-14153	30	26	integration	integration	NOUN
ajst-14153	30	27	.	.	PUNCT
ajst-14153	31	1	in	in	ADP
ajst-14153	31	2	this	this	DET
ajst-14153	31	3	paper	paper	NOUN
ajst-14153	31	4	,	,	PUNCT
ajst-14153	31	5	the	the	DET
ajst-14153	31	6	north	north	NOUN
ajst-14153	31	7	,	,	PUNCT
ajst-14153	31	8	east	east	PROPN
ajst-14153	31	9	,	,	PUNCT
ajst-14153	31	10	down	down	ADV
ajst-14153	31	11	(	(	PUNCT
ajst-14153	31	12	ned	ned	ADJ
ajst-14153	31	13	)	)	PUNCT
ajst-14153	31	14	coordinate	coordinate	NOUN
ajst-14153	31	15	system	system	NOUN
ajst-14153	31	16	is	be	AUX
ajst-14153	31	17	chosen	choose	VERB
ajst-14153	31	18	as	as	ADP
ajst-14153	31	19	the	the	DET
ajst-14153	31	20	navigation	navigation	NOUN
ajst-14153	31	21	coordinate	coordinate	NOUN
ajst-14153	31	22	system	system	NOUN
ajst-14153	31	23	.	.	PUNCT
ajst-14153	32	1	the	the	DET
ajst-14153	32	2	vector	vector	NOUN
ajst-14153	32	3	rotation	rotation	NOUN
ajst-14153	32	4	from	from	ADP
ajst-14153	32	5	the	the	DET
ajst-14153	32	6	vehicle	vehicle	NOUN
ajst-14153	32	7	coordinate	coordinate	NOUN
ajst-14153	32	8	system	system	NOUN
ajst-14153	32	9	to	to	ADP
ajst-14153	32	10	the	the	DET
ajst-14153	32	11	navigation	navigation	NOUN
ajst-14153	32	12	coordinate	coordinate	NOUN
ajst-14153	32	13	system	system	NOUN
ajst-14153	32	14	can	can	AUX
ajst-14153	32	15	be	be	AUX
ajst-14153	32	16	achieved	achieve	VERB
ajst-14153	32	17	through	through	ADP
ajst-14153	32	18	euler	euler	NOUN
ajst-14153	32	19	angles	angle	NOUN
ajst-14153	32	20	,	,	PUNCT
ajst-14153	32	21	direction	direction	NOUN
ajst-14153	32	22	cosine	cosine	NOUN
ajst-14153	32	23	matrix	matrix	NOUN
ajst-14153	32	24	method	method	NOUN
ajst-14153	32	25	,	,	PUNCT
ajst-14153	32	26	or	or	CCONJ
ajst-14153	32	27	quaternion	quaternion	NOUN
ajst-14153	32	28	method	method	NOUN
ajst-14153	32	29	.	.	PUNCT
ajst-14153	33	1	euler	euler	NOUN
ajst-14153	33	2	angles	angle	NOUN
ajst-14153	33	3	are	be	AUX
ajst-14153	33	4	simple	simple	ADJ
ajst-14153	33	5	and	and	CCONJ
ajst-14153	33	6	intuitive	intuitive	ADJ
ajst-14153	33	7	,	,	PUNCT
ajst-14153	33	8	but	but	CCONJ
ajst-14153	33	9	they	they	PRON
ajst-14153	33	10	may	may	AUX
ajst-14153	33	11	encounter	encounter	VERB
ajst-14153	33	12	gimbal	gimbal	ADJ
ajst-14153	33	13	lock	lock	NOUN
ajst-14153	33	14	problems	problem	NOUN
ajst-14153	33	15	.	.	PUNCT
ajst-14153	34	1	the	the	DET
ajst-14153	34	2	direction	direction	NOUN
ajst-14153	34	3	cosine	cosine	NOUN
ajst-14153	34	4	matrix	matrix	NOUN
ajst-14153	34	5	method	method	NOUN
ajst-14153	34	6	involves	involve	VERB
ajst-14153	34	7	solving	solve	VERB
ajst-14153	34	8	the	the	DET
ajst-14153	34	9	differential	differential	ADJ
ajst-14153	34	10	equations	equation	NOUN
ajst-14153	34	11	of	of	ADP
ajst-14153	34	12	the	the	DET
ajst-14153	34	13	attitude	attitude	NOUN
ajst-14153	34	14	matrix	matrix	NOUN
ajst-14153	34	15	,	,	PUNCT
ajst-14153	34	16	which	which	PRON
ajst-14153	34	17	requires	require	VERB
ajst-14153	34	18	a	a	DET
ajst-14153	34	19	large	large	ADJ
ajst-14153	34	20	computational	computational	ADJ
ajst-14153	34	21	burden	burden	NOUN
ajst-14153	34	22	.	.	PUNCT
ajst-14153	35	1	therefore	therefore	ADV
ajst-14153	35	2	,	,	PUNCT
ajst-14153	35	3	this	this	DET
ajst-14153	35	4	paper	paper	NOUN
ajst-14153	35	5	chooses	choose	VERB
ajst-14153	35	6	the	the	DET
ajst-14153	35	7	quaternion	quaternion	NOUN
ajst-14153	35	8	method	method	NOUN
ajst-14153	35	9	,	,	PUNCT
ajst-14153	35	10	which	which	PRON
ajst-14153	35	11	has	have	VERB
ajst-14153	35	12	a	a	DET
ajst-14153	35	13	smaller	small	ADJ
ajst-14153	35	14	computational	computational	ADJ
ajst-14153	35	15	load	load	NOUN
ajst-14153	35	16	and	and	CCONJ
ajst-14153	35	17	a	a	DET
ajst-14153	35	18	simpler	simple	ADJ
ajst-14153	35	19	algorithm	algorithm	NOUN
ajst-14153	35	20	.	.	PUNCT
ajst-14153	36	1	the	the	DET
ajst-14153	36	2	rotation	rotation	NOUN
ajst-14153	36	3	matrix	matrix	NOUN
ajst-14153	36	4	from	from	ADP
ajst-14153	36	5	the	the	DET
ajst-14153	36	6	vehicle	vehicle	NOUN
ajst-14153	36	7	coordinate	coordinate	NOUN
ajst-14153	36	8	system	system	NOUN
ajst-14153	36	9	(	(	PUNCT
ajst-14153	36	10	b	b	NOUN
ajst-14153	36	11	-	-	PUNCT
ajst-14153	36	12	system	system	NOUN
ajst-14153	36	13	)	)	PUNCT
ajst-14153	36	14	to	to	ADP
ajst-14153	36	15	the	the	DET
ajst-14153	36	16	navigation	navigation	NOUN
ajst-14153	36	17	coordinate	coordinate	NOUN
ajst-14153	36	18	157	157	NUM
ajst-14153	36	19	system	system	NOUN
ajst-14153	36	20	(	(	PUNCT
ajst-14153	36	21	n	n	CCONJ
ajst-14153	36	22	-	-	PUNCT
ajst-14153	36	23	system	system	NOUN
ajst-14153	36	24	)	)	PUNCT
ajst-14153	36	25	based	base	VERB
ajst-14153	36	26	on	on	ADP
ajst-14153	36	27	the	the	DET
ajst-14153	36	28	attitude	attitude	NOUN
ajst-14153	36	29	quaternion	quaternion	NOUN
ajst-14153	36	30	q	q	NOUN
ajst-14153	36	31	is	be	AUX
ajst-14153	36	32	as	as	SCONJ
ajst-14153	36	33	follows	follow	VERB
ajst-14153	36	34	:	:	PUNCT
ajst-14153	36	35	𝑻	𝑻	PROPN
ajst-14153	36	36	𝑩	𝑩	NOUN
ajst-14153	36	37	𝑵	𝑵	PROPN
ajst-14153	36	38	𝒒𝟎	𝒒𝟎	NOUN
ajst-14153	36	39	𝟐	𝟐	NUM
ajst-14153	36	40	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	36	41	𝟐	𝟐	NUM
ajst-14153	36	42	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	36	43	𝟐	𝟐	NUM
ajst-14153	36	44	𝒒𝟑	𝒒𝟑	ADJ
ajst-14153	36	45	𝟐	𝟐	NUM
ajst-14153	36	46	𝟐	𝟐	NUM
ajst-14153	36	47	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	36	48	∗	∗	NOUN
ajst-14153	36	49	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	36	50	𝒒𝟎	𝒒𝟎	PROPN
ajst-14153	36	51	∗	∗	NOUN
ajst-14153	36	52	𝒒𝟑	𝒒𝟑	PROPN
ajst-14153	37	1	𝟐	𝟐	NUM
ajst-14153	37	2	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	37	3	∗	∗	NOUN
ajst-14153	37	4	𝒒𝟑	𝒒𝟑	PROPN
ajst-14153	37	5	𝒒𝟎	𝒒𝟎	PROPN
ajst-14153	37	6	∗	∗	NOUN
ajst-14153	37	7	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	37	8	𝟐	𝟐	PROPN
ajst-14153	37	9	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	37	10	∗	∗	NOUN
ajst-14153	37	11	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	37	12	𝒒𝟎	𝒒𝟎	PROPN
ajst-14153	37	13	∗	∗	NOUN
ajst-14153	37	14	𝒒𝟑	𝒒𝟑	PROPN
ajst-14153	37	15	𝒒𝟎	𝒒𝟎	PROPN
ajst-14153	38	1	𝟐	𝟐	NUM
ajst-14153	38	2	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	38	3	𝟐	𝟐	NUM
ajst-14153	38	4	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	38	5	𝟐	𝟐	NUM
ajst-14153	38	6	𝒒𝟑	𝒒𝟑	ADJ
ajst-14153	38	7	𝟐	𝟐	NUM
ajst-14153	38	8	𝟐	𝟐	NUM
ajst-14153	38	9	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	38	10	∗	∗	NOUN
ajst-14153	38	11	𝒒𝟑	𝒒𝟑	PROPN
ajst-14153	38	12	𝒒𝟎	𝒒𝟎	PROPN
ajst-14153	38	13	∗	∗	NOUN
ajst-14153	38	14	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	38	15	𝟐	𝟐	NUM
ajst-14153	38	16	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	38	17	∗	∗	NOUN
ajst-14153	38	18	𝒒𝟑	𝒒𝟑	PROPN
ajst-14153	38	19	𝒒𝟎	𝒒𝟎	PROPN
ajst-14153	38	20	∗	∗	NOUN
ajst-14153	38	21	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	38	22	𝟐	𝟐	NUM
ajst-14153	38	23	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	38	24	∗	∗	NOUN
ajst-14153	38	25	𝒒𝟑	𝒒𝟑	PROPN
ajst-14153	38	26	𝒒𝟎	𝒒𝟎	PROPN
ajst-14153	38	27	∗	∗	NOUN
ajst-14153	38	28	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	39	1	𝒒𝟎	𝒒𝟎	NOUN
ajst-14153	39	2	𝟐	𝟐	NUM
ajst-14153	39	3	𝒒𝟏	𝒒𝟏	NOUN
ajst-14153	39	4	𝟐	𝟐	NUM
ajst-14153	39	5	𝒒𝟐	𝒒𝟐	NOUN
ajst-14153	39	6	𝟐	𝟐	NUM
ajst-14153	39	7	𝒒𝟑	𝒒𝟑	ADJ
ajst-14153	39	8	𝟐	𝟐	NUM
ajst-14153	39	9	(	(	PUNCT
ajst-14153	39	10	1	1	NUM
ajst-14153	39	11	)	)	PUNCT
ajst-14153	39	12	in	in	ADP
ajst-14153	39	13	the	the	DET
ajst-14153	39	14	equation	equation	NOUN
ajst-14153	39	15	,	,	PUNCT
ajst-14153	39	16	𝑞	𝑞	X
ajst-14153	39	17	𝑞	𝑞	X
ajst-14153	39	18	𝑞	𝑞	PART
ajst-14153	39	19	𝑞	𝑞	PROPN
ajst-14153	39	20	represents	represent	VERB
ajst-14153	39	21	a	a	DET
ajst-14153	39	22	quaternion	quaternion	NOUN
ajst-14153	39	23	and	and	CCONJ
ajst-14153	39	24	satisfies	satisfie	NOUN
ajst-14153	39	25	:	:	PUNCT
ajst-14153	39	26	𝑞	𝑞	X
ajst-14153	39	27	𝑞	𝑞	X
ajst-14153	39	28	𝑞	𝑞	X
ajst-14153	39	29	𝑞	𝑞	PROPN
ajst-14153	39	30	1	1	NUM
ajst-14153	39	31	;	;	PUNCT
ajst-14153	39	32	𝑎	𝑎	X
ajst-14153	39	33	𝑇	𝑇	PROPN
ajst-14153	39	34	𝑎	𝑎	ADJ
ajst-14153	39	35	0	0	NUM
ajst-14153	39	36	0	0	NUM
ajst-14153	39	37	𝑔	𝑔	PROPN
ajst-14153	39	38	(	(	PUNCT
ajst-14153	39	39	2	2	NUM
ajst-14153	39	40	)	)	PUNCT
ajst-14153	39	41	in	in	ADP
ajst-14153	39	42	the	the	DET
ajst-14153	39	43	equation	equation	NOUN
ajst-14153	39	44	,	,	PUNCT
ajst-14153	39	45	"	"	PUNCT
ajst-14153	39	46	a	a	PRON
ajst-14153	39	47	"	"	PUNCT
ajst-14153	39	48	represents	represent	VERB
ajst-14153	39	49	the	the	DET
ajst-14153	39	50	three	three	NUM
ajst-14153	39	51	-	-	PUNCT
ajst-14153	39	52	axis	axis	NOUN
ajst-14153	39	53	acceleration	acceleration	NOUN
ajst-14153	39	54	in	in	ADP
ajst-14153	39	55	the	the	DET
ajst-14153	39	56	navigation	navigation	NOUN
ajst-14153	39	57	coordinate	coordinate	NOUN
ajst-14153	39	58	system	system	NOUN
ajst-14153	39	59	,	,	PUNCT
ajst-14153	39	60	"	"	PUNCT
ajst-14153	39	61	a	a	PRON
ajst-14153	39	62	"	"	PUNCT
ajst-14153	39	63	represents	represent	VERB
ajst-14153	39	64	the	the	DET
ajst-14153	39	65	threeaxis	threeaxis	NOUN
ajst-14153	39	66	acceleration	acceleration	NOUN
ajst-14153	39	67	in	in	ADP
ajst-14153	39	68	the	the	DET
ajst-14153	39	69	vehicle	vehicle	NOUN
ajst-14153	39	70	coordinate	coordinate	NOUN
ajst-14153	39	71	system	system	NOUN
ajst-14153	39	72	,	,	PUNCT
ajst-14153	39	73	and	and	CCONJ
ajst-14153	39	74	"	"	PUNCT
ajst-14153	39	75	g	g	NOUN
ajst-14153	39	76	"	"	PUNCT
ajst-14153	39	77	represents	represent	VERB
ajst-14153	39	78	the	the	DET
ajst-14153	39	79	local	local	ADJ
ajst-14153	39	80	gravitational	gravitational	ADJ
ajst-14153	39	81	acceleration	acceleration	NOUN
ajst-14153	39	82	.	.	PUNCT
ajst-14153	40	1	after	after	ADP
ajst-14153	40	2	the	the	DET
ajst-14153	40	3	rotation	rotation	NOUN
ajst-14153	40	4	transformation	transformation	NOUN
ajst-14153	40	5	,	,	PUNCT
ajst-14153	40	6	the	the	DET
ajst-14153	40	7	measured	measured	ADJ
ajst-14153	40	8	values	value	NOUN
ajst-14153	40	9	from	from	ADP
ajst-14153	40	10	the	the	DET
ajst-14153	40	11	accelerometer	accelerometer	NOUN
ajst-14153	40	12	are	be	AUX
ajst-14153	40	13	integrated	integrate	VERB
ajst-14153	40	14	to	to	PART
ajst-14153	40	15	obtain	obtain	VERB
ajst-14153	40	16	the	the	DET
ajst-14153	40	17	velocity	velocity	NOUN
ajst-14153	40	18	and	and	CCONJ
ajst-14153	40	19	position	position	NOUN
ajst-14153	40	20	in	in	ADP
ajst-14153	40	21	the	the	DET
ajst-14153	40	22	navigation	navigation	NOUN
ajst-14153	40	23	coordinate	coordinate	NOUN
ajst-14153	40	24	system	system	NOUN
ajst-14153	40	25	.	.	PUNCT
ajst-14153	41	1	2.2	2.2	NUM
ajst-14153	41	2	.	.	PUNCT
ajst-14153	41	3	uwb	uwb	PROPN
ajst-14153	41	4	positioning	positioning	NOUN
ajst-14153	41	5	technology	technology	NOUN
ajst-14153	41	6	uwb	uwb	PROPN
ajst-14153	41	7	positioning	positioning	NOUN
ajst-14153	41	8	technology	technology	NOUN
ajst-14153	41	9	is	be	AUX
ajst-14153	41	10	a	a	DET
ajst-14153	41	11	high	high	ADJ
ajst-14153	41	12	-	-	PUNCT
ajst-14153	41	13	precision	precision	NOUN
ajst-14153	41	14	iot	iot	NOUN
ajst-14153	41	15	positioning	positioning	NOUN
ajst-14153	41	16	technology	technology	NOUN
ajst-14153	41	17	at	at	ADP
ajst-14153	41	18	the	the	DET
ajst-14153	41	19	centimeter	centimeter	NOUN
ajst-14153	41	20	level	level	NOUN
ajst-14153	41	21	.	.	PUNCT
ajst-14153	42	1	it	it	PRON
ajst-14153	42	2	utilizes	utilize	VERB
ajst-14153	42	3	uwb	uwb	PROPN
ajst-14153	42	4	wireless	wireless	NOUN
ajst-14153	42	5	signals	signal	NOUN
ajst-14153	42	6	for	for	ADP
ajst-14153	42	7	positioning	positioning	NOUN
ajst-14153	42	8	and	and	CCONJ
ajst-14153	42	9	combines	combine	VERB
ajst-14153	42	10	measurements	measurement	NOUN
ajst-14153	42	11	of	of	ADP
ajst-14153	42	12	time	time	NOUN
ajst-14153	42	13	difference	difference	NOUN
ajst-14153	42	14	of	of	ADP
ajst-14153	42	15	arrival	arrival	NOUN
ajst-14153	42	16	(	(	PUNCT
ajst-14153	42	17	tdoa	tdoa	NOUN
ajst-14153	42	18	)	)	PUNCT
ajst-14153	42	19	and	and	CCONJ
ajst-14153	42	20	the	the	DET
ajst-14153	42	21	coordinates	coordinate	NOUN
ajst-14153	42	22	of	of	ADP
ajst-14153	42	23	base	base	NOUN
ajst-14153	42	24	stations	station	NOUN
ajst-14153	42	25	to	to	PART
ajst-14153	42	26	achieve	achieve	VERB
ajst-14153	42	27	high	high	ADJ
ajst-14153	42	28	-	-	PUNCT
ajst-14153	42	29	precision	precision	NOUN
ajst-14153	42	30	location	location	NOUN
ajst-14153	42	31	calculation	calculation	NOUN
ajst-14153	42	32	for	for	ADP
ajst-14153	42	33	iot	iot	ADJ
ajst-14153	42	34	devices	device	NOUN
ajst-14153	42	35	.	.	PUNCT
ajst-14153	43	1	this	this	DET
ajst-14153	43	2	article	article	NOUN
ajst-14153	43	3	adopts	adopt	VERB
ajst-14153	43	4	the	the	DET
ajst-14153	43	5	two	two	NUM
ajst-14153	43	6	waytime	waytime	NOUN
ajst-14153	43	7	of	of	ADP
ajst-14153	43	8	flight	flight	NOUN
ajst-14153	43	9	(	(	PUNCT
ajst-14153	43	10	tw	tw	NOUN
ajst-14153	43	11	-	-	PUNCT
ajst-14153	43	12	tof	tof	ADJ
ajst-14153	43	13	)	)	PUNCT
ajst-14153	43	14	method	method	NOUN
ajst-14153	43	15	,	,	PUNCT
ajst-14153	43	16	where	where	SCONJ
ajst-14153	43	17	each	each	DET
ajst-14153	43	18	module	module	NOUN
ajst-14153	43	19	generates	generate	VERB
ajst-14153	43	20	an	an	DET
ajst-14153	43	21	independent	independent	ADJ
ajst-14153	43	22	timestamp	timestamp	NOUN
ajst-14153	43	23	from	from	ADP
ajst-14153	43	24	the	the	DET
ajst-14153	43	25	start	start	NOUN
ajst-14153	43	26	.	.	PUNCT
ajst-14153	44	1	module	module	NOUN
ajst-14153	44	2	a	a	PRON
ajst-14153	44	3	's	's	PART
ajst-14153	44	4	transmitter	transmitter	NOUN
ajst-14153	44	5	sends	send	VERB
ajst-14153	44	6	a	a	DET
ajst-14153	44	7	pulse	pulse	NOUN
ajst-14153	44	8	signal	signal	NOUN
ajst-14153	44	9	with	with	ADP
ajst-14153	44	10	the	the	DET
ajst-14153	44	11	nature	nature	NOUN
ajst-14153	44	12	of	of	ADP
ajst-14153	44	13	an	an	DET
ajst-14153	44	14	emission	emission	NOUN
ajst-14153	44	15	request	request	NOUN
ajst-14153	44	16	on	on	ADP
ajst-14153	44	17	its	its	PRON
ajst-14153	44	18	timestamp	timestamp	NOUN
ajst-14153	44	19	,	,	PUNCT
ajst-14153	44	20	and	and	CCONJ
ajst-14153	44	21	module	module	NOUN
ajst-14153	44	22	b	b	NOUN
ajst-14153	44	23	responds	respond	VERB
ajst-14153	44	24	by	by	ADP
ajst-14153	44	25	transmitting	transmit	VERB
ajst-14153	44	26	a	a	DET
ajst-14153	44	27	signal	signal	NOUN
ajst-14153	44	28	at	at	ADP
ajst-14153	44	29	a	a	DET
ajst-14153	44	30	specific	specific	ADJ
ajst-14153	44	31	moment	moment	NOUN
ajst-14153	44	32	,	,	PUNCT
ajst-14153	44	33	which	which	PRON
ajst-14153	44	34	is	be	AUX
ajst-14153	44	35	received	receive	VERB
ajst-14153	44	36	by	by	ADP
ajst-14153	44	37	module	module	NOUN
ajst-14153	44	38	a	a	PRON
ajst-14153	44	39	on	on	ADP
ajst-14153	44	40	its	its	PRON
ajst-14153	44	41	own	own	ADJ
ajst-14153	44	42	timestamp	timestamp	NOUN
ajst-14153	44	43	.	.	PUNCT
ajst-14153	45	1	this	this	PRON
ajst-14153	45	2	allows	allow	VERB
ajst-14153	45	3	for	for	ADP
ajst-14153	45	4	the	the	DET
ajst-14153	45	5	calculation	calculation	NOUN
ajst-14153	45	6	of	of	ADP
ajst-14153	45	7	the	the	DET
ajst-14153	45	8	flight	flight	NOUN
ajst-14153	45	9	time	time	NOUN
ajst-14153	45	10	of	of	ADP
ajst-14153	45	11	the	the	DET
ajst-14153	45	12	pulse	pulse	NOUN
ajst-14153	45	13	signal	signal	NOUN
ajst-14153	45	14	between	between	ADP
ajst-14153	45	15	the	the	DET
ajst-14153	45	16	two	two	NUM
ajst-14153	45	17	modules	module	NOUN
ajst-14153	45	18	,	,	PUNCT
ajst-14153	45	19	thereby	thereby	ADV
ajst-14153	45	20	determining	determine	VERB
ajst-14153	45	21	the	the	DET
ajst-14153	45	22	flight	flight	NOUN
ajst-14153	45	23	distance	distance	NOUN
ajst-14153	45	24	,	,	PUNCT
ajst-14153	45	25	d.	d.	PROPN
ajst-14153	45	26	figure	figure	NOUN
ajst-14153	45	27	1	1	NUM
ajst-14153	45	28	illustrates	illustrate	VERB
ajst-14153	45	29	the	the	DET
ajst-14153	45	30	three	three	NUM
ajst-14153	45	31	-	-	PUNCT
ajst-14153	45	32	plane	plane	NOUN
ajst-14153	45	33	positioning	positioning	NOUN
ajst-14153	45	34	method	method	NOUN
ajst-14153	45	35	.	.	PUNCT
ajst-14153	46	1	d	d	X
ajst-14153	46	2	c	c	NOUN
ajst-14153	46	3	t	t	PROPN
ajst-14153	46	4	t	t	PROPN
ajst-14153	46	5	t	t	PROPN
ajst-14153	46	6	t	t	PROPN
ajst-14153	46	7	/2	/2	PUNCT
ajst-14153	47	1	(	(	PUNCT
ajst-14153	47	2	3	3	X
ajst-14153	47	3	)	)	PUNCT
ajst-14153	47	4	where	where	SCONJ
ajst-14153	47	5	c	c	NOUN
ajst-14153	47	6	is	be	AUX
ajst-14153	47	7	the	the	DET
ajst-14153	47	8	speed	speed	NOUN
ajst-14153	47	9	of	of	ADP
ajst-14153	47	10	light	light	NOUN
ajst-14153	47	11	.	.	PUNCT
ajst-14153	48	1	figure	figure	NOUN
ajst-14153	48	2	1	1	NUM
ajst-14153	48	3	.	.	X
ajst-14153	48	4	three	three	NUM
ajst-14153	48	5	-	-	PUNCT
ajst-14153	48	6	plane	plane	NOUN
ajst-14153	48	7	positioning	positioning	NOUN
ajst-14153	48	8	principle	principle	NOUN
ajst-14153	48	9	based	base	VERB
ajst-14153	48	10	on	on	ADP
ajst-14153	48	11	figure	figure	NOUN
ajst-14153	48	12	1	1	NUM
ajst-14153	48	13	,	,	PUNCT
ajst-14153	48	14	we	we	PRON
ajst-14153	48	15	establish	establish	VERB
ajst-14153	48	16	the	the	DET
ajst-14153	48	17	uwb	uwb	NOUN
ajst-14153	48	18	positioning	positioning	NOUN
ajst-14153	48	19	equation	equation	NOUN
ajst-14153	48	20	system	system	NOUN
ajst-14153	48	21	.	.	PUNCT
ajst-14153	49	1	x	x	PUNCT
ajst-14153	50	1	x	x	PUNCT
ajst-14153	50	2	y	y	NOUN
ajst-14153	50	3	y	y	PROPN
ajst-14153	50	4	d	d	NOUN
ajst-14153	50	5	x	x	PUNCT
ajst-14153	50	6	x	x	X
ajst-14153	51	1	y	y	NOUN
ajst-14153	51	2	y	y	PROPN
ajst-14153	51	3	d	d	NOUN
ajst-14153	51	4	x	x	PUNCT
ajst-14153	51	5	x	x	X
ajst-14153	51	6	y	y	PROPN
ajst-14153	51	7	y	y	PROPN
ajst-14153	51	8	d	d	PROPN
ajst-14153	51	9	(	(	PUNCT
ajst-14153	51	10	4	4	NUM
ajst-14153	51	11	)	)	PUNCT
ajst-14153	51	12	where	where	SCONJ
ajst-14153	51	13	:	:	PUNCT
ajst-14153	51	14	x	x	PUNCT
ajst-14153	51	15	、	、	PUNCT
ajst-14153	51	16	x	x	PUNCT
ajst-14153	51	17	、	、	NOUN
ajst-14153	51	18	x	x	PUNCT
ajst-14153	51	19	、	、	NOUN
ajst-14153	51	20	y	y	PROPN
ajst-14153	51	21	、	、	PROPN
ajst-14153	51	22	y	y	PROPN
ajst-14153	51	23	、	、	PROPN
ajst-14153	51	24	y	y	PROPN
ajst-14153	51	25	represent	represent	VERB
ajst-14153	51	26	the	the	DET
ajst-14153	51	27	coordinates	coordinate	NOUN
ajst-14153	51	28	of	of	ADP
ajst-14153	51	29	the	the	DET
ajst-14153	51	30	base	base	NOUN
ajst-14153	51	31	stations	station	NOUN
ajst-14153	51	32	,	,	PUNCT
ajst-14153	51	33	d	d	NOUN
ajst-14153	51	34	、	、	NOUN
ajst-14153	51	35	d	d	NOUN
ajst-14153	51	36	、	、	NOUN
ajst-14153	51	37	d	d	PROPN
ajst-14153	51	38	represent	represent	VERB
ajst-14153	51	39	the	the	DET
ajst-14153	51	40	distances	distance	NOUN
ajst-14153	51	41	from	from	ADP
ajst-14153	51	42	the	the	DET
ajst-14153	51	43	three	three	NUM
ajst-14153	51	44	base	base	NOUN
ajst-14153	51	45	stations	station	NOUN
ajst-14153	51	46	to	to	ADP
ajst-14153	51	47	the	the	DET
ajst-14153	51	48	target	target	NOUN
ajst-14153	51	49	point	point	NOUN
ajst-14153	51	50	measured	measure	VERB
ajst-14153	51	51	by	by	ADP
ajst-14153	51	52	uwb	uwb	PROPN
ajst-14153	51	53	.	.	PUNCT
ajst-14153	52	1	the	the	DET
ajst-14153	52	2	positioning	positioning	NOUN
ajst-14153	52	3	of	of	ADP
ajst-14153	52	4	the	the	DET
ajst-14153	52	5	target	target	NOUN
ajst-14153	52	6	point	point	NOUN
ajst-14153	52	7	is	be	AUX
ajst-14153	52	8	usually	usually	ADV
ajst-14153	52	9	solved	solve	VERB
ajst-14153	52	10	using	use	VERB
ajst-14153	52	11	the	the	DET
ajst-14153	52	12	least	least	ADJ
ajst-14153	52	13	squares	square	NOUN
ajst-14153	52	14	method	method	NOUN
ajst-14153	52	15	.	.	PUNCT
ajst-14153	53	1	by	by	ADP
ajst-14153	53	2	transforming	transform	VERB
ajst-14153	53	3	the	the	DET
ajst-14153	53	4	above	above	ADJ
ajst-14153	53	5	equation	equation	NOUN
ajst-14153	53	6	system	system	NOUN
ajst-14153	53	7	into	into	ADP
ajst-14153	53	8	a	a	DET
ajst-14153	53	9	matrix	matrix	NOUN
ajst-14153	53	10	form	form	NOUN
ajst-14153	53	11	and	and	CCONJ
ajst-14153	53	12	adopting	adopt	VERB
ajst-14153	53	13	regularized	regularize	VERB
ajst-14153	53	14	least	least	ADJ
ajst-14153	53	15	squares	square	NOUN
ajst-14153	53	16	method	method	NOUN
ajst-14153	53	17	,	,	PUNCT
ajst-14153	53	18	the	the	DET
ajst-14153	53	19	estimated	estimate	VERB
ajst-14153	53	20	value	value	NOUN
ajst-14153	53	21	of	of	ADP
ajst-14153	53	22	the	the	DET
ajst-14153	53	23	target	target	NOUN
ajst-14153	53	24	point	point	NOUN
ajst-14153	53	25	can	can	AUX
ajst-14153	53	26	be	be	AUX
ajst-14153	53	27	obtained	obtain	VERB
ajst-14153	53	28	as	as	ADP
ajst-14153	53	29	:	:	PUNCT
ajst-14153	53	30	l	l	NOUN
ajst-14153	53	31	a	a	DET
ajst-14153	53	32	a	a	DET
ajst-14153	53	33	a	a	DET
ajst-14153	53	34	y	y	PROPN
ajst-14153	53	35	(	(	PUNCT
ajst-14153	53	36	5	5	NUM
ajst-14153	53	37	)	)	PUNCT
ajst-14153	53	38	where	where	SCONJ
ajst-14153	53	39	:	:	PUNCT
ajst-14153	53	40	a	a	DET
ajst-14153	53	41	2	2	NUM
ajst-14153	53	42	xb	xb	NOUN
ajst-14153	53	43	xa	xa	PROPN
ajst-14153	53	44	2	2	NUM
ajst-14153	53	45	xc	xc	PROPN
ajst-14153	53	46	xb	xb	PROPN
ajst-14153	53	47	2	2	NUM
ajst-14153	53	48	yb	yb	INTJ
ajst-14153	53	49	ya	ya	NOUN
ajst-14153	53	50	2	2	NUM
ajst-14153	53	51	yc	yc	NOUN
ajst-14153	53	52	yb	yb	PROPN
ajst-14153	53	53	,	,	PUNCT
ajst-14153	53	54	y	y	PROPN
ajst-14153	53	55	3	3	NUM
ajst-14153	53	56	.	.	PUNCT
ajst-14153	53	57	uwb_imu	uwb_imu	ADJ
ajst-14153	53	58	data	datum	NOUN
ajst-14153	53	59	fusion	fusion	NOUN
ajst-14153	53	60	3.1	3.1	NUM
ajst-14153	53	61	.	.	PUNCT
ajst-14153	53	62	imu	imu	NOUN
ajst-14153	53	63	self	self	NOUN
ajst-14153	53	64	-	-	PUNCT
ajst-14153	53	65	calibration	calibration	NOUN
ajst-14153	53	66	3.1.1	3.1.1	NOUN
ajst-14153	53	67	.	.	PUNCT
ajst-14153	54	1	using	use	VERB
ajst-14153	54	2	imu_tk	imu_tk	PRON
ajst-14153	54	3	package	package	NOUN
ajst-14153	54	4	to	to	PART
ajst-14153	54	5	determine	determine	VERB
ajst-14153	54	6	system	system	NOUN
ajst-14153	54	7	errors	error	NOUN
ajst-14153	54	8	and	and	CCONJ
ajst-14153	54	9	compensate	compensate	VERB
ajst-14153	54	10	for	for	ADP
ajst-14153	54	11	them	they	PRON
ajst-14153	54	12	according	accord	VERB
ajst-14153	54	13	to	to	ADP
ajst-14153	54	14	d.	d.	PROPN
ajst-14153	54	15	tedaldi	tedaldi	PROPN
ajst-14153	54	16	,	,	PUNCT
ajst-14153	54	17	a.	a.	NOUN
ajst-14153	54	18	pretto[11	pretto[11	PROPN
ajst-14153	54	19	-	-	PUNCT
ajst-14153	54	20	12	12	NUM
ajst-14153	54	21	]	]	PUNCT
ajst-14153	54	22	and	and	CCONJ
ajst-14153	54	23	others	other	NOUN
ajst-14153	54	24	,	,	PUNCT
ajst-14153	54	25	the	the	DET
ajst-14153	54	26	imu_tk	imu_tk	DET
ajst-14153	54	27	package	package	NOUN
ajst-14153	54	28	is	be	AUX
ajst-14153	54	29	first	first	ADV
ajst-14153	54	30	used	use	VERB
ajst-14153	54	31	to	to	PART
ajst-14153	54	32	calibrate	calibrate	VERB
ajst-14153	54	33	the	the	DET
ajst-14153	54	34	imu	imu	NOUN
ajst-14153	54	35	used	use	VERB
ajst-14153	54	36	,	,	PUNCT
ajst-14153	54	37	and	and	CCONJ
ajst-14153	54	38	the	the	DET
ajst-14153	54	39	three	three	NUM
ajst-14153	54	40	elements	element	NOUN
ajst-14153	54	41	of	of	ADP
ajst-14153	54	42	the	the	DET
ajst-14153	54	43	system	system	NOUN
ajst-14153	54	44	error	error	NOUN
ajst-14153	54	45	of	of	ADP
ajst-14153	54	46	the	the	DET
ajst-14153	54	47	imu	imu	NOUN
ajst-14153	54	48	are	be	AUX
ajst-14153	54	49	measured	measure	VERB
ajst-14153	54	50	,	,	PUNCT
ajst-14153	54	51	namely	namely	ADV
ajst-14153	54	52	:	:	PUNCT
ajst-14153	54	53	misalignment	misalignment	NOUN
ajst-14153	54	54	matrix	matrix	NOUN
ajst-14153	54	55	,	,	PUNCT
ajst-14153	54	56	scale	scale	NOUN
ajst-14153	54	57	matrix	matrix	NOUN
ajst-14153	54	58	,	,	PUNCT
ajst-14153	54	59	and	and	CCONJ
ajst-14153	54	60	bias	bias	NOUN
ajst-14153	54	61	vector	vector	NOUN
ajst-14153	54	62	.	.	PUNCT
ajst-14153	55	1	the	the	DET
ajst-14153	55	2	data	datum	NOUN
ajst-14153	55	3	obtained	obtain	VERB
ajst-14153	55	4	is	be	AUX
ajst-14153	55	5	then	then	ADV
ajst-14153	55	6	used	use	VERB
ajst-14153	55	7	to	to	PART
ajst-14153	55	8	compensate	compensate	VERB
ajst-14153	55	9	the	the	DET
ajst-14153	55	10	accelerometer	accelerometer	NOUN
ajst-14153	55	11	and	and	CCONJ
ajst-14153	55	12	gyroscope	gyroscope	NOUN
ajst-14153	55	13	of	of	ADP
ajst-14153	55	14	the	the	DET
ajst-14153	55	15	imu	imu	NOUN
ajst-14153	55	16	using	use	VERB
ajst-14153	55	17	the	the	DET
ajst-14153	55	18	following	follow	VERB
ajst-14153	55	19	formula	formula	NOUN
ajst-14153	55	20	:	:	PUNCT
ajst-14153	55	21	x	x	X
ajst-14153	55	22	m	m	VERB
ajst-14153	55	23	k	k	NOUN
ajst-14153	55	24	x	x	SYM
ajst-14153	55	25	b	b	X
ajst-14153	55	26	(	(	PUNCT
ajst-14153	55	27	6	6	NUM
ajst-14153	55	28	)	)	PUNCT
ajst-14153	55	29	where	where	SCONJ
ajst-14153	55	30	m	m	NOUN
ajst-14153	55	31	is	be	AUX
ajst-14153	55	32	the	the	DET
ajst-14153	55	33	misalignment	misalignment	ADJ
ajst-14153	55	34	matrix	matrix	NOUN
ajst-14153	55	35	,	,	PUNCT
ajst-14153	55	36	k	k	PROPN
ajst-14153	55	37	is	be	AUX
ajst-14153	55	38	the	the	DET
ajst-14153	55	39	scale	scale	NOUN
ajst-14153	55	40	factor	factor	NOUN
ajst-14153	55	41	matrix	matrix	NOUN
ajst-14153	55	42	,	,	PUNCT
ajst-14153	55	43	and	and	CCONJ
ajst-14153	55	44	b	b	NOUN
ajst-14153	55	45	is	be	AUX
ajst-14153	55	46	the	the	DET
ajst-14153	55	47	bias	bias	NOUN
ajst-14153	55	48	matrix	matrix	NOUN
ajst-14153	55	49	for	for	ADP
ajst-14153	55	50	the	the	DET
ajst-14153	55	51	accelerometer	accelerometer	NOUN
ajst-14153	55	52	.	.	PUNCT
ajst-14153	56	1	figures	figure	NOUN
ajst-14153	56	2	2	2	NUM
ajst-14153	56	3	and	and	CCONJ
ajst-14153	56	4	3	3	NUM
ajst-14153	56	5	show	show	VERB
ajst-14153	56	6	the	the	DET
ajst-14153	56	7	specific	specific	ADJ
ajst-14153	56	8	data	data	NOUN
ajst-14153	56	9	matrices	matrix	NOUN
ajst-14153	56	10	for	for	ADP
ajst-14153	56	11	the	the	DET
ajst-14153	56	12	accelerometer	accelerometer	NOUN
ajst-14153	56	13	and	and	CCONJ
ajst-14153	56	14	gyroscope	gyroscope	NOUN
ajst-14153	56	15	used	use	VERB
ajst-14153	56	16	in	in	ADP
ajst-14153	56	17	this	this	DET
ajst-14153	56	18	paper	paper	NOUN
ajst-14153	56	19	.	.	PUNCT
ajst-14153	57	1	figure	figure	NOUN
ajst-14153	57	2	2	2	NUM
ajst-14153	57	3	.	.	PUNCT
ajst-14153	57	4	calibration	calibration	NOUN
ajst-14153	57	5	results	result	NOUN
ajst-14153	57	6	of	of	ADP
ajst-14153	57	7	the	the	DET
ajst-14153	57	8	accelerometer	accelerometer	ADJ
ajst-14153	57	9	figure	figure	NOUN
ajst-14153	57	10	3	3	NUM
ajst-14153	57	11	.	.	PUNCT
ajst-14153	57	12	calibration	calibration	NOUN
ajst-14153	57	13	results	result	NOUN
ajst-14153	57	14	of	of	ADP
ajst-14153	57	15	the	the	DET
ajst-14153	57	16	gyroscope	gyroscope	NOUN
ajst-14153	57	17	3.1.2	3.1.2	NUM
ajst-14153	57	18	.	.	PUNCT
ajst-14153	58	1	allen	allen	ADJ
ajst-14153	58	2	analysis	analysis	NOUN
ajst-14153	58	3	measures	measure	NOUN
ajst-14153	58	4	gyroscope	gyroscope	NOUN
ajst-14153	58	5	noise	noise	NOUN
ajst-14153	58	6	.	.	PUNCT
ajst-14153	59	1	the	the	DET
ajst-14153	59	2	imu	imu	NOUN
ajst-14153	59	3	was	be	AUX
ajst-14153	59	4	left	leave	VERB
ajst-14153	59	5	motionless	motionless	ADJ
ajst-14153	59	6	for	for	ADP
ajst-14153	59	7	approximately	approximately	ADV
ajst-14153	59	8	five	five	NUM
ajst-14153	59	9	hours	hour	NOUN
ajst-14153	59	10	,	,	PUNCT
ajst-14153	59	11	and	and	CCONJ
ajst-14153	59	12	the	the	DET
ajst-14153	59	13	data	datum	NOUN
ajst-14153	59	14	from	from	ADP
ajst-14153	59	15	the	the	DET
ajst-14153	59	16	three	three	NUM
ajst-14153	59	17	-	-	PUNCT
ajst-14153	59	18	axis	axis	NOUN
ajst-14153	59	19	gyroscope	gyroscope	NOUN
ajst-14153	59	20	was	be	AUX
ajst-14153	59	21	recorded	record	VERB
ajst-14153	59	22	.	.	PUNCT
ajst-14153	60	1	then	then	ADV
ajst-14153	60	2	,	,	PUNCT
ajst-14153	60	3	using	use	VERB
ajst-14153	60	4	the	the	DET
ajst-14153	60	5	allen	allen	PROPN
ajst-14153	60	6	variance	variance	NOUN
ajst-14153	60	7	analysis	analysis	NOUN
ajst-14153	60	8	package	package	NOUN
ajst-14153	60	9	in	in	ADP
ajst-14153	60	10	matlab	matlab	PROPN
ajst-14153	60	11	,	,	PUNCT
ajst-14153	60	12	158	158	NUM
ajst-14153	60	13	the	the	DET
ajst-14153	60	14	obtained	obtain	VERB
ajst-14153	60	15	data	datum	NOUN
ajst-14153	60	16	was	be	AUX
ajst-14153	60	17	analyzed	analyze	VERB
ajst-14153	60	18	to	to	PART
ajst-14153	60	19	identify	identify	VERB
ajst-14153	60	20	the	the	DET
ajst-14153	60	21	sources	source	NOUN
ajst-14153	60	22	of	of	ADP
ajst-14153	60	23	noise	noise	NOUN
ajst-14153	60	24	.	.	PUNCT
ajst-14153	61	1	the	the	DET
ajst-14153	61	2	results	result	NOUN
ajst-14153	61	3	are	be	AUX
ajst-14153	61	4	shown	show	VERB
ajst-14153	61	5	in	in	ADP
ajst-14153	61	6	figure	figure	NOUN
ajst-14153	61	7	4	4	NUM
ajst-14153	61	8	-	-	SYM
ajst-14153	61	9	6	6	NUM
ajst-14153	61	10	.	.	PUNCT
ajst-14153	62	1	the	the	DET
ajst-14153	62	2	following	follow	VERB
ajst-14153	62	3	five	five	NUM
ajst-14153	62	4	parameters	parameter	NOUN
ajst-14153	62	5	were	be	AUX
ajst-14153	62	6	obtained	obtain	VERB
ajst-14153	62	7	:	:	PUNCT
ajst-14153	62	8	quantization	quantization	NOUN
ajst-14153	62	9	noise	noise	NOUN
ajst-14153	62	10	,	,	PUNCT
ajst-14153	62	11	random	random	ADJ
ajst-14153	62	12	walk	walk	NOUN
ajst-14153	62	13	of	of	ADP
ajst-14153	62	14	angles	angle	NOUN
ajst-14153	62	15	,	,	PUNCT
ajst-14153	62	16	bias	bias	NOUN
ajst-14153	62	17	instability	instability	NOUN
ajst-14153	62	18	noise	noise	NOUN
ajst-14153	62	19	,	,	PUNCT
ajst-14153	62	20	rate	rate	NOUN
ajst-14153	62	21	random	random	ADJ
ajst-14153	62	22	walk	walk	NOUN
ajst-14153	62	23	,	,	PUNCT
ajst-14153	62	24	and	and	CCONJ
ajst-14153	62	25	rate	rate	NOUN
ajst-14153	62	26	ramp	ramp	NOUN
ajst-14153	62	27	.	.	PUNCT
ajst-14153	63	1	the	the	DET
ajst-14153	63	2	random	random	ADJ
ajst-14153	63	3	errors	error	NOUN
ajst-14153	63	4	obtained	obtain	VERB
ajst-14153	63	5	in	in	ADP
ajst-14153	63	6	the	the	DET
ajst-14153	63	7	three	three	NUM
ajst-14153	63	8	axes	axis	NOUN
ajst-14153	63	9	are	be	AUX
ajst-14153	63	10	used	use	VERB
ajst-14153	63	11	as	as	ADP
ajst-14153	63	12	the	the	DET
ajst-14153	63	13	values	value	NOUN
ajst-14153	63	14	of	of	ADP
ajst-14153	63	15	q	q	NOUN
ajst-14153	63	16	for	for	ADP
ajst-14153	63	17	the	the	DET
ajst-14153	63	18	next	next	ADJ
ajst-14153	63	19	step	step	NOUN
ajst-14153	63	20	of	of	ADP
ajst-14153	63	21	ekf	ekf	NOUN
ajst-14153	63	22	fusion	fusion	NOUN
ajst-14153	63	23	.	.	PUNCT
ajst-14153	64	1	figure	figure	NOUN
ajst-14153	64	2	4	4	NUM
ajst-14153	64	3	.	.	PUNCT
ajst-14153	65	1	allen	allen	ADJ
ajst-14153	65	2	analysis	analysis	NOUN
ajst-14153	65	3	result	result	NOUN
ajst-14153	65	4	for	for	ADP
ajst-14153	65	5	gyro_x	gyro_x	ADJ
ajst-14153	65	6	axis	axis	NOUN
ajst-14153	65	7	.	.	PUNCT
ajst-14153	66	1	the	the	DET
ajst-14153	66	2	meanings	meaning	NOUN
ajst-14153	66	3	and	and	CCONJ
ajst-14153	66	4	values	value	NOUN
ajst-14153	66	5	of	of	ADP
ajst-14153	66	6	the	the	DET
ajst-14153	66	7	intersections	intersection	NOUN
ajst-14153	66	8	from	from	ADP
ajst-14153	66	9	left	leave	VERB
ajst-14153	66	10	to	to	ADP
ajst-14153	66	11	right	right	ADV
ajst-14153	66	12	in	in	ADP
ajst-14153	66	13	the	the	DET
ajst-14153	66	14	figure	figure	NOUN
ajst-14153	66	15	are	be	AUX
ajst-14153	66	16	:	:	PUNCT
ajst-14153	66	17	quantization:7.51e-03	quantization:7.51e-03	PROPN
ajst-14153	67	1	[	[	X
ajst-14153	67	2	deg	deg	X
ajst-14153	67	3	]	]	PUNCT
ajst-14153	67	4	randomwalk:2.21e+00	randomwalk:2.21e+00	PUNCT
ajst-14153	68	1	[	[	X
ajst-14153	68	2	deg	deg	X
ajst-14153	68	3	/	/	SYM
ajst-14153	68	4	sqrt{hr	sqrt{hr	VERB
ajst-14153	68	5	}	}	PUNCT
ajst-14153	68	6	]	]	PUNCT
ajst-14153	68	7	bias	bias	NOUN
ajst-14153	68	8	instability:5.54e+01	instability:5.54e+01	PROPN
ajst-14153	69	1	[	[	X
ajst-14153	69	2	deg	deg	NOUN
ajst-14153	69	3	/	/	SYM
ajst-14153	69	4	hr	hr	NOUN
ajst-14153	69	5	]	]	X
ajst-14153	69	6	raterandomwalk:1.48e+02[deg	raterandomwalk:1.48e+02[deg	ADJ
ajst-14153	69	7	/	/	SYM
ajst-14153	69	8	hr	hr	NOUN
ajst-14153	69	9	/	/	SYM
ajst-14153	69	10	sqrt{hr	sqrt{hr	VERB
ajst-14153	69	11	}	}	PUNCT
ajst-14153	69	12	]	]	PUNCT
ajst-14153	69	13	rate	rate	NOUN
ajst-14153	69	14	ramp:3.29e+02	ramp:3.29e+02	PROPN
ajst-14153	70	1	[	[	X
ajst-14153	70	2	deg	deg	NOUN
ajst-14153	70	3	/	/	SYM
ajst-14153	70	4	hr	hr	PROPN
ajst-14153	70	5	/	/	SYM
ajst-14153	70	6	hr	hr	NOUN
ajst-14153	70	7	]	]	X
ajst-14153	70	8	figure	figure	NOUN
ajst-14153	70	9	5	5	NUM
ajst-14153	70	10	.	.	PUNCT
ajst-14153	71	1	allen	allen	ADJ
ajst-14153	71	2	analysis	analysis	NOUN
ajst-14153	71	3	result	result	NOUN
ajst-14153	71	4	for	for	ADP
ajst-14153	71	5	gyro_y	gyro_y	ADJ
ajst-14153	71	6	axis	axis	NOUN
ajst-14153	71	7	.	.	PUNCT
ajst-14153	72	1	quantization:3.14e-03	quantization:3.14e-03	PROPN
ajst-14153	73	1	[	[	X
ajst-14153	73	2	deg	deg	X
ajst-14153	73	3	]	]	X
ajst-14153	73	4	random	random	ADJ
ajst-14153	73	5	walk:9.08e-01	walk:9.08e-01	PROPN
ajst-14153	74	1	[	[	X
ajst-14153	74	2	deg	deg	NOUN
ajst-14153	74	3	/	/	SYM
ajst-14153	74	4	sqrt{hr	sqrt{hr	VERB
ajst-14153	74	5	}	}	PUNCT
ajst-14153	74	6	]	]	PUNCT
ajst-14153	74	7	bias	bias	NOUN
ajst-14153	74	8	instability:6.39e+00	instability:6.39e+00	ADP
ajst-14153	74	9	[	[	X
ajst-14153	74	10	deg	deg	NOUN
ajst-14153	74	11	/	/	SYM
ajst-14153	74	12	hr	hr	NOUN
ajst-14153	74	13	]	]	X
ajst-14153	74	14	raterandomwalk:6.81e-01[deg	raterandomwalk:6.81e-01[deg	ADJ
ajst-14153	74	15	/	/	SYM
ajst-14153	74	16	hr	hr	NOUN
ajst-14153	74	17	/	/	SYM
ajst-14153	74	18	sqrt{hr	sqrt{hr	VERB
ajst-14153	74	19	}	}	PUNCT
ajst-14153	74	20	]	]	PUNCT
ajst-14153	74	21	rate	rate	NOUN
ajst-14153	74	22	ramp:0.00e+00	ramp:0.00e+00	PROPN
ajst-14153	74	23	[	[	X
ajst-14153	74	24	deg	deg	PROPN
ajst-14153	74	25	/	/	SYM
ajst-14153	74	26	hr	hr	PROPN
ajst-14153	74	27	/	/	SYM
ajst-14153	74	28	hr	hr	NOUN
ajst-14153	74	29	]	]	X
ajst-14153	74	30	figure	figure	NOUN
ajst-14153	74	31	6	6	NUM
ajst-14153	74	32	.	.	PUNCT
ajst-14153	75	1	allen	allen	ADJ
ajst-14153	75	2	analysis	analysis	NOUN
ajst-14153	75	3	result	result	NOUN
ajst-14153	75	4	for	for	ADP
ajst-14153	75	5	gyro_z	gyro_z	NOUN
ajst-14153	75	6	axis	axis	NOUN
ajst-14153	75	7	.	.	PUNCT
ajst-14153	76	1	quantization:3.68e-03	quantization:3.68e-03	PRON
ajst-14153	77	1	[	[	X
ajst-14153	77	2	deg	deg	X
ajst-14153	77	3	]	]	X
ajst-14153	77	4	random	random	ADJ
ajst-14153	77	5	walk:9.89e-01	walk:9.89e-01	PROPN
ajst-14153	77	6	[	[	X
ajst-14153	77	7	deg	deg	NOUN
ajst-14153	77	8	/	/	SYM
ajst-14153	77	9	sqrt{hr	sqrt{hr	VERB
ajst-14153	77	10	}	}	PUNCT
ajst-14153	77	11	]	]	PUNCT
ajst-14153	77	12	bias	bias	NOUN
ajst-14153	77	13	instability:1.05e+00	instability:1.05e+00	PUNCT
ajst-14153	78	1	[	[	X
ajst-14153	78	2	deg	deg	NOUN
ajst-14153	78	3	/	/	SYM
ajst-14153	78	4	hr	hr	NOUN
ajst-14153	78	5	]	]	X
ajst-14153	78	6	raterandomwalk:4.38e-01	raterandomwalk:4.38e-01	PROPN
ajst-14153	78	7	[	[	X
ajst-14153	78	8	deg	deg	PROPN
ajst-14153	78	9	/	/	SYM
ajst-14153	78	10	hr	hr	NOUN
ajst-14153	78	11	/	/	SYM
ajst-14153	78	12	sqrt{hr	sqrt{hr	VERB
ajst-14153	78	13	}	}	PUNCT
ajst-14153	78	14	]	]	PUNCT
ajst-14153	78	15	rate	rate	NOUN
ajst-14153	78	16	ramp:1.22e-01	ramp:1.22e-01	PROPN
ajst-14153	78	17	[	[	X
ajst-14153	78	18	deg	deg	NOUN
ajst-14153	78	19	/	/	SYM
ajst-14153	78	20	hr	hr	PROPN
ajst-14153	78	21	/	/	SYM
ajst-14153	78	22	hr	hr	NOUN
ajst-14153	78	23	]	]	X
ajst-14153	78	24	3.2	3.2	NUM
ajst-14153	78	25	.	.	PUNCT
ajst-14153	78	26	ekf	ekf	PROPN
ajst-14153	78	27	for	for	ADP
ajst-14153	78	28	uwb	uwb	PROPN
ajst-14153	78	29	/	/	SYM
ajst-14153	78	30	imu	imu	NOUN
ajst-14153	78	31	data	datum	NOUN
ajst-14153	78	32	fusion	fusion	NOUN
ajst-14153	78	33	.	.	PUNCT
ajst-14153	79	1	the	the	DET
ajst-14153	79	2	kalman	kalman	PROPN
ajst-14153	79	3	filter	filter	PROPN
ajst-14153	79	4	was	be	AUX
ajst-14153	79	5	initially	initially	ADV
ajst-14153	79	6	used	use	VERB
ajst-14153	79	7	for	for	ADP
ajst-14153	79	8	linear	linear	PROPN
ajst-14153	79	9	systems	system	NOUN
ajst-14153	79	10	.	.	PUNCT
ajst-14153	80	1	it	it	PRON
ajst-14153	80	2	provides	provide	VERB
ajst-14153	80	3	optimal	optimal	ADJ
ajst-14153	80	4	results	result	NOUN
ajst-14153	80	5	when	when	SCONJ
ajst-14153	80	6	the	the	DET
ajst-14153	80	7	system	system	NOUN
ajst-14153	80	8	model	model	NOUN
ajst-14153	80	9	is	be	AUX
ajst-14153	80	10	linear	linear	ADJ
ajst-14153	80	11	and	and	CCONJ
ajst-14153	80	12	the	the	DET
ajst-14153	80	13	noise	noise	NOUN
ajst-14153	80	14	is	be	AUX
ajst-14153	80	15	gaussian	gaussian	ADJ
ajst-14153	80	16	white	white	ADJ
ajst-14153	80	17	noise	noise	NOUN
ajst-14153	80	18	.	.	PUNCT
ajst-14153	81	1	however	however	ADV
ajst-14153	81	2	,	,	PUNCT
ajst-14153	81	3	in	in	ADP
ajst-14153	81	4	real	real	ADJ
ajst-14153	81	5	-	-	PUNCT
ajst-14153	81	6	life	life	NOUN
ajst-14153	81	7	scenarios	scenario	NOUN
ajst-14153	81	8	,	,	PUNCT
ajst-14153	81	9	there	there	PRON
ajst-14153	81	10	are	be	VERB
ajst-14153	81	11	many	many	ADJ
ajst-14153	81	12	nonlinear	nonlinear	ADJ
ajst-14153	81	13	problems	problem	NOUN
ajst-14153	81	14	.	.	PUNCT
ajst-14153	82	1	the	the	DET
ajst-14153	82	2	extended	extended	ADJ
ajst-14153	82	3	kalman	kalman	NOUN
ajst-14153	82	4	filter	filter	PROPN
ajst-14153	82	5	(	(	PUNCT
ajst-14153	82	6	ekf	ekf	PROPN
ajst-14153	82	7	)	)	PUNCT
ajst-14153	82	8	is	be	AUX
ajst-14153	82	9	a	a	DET
ajst-14153	82	10	filter	filter	NOUN
ajst-14153	82	11	that	that	PRON
ajst-14153	82	12	linearizes	linearize	VERB
ajst-14153	82	13	the	the	DET
ajst-14153	82	14	expected	expect	VERB
ajst-14153	82	15	value	value	NOUN
ajst-14153	82	16	and	and	CCONJ
ajst-14153	82	17	covariance	covariance	NOUN
ajst-14153	82	18	through	through	ADP
ajst-14153	82	19	taylor	taylor	PROPN
ajst-14153	82	20	series	series	PROPN
ajst-14153	82	21	expansion	expansion	PROPN
ajst-14153	82	22	to	to	PART
ajst-14153	82	23	address	address	VERB
ajst-14153	82	24	nonlinear	nonlinear	ADJ
ajst-14153	82	25	problems	problem	NOUN
ajst-14153	82	26	.	.	PUNCT
ajst-14153	83	1	in	in	ADP
ajst-14153	83	2	indoor	indoor	ADJ
ajst-14153	83	3	positioning	positioning	NOUN
ajst-14153	83	4	,	,	PUNCT
ajst-14153	83	5	due	due	ADP
ajst-14153	83	6	to	to	ADP
ajst-14153	83	7	the	the	DET
ajst-14153	83	8	presence	presence	NOUN
ajst-14153	83	9	of	of	ADP
ajst-14153	83	10	nlos	nlo	NOUN
ajst-14153	83	11	errors	error	NOUN
ajst-14153	83	12	,	,	PUNCT
ajst-14153	83	13	measurement	measurement	NOUN
ajst-14153	83	14	noise	noise	NOUN
ajst-14153	83	15	often	often	ADV
ajst-14153	83	16	does	do	AUX
ajst-14153	83	17	not	not	PART
ajst-14153	83	18	follow	follow	VERB
ajst-14153	83	19	a	a	DET
ajst-14153	83	20	gaussian	gaussian	ADJ
ajst-14153	83	21	distribution	distribution	NOUN
ajst-14153	83	22	,	,	PUNCT
ajst-14153	83	23	and	and	CCONJ
ajst-14153	83	24	using	use	VERB
ajst-14153	83	25	the	the	DET
ajst-14153	83	26	kalman	kalman	NOUN
ajst-14153	83	27	filter	filter	NOUN
ajst-14153	83	28	may	may	AUX
ajst-14153	83	29	not	not	PART
ajst-14153	83	30	yield	yield	VERB
ajst-14153	83	31	optimal	optimal	ADJ
ajst-14153	83	32	estimates	estimate	NOUN
ajst-14153	83	33	.	.	PUNCT
ajst-14153	84	1	in	in	ADP
ajst-14153	84	2	this	this	DET
ajst-14153	84	3	paper	paper	NOUN
ajst-14153	84	4	,	,	PUNCT
ajst-14153	84	5	we	we	PRON
ajst-14153	84	6	employ	employ	VERB
ajst-14153	84	7	the	the	DET
ajst-14153	84	8	ekf	ekf	NOUN
ajst-14153	84	9	to	to	PART
ajst-14153	84	10	incorporate	incorporate	VERB
ajst-14153	84	11	position	position	NOUN
ajst-14153	84	12	,	,	PUNCT
ajst-14153	84	13	velocity	velocity	NOUN
ajst-14153	84	14	,	,	PUNCT
ajst-14153	84	15	quaternion	quaternion	NOUN
ajst-14153	84	16	,	,	PUNCT
ajst-14153	84	17	accelerometer	accelerometer	NOUN
ajst-14153	84	18	bias	bias	NOUN
ajst-14153	84	19	,	,	PUNCT
ajst-14153	84	20	and	and	CCONJ
ajst-14153	84	21	gyroscope	gyroscope	NOUN
ajst-14153	84	22	bias	bias	NOUN
ajst-14153	84	23	into	into	ADP
ajst-14153	84	24	a	a	DET
ajst-14153	84	25	single	single	ADJ
ajst-14153	84	26	filter	filter	NOUN
ajst-14153	84	27	.	.	PUNCT
ajst-14153	85	1	the	the	DET
ajst-14153	85	2	uwb	uwb	PROPN
ajst-14153	85	3	measurements	measurement	NOUN
ajst-14153	85	4	are	be	AUX
ajst-14153	85	5	used	use	VERB
ajst-14153	85	6	as	as	ADP
ajst-14153	85	7	the	the	DET
ajst-14153	85	8	measurement	measurement	NOUN
ajst-14153	85	9	values	value	NOUN
ajst-14153	85	10	,	,	PUNCT
ajst-14153	85	11	and	and	CCONJ
ajst-14153	85	12	the	the	DET
ajst-14153	85	13	position	position	NOUN
ajst-14153	85	14	estimates	estimate	NOUN
ajst-14153	85	15	obtained	obtain	VERB
ajst-14153	85	16	through	through	ADP
ajst-14153	85	17	imu	imu	ADJ
ajst-14153	85	18	integration	integration	NOUN
ajst-14153	85	19	are	be	AUX
ajst-14153	85	20	used	use	VERB
ajst-14153	85	21	as	as	ADP
ajst-14153	85	22	the	the	DET
ajst-14153	85	23	prediction	prediction	NOUN
ajst-14153	85	24	values	value	NOUN
ajst-14153	85	25	for	for	ADP
ajst-14153	85	26	the	the	DET
ajst-14153	85	27	ekf	ekf	PROPN
ajst-14153	85	28	,	,	PUNCT
ajst-14153	85	29	to	to	PART
ajst-14153	85	30	update	update	VERB
ajst-14153	85	31	the	the	DET
ajst-14153	85	32	position	position	NOUN
ajst-14153	85	33	,	,	PUNCT
ajst-14153	85	34	velocity	velocity	NOUN
ajst-14153	85	35	,	,	PUNCT
ajst-14153	85	36	and	and	CCONJ
ajst-14153	85	37	attitude	attitude	NOUN
ajst-14153	85	38	information	information	NOUN
ajst-14153	85	39	.	.	PUNCT
ajst-14153	86	1	the	the	DET
ajst-14153	86	2	state	state	NOUN
ajst-14153	86	3	and	and	CCONJ
ajst-14153	86	4	measurement	measurement	NOUN
ajst-14153	86	5	equations	equation	NOUN
ajst-14153	86	6	for	for	ADP
ajst-14153	86	7	the	the	DET
ajst-14153	86	8	extended	extended	ADJ
ajst-14153	86	9	kalman	kalman	NOUN
ajst-14153	86	10	filter	filter	NOUN
ajst-14153	86	11	are	be	AUX
ajst-14153	86	12	as	as	SCONJ
ajst-14153	86	13	follows	follow	VERB
ajst-14153	86	14	:	:	PUNCT
ajst-14153	86	15	x	x	X
ajst-14153	86	16	f	f	X
ajst-14153	86	17	x	x	SYM
ajst-14153	86	18	g	g	PROPN
ajst-14153	86	19	u	u	PROPN
ajst-14153	86	20	w	w	PROPN
ajst-14153	86	21	(	(	PUNCT
ajst-14153	86	22	7	7	NUM
ajst-14153	86	23	)	)	PUNCT
ajst-14153	86	24	z	z	NOUN
ajst-14153	86	25	h	h	NOUN
ajst-14153	87	1	x	x	SYM
ajst-14153	87	2	v	v	NOUN
ajst-14153	87	3	(	(	PUNCT
ajst-14153	87	4	8)	8)	NUM
ajst-14153	87	5	in	in	ADP
ajst-14153	87	6	the	the	DET
ajst-14153	87	7	equation	equation	NOUN
ajst-14153	87	8	:	:	PUNCT
ajst-14153	87	9	w	w	NOUN
ajst-14153	87	10	and	and	CCONJ
ajst-14153	87	11	v	v	NOUN
ajst-14153	87	12	represents	represent	VERB
ajst-14153	87	13	process	process	NOUN
ajst-14153	87	14	and	and	CCONJ
ajst-14153	87	15	measurement	measurement	NOUN
ajst-14153	87	16	noise	noise	NOUN
ajst-14153	87	17	.	.	PUNCT
ajst-14153	88	1	let	let	VERB
ajst-14153	89	1	f	f	PROPN
ajst-14153	90	1	|	|	ADV
ajst-14153	90	2	|	|	ADV
ajst-14153	90	3	，	，	PUNCT
ajst-14153	90	4	,	,	PUNCT
ajst-14153	90	5	h	h	NOUN
ajst-14153	91	1	|	|	ADV
ajst-14153	91	2	|	|	ADV
ajst-14153	91	3	be	be	AUX
ajst-14153	91	4	the	the	DET
ajst-14153	91	5	jacobian	jacobian	ADJ
ajst-14153	91	6	matrix	matrix	NOUN
ajst-14153	91	7	of	of	ADP
ajst-14153	91	8	the	the	DET
ajst-14153	91	9	state	state	NOUN
ajst-14153	91	10	transition	transition	NOUN
ajst-14153	91	11	function	function	NOUN
ajst-14153	91	12	,	,	PUNCT
ajst-14153	91	13	g	g	PROPN
ajst-14153	92	1	|	|	ADV
ajst-14153	92	2	|	|	ADV
ajst-14153	92	3	，	，	PUNCT
ajst-14153	92	4	be	be	AUX
ajst-14153	92	5	the	the	DET
ajst-14153	92	6	jacobian	jacobian	ADJ
ajst-14153	92	7	matrix	matrix	NOUN
ajst-14153	92	8	of	of	ADP
ajst-14153	92	9	the	the	DET
ajst-14153	92	10	measurement	measurement	NOUN
ajst-14153	92	11	function.the	function.the	DET
ajst-14153	92	12	ekf	ekf	NOUN
ajst-14153	92	13	fusion	fusion	NOUN
ajst-14153	92	14	process	process	NOUN
ajst-14153	92	15	is	be	AUX
ajst-14153	92	16	as	as	SCONJ
ajst-14153	92	17	follows	follow	VERB
ajst-14153	92	18	:	:	PUNCT
ajst-14153	92	19	prediction	prediction	NOUN
ajst-14153	92	20	step	step	NOUN
ajst-14153	92	21	:	:	PUNCT
ajst-14153	92	22	predict	predict	VERB
ajst-14153	92	23	(	(	PUNCT
ajst-14153	92	24	prior	prior	ADJ
ajst-14153	92	25	)	)	PUNCT
ajst-14153	92	26	state	state	NOUN
ajst-14153	92	27	estimation	estimation	NOUN
ajst-14153	92	28	.	.	PUNCT
ajst-14153	93	1	x	x	PUNCT
ajst-14153	94	1	|	|	ADV
ajst-14153	94	2	f	f	NOUN
ajst-14153	95	1	x	x	X
ajst-14153	95	2	|	|	ADV
ajst-14153	95	3	(	(	PUNCT
ajst-14153	95	4	9	9	X
ajst-14153	95	5	)	)	PUNCT
ajst-14153	95	6	predict	predict	VERB
ajst-14153	95	7	(	(	PUNCT
ajst-14153	95	8	prior	prior	ADV
ajst-14153	95	9	)	)	PUNCT
ajst-14153	95	10	estimated	estimate	VERB
ajst-14153	95	11	covariance	covariance	NOUN
ajst-14153	95	12	.	.	PUNCT
ajst-14153	96	1	p	p	NOUN
ajst-14153	97	1	|	|	NOUN
ajst-14153	98	1	f	f	PROPN
ajst-14153	99	1	p	p	NOUN
ajst-14153	100	1	|	|	INTJ
ajst-14153	100	2	f	f	NOUN
ajst-14153	100	3	q	q	PROPN
ajst-14153	100	4	(	(	PUNCT
ajst-14153	100	5	10	10	NUM
ajst-14153	100	6	)	)	PUNCT
ajst-14153	100	7	compute	compute	VERB
ajst-14153	100	8	the	the	DET
ajst-14153	100	9	residual	residual	NOUN
ajst-14153	100	10	between	between	ADP
ajst-14153	100	11	the	the	DET
ajst-14153	100	12	estimated	estimate	VERB
ajst-14153	100	13	state	state	NOUN
ajst-14153	100	14	and	and	CCONJ
ajst-14153	100	15	the	the	DET
ajst-14153	100	16	measurement	measurement	NOUN
ajst-14153	100	17	value	value	NOUN
ajst-14153	100	18	y	y	NOUN
ajst-14153	101	1	=	=	PUNCT
ajst-14153	101	2	z	z	NOUN
ajst-14153	101	3	h	h	NOUN
ajst-14153	102	1	x	x	NOUN
ajst-14153	102	2	|	|	ADV
ajst-14153	102	3	;	;	PUNCT
ajst-14153	102	4	calculate	calculate	VERB
ajst-14153	102	5	the	the	DET
ajst-14153	102	6	covariance	covariance	NOUN
ajst-14153	102	7	of	of	ADP
ajst-14153	102	8	the	the	DET
ajst-14153	102	9	residual	residual	ADJ
ajst-14153	102	10	s	s	PART
ajst-14153	103	1	=	=	NOUN
ajst-14153	103	2	h	h	NOUN
ajst-14153	104	1	p	p	NOUN
ajst-14153	105	1	|	|	INTJ
ajst-14153	105	2	h	h	NOUN
ajst-14153	105	3	r	r	NOUN
ajst-14153	105	4	;	;	PUNCT
ajst-14153	105	5	update	update	NOUN
ajst-14153	105	6	step	step	NOUN
ajst-14153	105	7	:	:	PUNCT
ajst-14153	105	8	calculate	calculate	VERB
ajst-14153	105	9	the	the	DET
ajst-14153	105	10	optimal	optimal	ADJ
ajst-14153	105	11	kalman	kalman	NOUN
ajst-14153	105	12	gain	gain	NOUN
ajst-14153	105	13	.	.	PUNCT
ajst-14153	106	1	k	k	PROPN
ajst-14153	107	1	p	p	NOUN
ajst-14153	108	1	|	|	INTJ
ajst-14153	108	2	h	h	NOUN
ajst-14153	108	3	s	s	NOUN
ajst-14153	108	4	(	(	PUNCT
ajst-14153	108	5	11	11	NUM
ajst-14153	108	6	)	)	PUNCT
ajst-14153	108	7	update	update	NOUN
ajst-14153	108	8	(	(	PUNCT
ajst-14153	108	9	posterior	posterior	ADJ
ajst-14153	108	10	)	)	PUNCT
ajst-14153	108	11	state	state	NOUN
ajst-14153	108	12	estimation	estimation	NOUN
ajst-14153	108	13	.	.	PUNCT
ajst-14153	109	1	x	x	PUNCT
ajst-14153	110	1	|	|	ADV
ajst-14153	110	2	x	x	X
ajst-14153	110	3	|	|	ADV
ajst-14153	110	4	k	k	PROPN
ajst-14153	110	5	y	y	PROPN
ajst-14153	110	6	(	(	PUNCT
ajst-14153	110	7	12	12	NUM
ajst-14153	110	8	)	)	PUNCT
ajst-14153	110	9	update	update	NOUN
ajst-14153	110	10	(	(	PUNCT
ajst-14153	110	11	posterior	posterior	ADJ
ajst-14153	110	12	)	)	PUNCT
ajst-14153	110	13	covariance	covariance	NOUN
ajst-14153	110	14	.	.	PUNCT
ajst-14153	111	1	p	p	NOUN
ajst-14153	112	1	|	|	ADV
ajst-14153	113	1	i	i	INTJ
ajst-14153	113	2	k	k	PROPN
ajst-14153	114	1	h	h	NOUN
ajst-14153	115	1	p	p	NOUN
ajst-14153	116	1	|	|	NOUN
ajst-14153	116	2	(	(	PUNCT
ajst-14153	116	3	13	13	NUM
ajst-14153	116	4	)	)	PUNCT
ajst-14153	116	5	159	159	NUM
ajst-14153	116	6	in	in	ADP
ajst-14153	116	7	the	the	DET
ajst-14153	116	8	equation	equation	NOUN
ajst-14153	116	9	,	,	PUNCT
ajst-14153	116	10	q	q	PUNCT
ajst-14153	116	11	and	and	CCONJ
ajst-14153	116	12	r	r	NOUN
ajst-14153	116	13	are	be	AUX
ajst-14153	116	14	the	the	DET
ajst-14153	116	15	noise	noise	NOUN
ajst-14153	116	16	of	of	ADP
ajst-14153	116	17	u	u	NOUN
ajst-14153	116	18	and	and	CCONJ
ajst-14153	116	19	z	z	NOUN
ajst-14153	116	20	covariance	covariance	NOUN
ajst-14153	116	21	matrices	matrix	NOUN
ajst-14153	116	22	for	for	ADP
ajst-14153	116	23	and	and	CCONJ
ajst-14153	116	24	,	,	PUNCT
ajst-14153	116	25	respectively	respectively	ADV
ajst-14153	116	26	.	.	PUNCT
ajst-14153	117	1	4	4	X
ajst-14153	117	2	.	.	X
ajst-14153	117	3	experimental	experimental	ADJ
ajst-14153	117	4	results	result	NOUN
ajst-14153	117	5	and	and	CCONJ
ajst-14153	117	6	analysis	analysis	NOUN
ajst-14153	117	7	an	an	DET
ajst-14153	117	8	experimental	experimental	ADJ
ajst-14153	117	9	setup	setup	NOUN
ajst-14153	117	10	was	be	AUX
ajst-14153	117	11	constructed	construct	VERB
ajst-14153	117	12	in	in	ADP
ajst-14153	117	13	the	the	DET
ajst-14153	117	14	office	office	NOUN
ajst-14153	117	15	area	area	NOUN
ajst-14153	117	16	(	(	PUNCT
ajst-14153	117	17	as	as	SCONJ
ajst-14153	117	18	shown	show	VERB
ajst-14153	117	19	in	in	ADP
ajst-14153	117	20	figure	figure	NOUN
ajst-14153	117	21	7	7	NUM
ajst-14153	117	22	)	)	PUNCT
ajst-14153	117	23	.	.	PUNCT
ajst-14153	118	1	the	the	DET
ajst-14153	118	2	experimental	experimental	ADJ
ajst-14153	118	3	modules	module	NOUN
ajst-14153	118	4	utilized	utilize	VERB
ajst-14153	118	5	the	the	DET
ajst-14153	118	6	decawave	decawave	NOUN
ajst-14153	118	7	dw1000	dw1000	PROPN
ajst-14153	118	8	chip	chip	NOUN
ajst-14153	118	9	and	and	CCONJ
ajst-14153	118	10	sc	sc	PROPN
ajst-14153	118	11	-	-	PUNCT
ajst-14153	118	12	ahrs-100d2	ahrs-100d2	ADV
ajst-14153	118	13	inertial	inertial	ADJ
ajst-14153	118	14	navigation	navigation	NOUN
ajst-14153	118	15	system	system	NOUN
ajst-14153	118	16	.	.	PUNCT
ajst-14153	119	1	three	three	NUM
ajst-14153	119	2	uwb	uwb	PROPN
ajst-14153	119	3	base	base	NOUN
ajst-14153	119	4	stations	station	NOUN
ajst-14153	119	5	were	be	AUX
ajst-14153	119	6	deployed	deploy	VERB
ajst-14153	119	7	within	within	ADP
ajst-14153	119	8	a	a	DET
ajst-14153	119	9	1.2	1.2	NUM
ajst-14153	119	10	m	m	NOUN
ajst-14153	119	11	x	x	NOUN
ajst-14153	119	12	1.2	1.2	NUM
ajst-14153	119	13	m	m	PROPN
ajst-14153	119	14	area	area	NOUN
ajst-14153	119	15	,	,	PUNCT
ajst-14153	119	16	where	where	SCONJ
ajst-14153	119	17	base	base	NOUN
ajst-14153	119	18	station	station	NOUN
ajst-14153	119	19	0	0	NUM
ajst-14153	119	20	was	be	AUX
ajst-14153	119	21	connected	connect	VERB
ajst-14153	119	22	to	to	ADP
ajst-14153	119	23	the	the	DET
ajst-14153	119	24	pc	pc	NOUN
ajst-14153	119	25	via	via	ADP
ajst-14153	119	26	a	a	DET
ajst-14153	119	27	usb	usb	NOUN
ajst-14153	119	28	cable	cable	NOUN
ajst-14153	119	29	.	.	PUNCT
ajst-14153	120	1	the	the	DET
ajst-14153	120	2	experimental	experimental	ADJ
ajst-14153	120	3	setup	setup	NOUN
ajst-14153	120	4	included	include	VERB
ajst-14153	120	5	base	base	NOUN
ajst-14153	120	6	station	station	NOUN
ajst-14153	120	7	0	0	NUM
ajst-14153	120	8	located	locate	VERB
ajst-14153	120	9	at	at	ADP
ajst-14153	120	10	(	(	PUNCT
ajst-14153	120	11	0.0	0.0	NUM
ajst-14153	120	12	,	,	PUNCT
ajst-14153	120	13	0.0	0.0	NUM
ajst-14153	120	14	)	)	PUNCT
ajst-14153	120	15	,	,	PUNCT
ajst-14153	120	16	base	base	NOUN
ajst-14153	120	17	station	station	NOUN
ajst-14153	120	18	1	1	NUM
ajst-14153	120	19	at	at	ADP
ajst-14153	120	20	(	(	PUNCT
ajst-14153	120	21	1.2	1.2	NUM
ajst-14153	120	22	,	,	PUNCT
ajst-14153	120	23	0.0	0.0	NUM
ajst-14153	120	24	)	)	PUNCT
ajst-14153	120	25	,	,	PUNCT
ajst-14153	120	26	base	base	NOUN
ajst-14153	120	27	station	station	NOUN
ajst-14153	120	28	2	2	NUM
ajst-14153	120	29	at	at	ADP
ajst-14153	120	30	(	(	PUNCT
ajst-14153	120	31	0.0	0.0	NUM
ajst-14153	120	32	,	,	PUNCT
ajst-14153	120	33	1.2	1.2	NUM
ajst-14153	120	34	)	)	PUNCT
ajst-14153	120	35	,	,	PUNCT
ajst-14153	120	36	and	and	CCONJ
ajst-14153	120	37	a	a	DET
ajst-14153	120	38	test	test	NOUN
ajst-14153	120	39	vehicle	vehicle	NOUN
ajst-14153	120	40	integrated	integrate	VERB
ajst-14153	120	41	with	with	ADP
ajst-14153	120	42	a	a	DET
ajst-14153	120	43	tag	tag	NOUN
ajst-14153	120	44	labeled	label	VERB
ajst-14153	120	45	tag0	tag0	PROPN
ajst-14153	120	46	.	.	PUNCT
ajst-14153	121	1	during	during	ADP
ajst-14153	121	2	testing	testing	NOUN
ajst-14153	121	3	,	,	PUNCT
ajst-14153	121	4	the	the	DET
ajst-14153	121	5	base	base	NOUN
ajst-14153	121	6	stations	station	NOUN
ajst-14153	121	7	and	and	CCONJ
ajst-14153	121	8	the	the	DET
ajst-14153	121	9	tag	tag	NOUN
ajst-14153	121	10	were	be	AUX
ajst-14153	121	11	positioned	position	VERB
ajst-14153	121	12	at	at	ADP
ajst-14153	121	13	the	the	DET
ajst-14153	121	14	same	same	ADJ
ajst-14153	121	15	height	height	NOUN
ajst-14153	121	16	(	(	PUNCT
ajst-14153	121	17	0.3	0.3	NUM
ajst-14153	121	18	m	m	NOUN
ajst-14153	121	19	)	)	PUNCT
ajst-14153	121	20	to	to	PART
ajst-14153	121	21	minimize	minimize	VERB
ajst-14153	121	22	positioning	positioning	NOUN
ajst-14153	121	23	errors	error	NOUN
ajst-14153	121	24	.	.	PUNCT
ajst-14153	122	1	the	the	DET
ajst-14153	122	2	initial	initial	ADJ
ajst-14153	122	3	configuration	configuration	NOUN
ajst-14153	122	4	for	for	ADP
ajst-14153	122	5	the	the	DET
ajst-14153	122	6	testing	testing	NOUN
ajst-14153	122	7	location	location	NOUN
ajst-14153	122	8	is	be	AUX
ajst-14153	122	9	shown	show	VERB
ajst-14153	122	10	in	in	ADP
ajst-14153	122	11	figure	figure	NOUN
ajst-14153	122	12	8	8	NUM
ajst-14153	122	13	.	.	PUNCT
ajst-14153	123	1	figure	figure	VERB
ajst-14153	123	2	7	7	NUM
ajst-14153	123	3	.	.	PUNCT
ajst-14153	123	4	actual	actual	ADJ
ajst-14153	123	5	test	test	NOUN
ajst-14153	123	6	environment	environment	NOUN
ajst-14153	123	7	.	.	PUNCT
ajst-14153	124	1	figure	figure	VERB
ajst-14153	124	2	8	8	NUM
ajst-14153	124	3	.	.	PUNCT
ajst-14153	125	1	diagram	diagram	NOUN
ajst-14153	125	2	of	of	ADP
ajst-14153	125	3	vehicle	vehicle	NOUN
ajst-14153	125	4	positioning	positioning	NOUN
ajst-14153	125	5	.	.	PUNCT
ajst-14153	126	1	to	to	PART
ajst-14153	126	2	verify	verify	VERB
ajst-14153	126	3	the	the	DET
ajst-14153	126	4	positioning	positioning	NOUN
ajst-14153	126	5	accuracy	accuracy	NOUN
ajst-14153	126	6	of	of	ADP
ajst-14153	126	7	uwb	uwb	NOUN
ajst-14153	126	8	in	in	ADP
ajst-14153	126	9	a	a	DET
ajst-14153	126	10	static	static	ADJ
ajst-14153	126	11	environment	environment	NOUN
ajst-14153	126	12	,	,	PUNCT
ajst-14153	126	13	9	9	NUM
ajst-14153	126	14	different	different	ADJ
ajst-14153	126	15	locations	location	NOUN
ajst-14153	126	16	were	be	AUX
ajst-14153	126	17	selected	select	VERB
ajst-14153	126	18	for	for	ADP
ajst-14153	126	19	measurement	measurement	NOUN
ajst-14153	126	20	in	in	ADP
ajst-14153	126	21	the	the	DET
ajst-14153	126	22	aforementioned	aforementioned	ADJ
ajst-14153	126	23	experimental	experimental	ADJ
ajst-14153	126	24	area	area	NOUN
ajst-14153	126	25	.	.	PUNCT
ajst-14153	127	1	these	these	DET
ajst-14153	127	2	9	9	NUM
ajst-14153	127	3	locations	location	NOUN
ajst-14153	127	4	were	be	AUX
ajst-14153	127	5	arranged	arrange	VERB
ajst-14153	127	6	in	in	ADP
ajst-14153	127	7	a	a	DET
ajst-14153	127	8	zigzag	zigzag	NOUN
ajst-14153	127	9	pattern	pattern	NOUN
ajst-14153	127	10	.	.	PUNCT
ajst-14153	128	1	the	the	DET
ajst-14153	128	2	actual	actual	ADJ
ajst-14153	128	3	coordinates	coordinate	NOUN
ajst-14153	128	4	of	of	ADP
ajst-14153	128	5	the	the	DET
ajst-14153	128	6	locations	location	NOUN
ajst-14153	128	7	are	be	AUX
ajst-14153	128	8	as	as	SCONJ
ajst-14153	128	9	follows	follow	VERB
ajst-14153	128	10	:	:	PUNCT
ajst-14153	128	11	location	location	NOUN
ajst-14153	128	12	1	1	NUM
ajst-14153	128	13	(	(	PUNCT
ajst-14153	128	14	0.9	0.9	NUM
ajst-14153	128	15	,	,	PUNCT
ajst-14153	128	16	0.9	0.9	NUM
ajst-14153	128	17	)	)	PUNCT
ajst-14153	128	18	,	,	PUNCT
ajst-14153	128	19	location	location	NOUN
ajst-14153	128	20	2	2	NUM
ajst-14153	128	21	(	(	PUNCT
ajst-14153	128	22	0.6	0.6	NUM
ajst-14153	128	23	,	,	PUNCT
ajst-14153	128	24	0.9	0.9	NUM
ajst-14153	128	25	)	)	PUNCT
ajst-14153	128	26	,	,	PUNCT
ajst-14153	128	27	location	location	NOUN
ajst-14153	128	28	3	3	NUM
ajst-14153	128	29	(	(	PUNCT
ajst-14153	128	30	0.3	0.3	NUM
ajst-14153	128	31	,	,	PUNCT
ajst-14153	128	32	0.9	0.9	NUM
ajst-14153	128	33	)	)	PUNCT
ajst-14153	128	34	,	,	PUNCT
ajst-14153	128	35	location	location	NOUN
ajst-14153	128	36	4	4	NUM
ajst-14153	128	37	(	(	PUNCT
ajst-14153	128	38	0.3	0.3	NUM
ajst-14153	128	39	,	,	PUNCT
ajst-14153	128	40	0.6	0.6	NUM
ajst-14153	128	41	)	)	PUNCT
ajst-14153	128	42	,	,	PUNCT
ajst-14153	128	43	location	location	NOUN
ajst-14153	128	44	5	5	NUM
ajst-14153	128	45	(	(	PUNCT
ajst-14153	128	46	0.6	0.6	NUM
ajst-14153	128	47	,	,	PUNCT
ajst-14153	128	48	0.6	0.6	NUM
ajst-14153	128	49	)	)	PUNCT
ajst-14153	128	50	,	,	PUNCT
ajst-14153	128	51	location	location	NOUN
ajst-14153	128	52	6	6	NUM
ajst-14153	128	53	(	(	PUNCT
ajst-14153	128	54	0.9	0.9	NUM
ajst-14153	128	55	,	,	PUNCT
ajst-14153	128	56	0.6	0.6	NUM
ajst-14153	128	57	)	)	PUNCT
ajst-14153	128	58	,	,	PUNCT
ajst-14153	128	59	location	location	NOUN
ajst-14153	128	60	7	7	NUM
ajst-14153	128	61	(	(	PUNCT
ajst-14153	128	62	0.9	0.9	NUM
ajst-14153	128	63	,	,	PUNCT
ajst-14153	128	64	0.3	0.3	NUM
ajst-14153	128	65	)	)	PUNCT
ajst-14153	128	66	,	,	PUNCT
ajst-14153	128	67	location	location	NOUN
ajst-14153	128	68	8	8	NUM
ajst-14153	128	69	(	(	PUNCT
ajst-14153	128	70	0.6	0.6	NUM
ajst-14153	128	71	,	,	PUNCT
ajst-14153	128	72	0.3	0.3	NUM
ajst-14153	128	73	)	)	PUNCT
ajst-14153	128	74	,	,	PUNCT
ajst-14153	128	75	and	and	CCONJ
ajst-14153	128	76	location	location	NOUN
ajst-14153	128	77	9	9	NUM
ajst-14153	128	78	(	(	PUNCT
ajst-14153	128	79	0.3	0.3	NUM
ajst-14153	128	80	,	,	PUNCT
ajst-14153	128	81	0.3	0.3	NUM
ajst-14153	128	82	)	)	PUNCT
ajst-14153	128	83	.	.	PUNCT
ajst-14153	129	1	the	the	DET
ajst-14153	129	2	vehicle	vehicle	NOUN
ajst-14153	129	3	was	be	AUX
ajst-14153	129	4	controlled	control	VERB
ajst-14153	129	5	to	to	PART
ajst-14153	129	6	pass	pass	VERB
ajst-14153	129	7	through	through	ADP
ajst-14153	129	8	these	these	DET
ajst-14153	129	9	locations	location	NOUN
ajst-14153	129	10	sequentially	sequentially	ADV
ajst-14153	129	11	with	with	ADP
ajst-14153	129	12	a	a	DET
ajst-14153	129	13	15	15	NUM
ajst-14153	129	14	-	-	PUNCT
ajst-14153	129	15	second	second	NOUN
ajst-14153	129	16	pause	pause	NOUN
ajst-14153	129	17	at	at	ADP
ajst-14153	129	18	each	each	DET
ajst-14153	129	19	location	location	NOUN
ajst-14153	129	20	.	.	PUNCT
ajst-14153	130	1	the	the	DET
ajst-14153	130	2	actual	actual	ADJ
ajst-14153	130	3	position	position	NOUN
ajst-14153	130	4	data	datum	NOUN
ajst-14153	130	5	of	of	ADP
ajst-14153	130	6	the	the	DET
ajst-14153	130	7	vehicle	vehicle	NOUN
ajst-14153	130	8	was	be	AUX
ajst-14153	130	9	recorded	record	VERB
ajst-14153	130	10	in	in	ADP
ajst-14153	130	11	the	the	DET
ajst-14153	130	12	background	background	NOUN
ajst-14153	130	13	and	and	CCONJ
ajst-14153	130	14	outputted	output	VERB
ajst-14153	130	15	.	.	PUNCT
ajst-14153	131	1	the	the	DET
ajst-14153	131	2	recorded	record	VERB
ajst-14153	131	3	data	datum	NOUN
ajst-14153	131	4	was	be	AUX
ajst-14153	131	5	then	then	ADV
ajst-14153	131	6	compared	compare	VERB
ajst-14153	131	7	and	and	CCONJ
ajst-14153	131	8	analyzed	analyze	VERB
ajst-14153	131	9	using	use	VERB
ajst-14153	131	10	matlab	matlab	PROPN
ajst-14153	131	11	software	software	NOUN
ajst-14153	131	12	.	.	PUNCT
ajst-14153	132	1	the	the	DET
ajst-14153	132	2	results	result	NOUN
ajst-14153	132	3	of	of	ADP
ajst-14153	132	4	the	the	DET
ajst-14153	132	5	comparative	comparative	ADJ
ajst-14153	132	6	experiment	experiment	NOUN
ajst-14153	132	7	between	between	ADP
ajst-14153	132	8	the	the	DET
ajst-14153	132	9	two	two	NUM
ajst-14153	132	10	data	data	NOUN
ajst-14153	132	11	sets	set	NOUN
ajst-14153	132	12	are	be	AUX
ajst-14153	132	13	shown	show	VERB
ajst-14153	132	14	in	in	ADP
ajst-14153	132	15	figures	figure	NOUN
ajst-14153	132	16	9	9	NUM
ajst-14153	132	17	and	and	CCONJ
ajst-14153	132	18	10	10	NUM
ajst-14153	132	19	.	.	PUNCT
ajst-14153	133	1	figure	figure	NOUN
ajst-14153	133	2	9	9	NUM
ajst-14153	133	3	.	.	PUNCT
ajst-14153	133	4	uwb	uwb	PROPN
ajst-14153	133	5	positioning	positioning	NOUN
ajst-14153	133	6	results	result	NOUN
ajst-14153	133	7	only	only	ADV
ajst-14153	133	8	.	.	PUNCT
ajst-14153	134	1	figure	figure	VERB
ajst-14153	134	2	10	10	NUM
ajst-14153	134	3	.	.	PUNCT
ajst-14153	134	4	fused	fuse	VERB
ajst-14153	134	5	positioning	positioning	NOUN
ajst-14153	134	6	results	result	NOUN
ajst-14153	134	7	.	.	PUNCT
ajst-14153	135	1	from	from	ADP
ajst-14153	135	2	the	the	DET
ajst-14153	135	3	above	above	ADJ
ajst-14153	135	4	comparison	comparison	NOUN
ajst-14153	135	5	of	of	ADP
ajst-14153	135	6	experimental	experimental	ADJ
ajst-14153	135	7	results	result	NOUN
ajst-14153	135	8	,	,	PUNCT
ajst-14153	135	9	it	it	PRON
ajst-14153	135	10	can	can	AUX
ajst-14153	135	11	be	be	AUX
ajst-14153	135	12	observed	observe	VERB
ajst-14153	135	13	that	that	SCONJ
ajst-14153	135	14	the	the	DET
ajst-14153	135	15	positioning	positioning	NOUN
ajst-14153	135	16	accuracy	accuracy	NOUN
ajst-14153	135	17	and	and	CCONJ
ajst-14153	135	18	stability	stability	NOUN
ajst-14153	135	19	are	be	AUX
ajst-14153	135	20	not	not	PART
ajst-14153	135	21	satisfactory	satisfactory	ADJ
ajst-14153	135	22	when	when	SCONJ
ajst-14153	135	23	using	use	VERB
ajst-14153	135	24	uwb	uwb	NOUN
ajst-14153	135	25	positioning	positioning	NOUN
ajst-14153	135	26	alone	alone	ADV
ajst-14153	135	27	.	.	PUNCT
ajst-14153	136	1	the	the	DET
ajst-14153	136	2	positioning	positioning	NOUN
ajst-14153	136	3	results	result	NOUN
ajst-14153	136	4	,	,	PUNCT
ajst-14153	136	5	especially	especially	ADV
ajst-14153	136	6	when	when	SCONJ
ajst-14153	136	7	approaching	approach	VERB
ajst-14153	136	8	the	the	DET
ajst-14153	136	9	experimental	experimental	ADJ
ajst-14153	136	10	area	area	NOUN
ajst-14153	136	11	,	,	PUNCT
ajst-14153	136	12	tend	tend	VERB
ajst-14153	136	13	to	to	PART
ajst-14153	136	14	deviate	deviate	VERB
ajst-14153	136	15	from	from	ADP
ajst-14153	136	16	the	the	DET
ajst-14153	136	17	actual	actual	ADJ
ajst-14153	136	18	values	value	NOUN
ajst-14153	136	19	.	.	PUNCT
ajst-14153	137	1	the	the	DET
ajst-14153	137	2	average	average	ADJ
ajst-14153	137	3	error	error	NOUN
ajst-14153	137	4	is	be	AUX
ajst-14153	137	5	14.82	14.82	NUM
ajst-14153	137	6	cm	cm	NOUN
ajst-14153	137	7	,	,	PUNCT
ajst-14153	137	8	with	with	ADP
ajst-14153	137	9	a	a	DET
ajst-14153	137	10	maximum	maximum	ADJ
ajst-14153	137	11	error	error	NOUN
ajst-14153	137	12	of	of	ADP
ajst-14153	137	13	26.40	26.40	NUM
ajst-14153	137	14	cm	cm	NOUN
ajst-14153	137	15	.	.	PUNCT
ajst-14153	138	1	however	however	ADV
ajst-14153	138	2	,	,	PUNCT
ajst-14153	138	3	after	after	ADP
ajst-14153	138	4	performing	perform	VERB
ajst-14153	138	5	ekf	ekf	NOUN
ajst-14153	138	6	fusion	fusion	NOUN
ajst-14153	138	7	,	,	PUNCT
ajst-14153	138	8	the	the	DET
ajst-14153	138	9	deviation	deviation	NOUN
ajst-14153	138	10	between	between	ADP
ajst-14153	138	11	the	the	DET
ajst-14153	138	12	fused	fuse	VERB
ajst-14153	138	13	positioning	positioning	NOUN
ajst-14153	138	14	coordinates	coordinate	NOUN
ajst-14153	138	15	and	and	CCONJ
ajst-14153	138	16	the	the	DET
ajst-14153	138	17	actual	actual	ADJ
ajst-14153	138	18	position	position	NOUN
ajst-14153	138	19	of	of	ADP
ajst-14153	138	20	the	the	DET
ajst-14153	138	21	vehicle	vehicle	NOUN
ajst-14153	138	22	is	be	AUX
ajst-14153	138	23	smaller	small	ADJ
ajst-14153	138	24	.	.	PUNCT
ajst-14153	139	1	the	the	DET
ajst-14153	139	2	positioning	positioning	NOUN
ajst-14153	139	3	range	range	NOUN
ajst-14153	139	4	is	be	AUX
ajst-14153	139	5	more	more	ADV
ajst-14153	139	6	concentrated	concentrated	ADJ
ajst-14153	139	7	,	,	PUNCT
ajst-14153	139	8	with	with	ADP
ajst-14153	139	9	an	an	DET
ajst-14153	139	10	average	average	ADJ
ajst-14153	139	11	positioning	positioning	NOUN
ajst-14153	139	12	accuracy	accuracy	NOUN
ajst-14153	139	13	of	of	ADP
ajst-14153	139	14	10.33	10.33	NUM
ajst-14153	139	15	cm	cm	NOUN
ajst-14153	139	16	and	and	CCONJ
ajst-14153	139	17	a	a	DET
ajst-14153	139	18	maximum	maximum	ADJ
ajst-14153	139	19	error	error	NOUN
ajst-14153	139	20	of	of	ADP
ajst-14153	139	21	only	only	ADV
ajst-14153	139	22	13.68	13.68	NUM
ajst-14153	139	23	cm	cm	NOUN
ajst-14153	139	24	.	.	PUNCT
ajst-14153	140	1	5	5	NUM
ajst-14153	140	2	.	.	X
ajst-14153	140	3	conclusion	conclusion	NOUN
ajst-14153	140	4	to	to	PART
ajst-14153	140	5	improve	improve	VERB
ajst-14153	140	6	the	the	DET
ajst-14153	140	7	positioning	positioning	NOUN
ajst-14153	140	8	accuracy	accuracy	NOUN
ajst-14153	140	9	of	of	ADP
ajst-14153	140	10	mobile	mobile	ADJ
ajst-14153	140	11	robots	robot	NOUN
ajst-14153	140	12	indoors	indoor	NOUN
ajst-14153	140	13	,	,	PUNCT
ajst-14153	140	14	this	this	DET
ajst-14153	140	15	study	study	NOUN
ajst-14153	140	16	proposes	propose	VERB
ajst-14153	140	17	and	and	CCONJ
ajst-14153	140	18	verifies	verifie	NOUN
ajst-14153	140	19	a	a	DET
ajst-14153	140	20	uwb	uwb	PROPN
ajst-14153	140	21	/	/	SYM
ajst-14153	140	22	imu	imu	NOUN
ajst-14153	140	23	information	information	NOUN
ajst-14153	140	24	fusion	fusion	NOUN
ajst-14153	140	25	method	method	NOUN
ajst-14153	140	26	based	base	VERB
ajst-14153	140	27	on	on	ADP
ajst-14153	140	28	the	the	DET
ajst-14153	140	29	ekf	ekf	NOUN
ajst-14153	140	30	algorithm	algorithm	NOUN
ajst-14153	140	31	after	after	ADP
ajst-14153	140	32	self	self	NOUN
ajst-14153	140	33	-	-	PUNCT
ajst-14153	140	34	calibration	calibration	NOUN
ajst-14153	140	35	of	of	ADP
ajst-14153	140	36	the	the	DET
ajst-14153	140	37	imu	imu	NOUN
ajst-14153	140	38	.	.	PUNCT
ajst-14153	141	1	firstly	firstly	ADV
ajst-14153	141	2	,	,	PUNCT
ajst-14153	141	3	uwb	uwb	PROPN
ajst-14153	141	4	is	be	AUX
ajst-14153	141	5	used	use	VERB
ajst-14153	141	6	to	to	PART
ajst-14153	141	7	calculate	calculate	VERB
ajst-14153	141	8	the	the	DET
ajst-14153	141	9	robot	robot	NOUN
ajst-14153	141	10	's	's	PART
ajst-14153	141	11	position	position	NOUN
ajst-14153	141	12	data	datum	NOUN
ajst-14153	141	13	,	,	PUNCT
ajst-14153	141	14	and	and	CCONJ
ajst-14153	141	15	then	then	ADV
ajst-14153	141	16	the	the	DET
ajst-14153	141	17	imu	imu	NOUN
ajst-14153	141	18	is	be	AUX
ajst-14153	141	19	analyzed	analyze	VERB
ajst-14153	141	20	and	and	CCONJ
ajst-14153	141	21	compensated	compensate	VERB
ajst-14153	141	22	for	for	ADP
ajst-14153	141	23	its	its	PRON
ajst-14153	141	24	self	self	NOUN
ajst-14153	141	25	-	-	PUNCT
ajst-14153	141	26	errors	error	NOUN
ajst-14153	141	27	.	.	PUNCT
ajst-14153	142	1	next	next	ADV
ajst-14153	142	2	,	,	PUNCT
ajst-14153	142	3	the	the	DET
ajst-14153	142	4	extended	extended	ADJ
ajst-14153	142	5	kalman	kalman	NOUN
ajst-14153	142	6	filter	filter	NOUN
ajst-14153	142	7	is	be	AUX
ajst-14153	142	8	employed	employ	VERB
ajst-14153	142	9	to	to	PART
ajst-14153	142	10	fuse	fuse	VERB
ajst-14153	142	11	the	the	DET
ajst-14153	142	12	information	information	NOUN
ajst-14153	142	13	obtained	obtain	VERB
ajst-14153	142	14	from	from	ADP
ajst-14153	142	15	uwb	uwb	NOUN
ajst-14153	142	16	and	and	CCONJ
ajst-14153	142	17	the	the	DET
ajst-14153	142	18	calibrated	calibrate	VERB
ajst-14153	142	19	imu	imu	NOUN
ajst-14153	142	20	.	.	PUNCT
ajst-14153	143	1	through	through	ADP
ajst-14153	143	2	experimental	experimental	ADJ
ajst-14153	143	3	verification	verification	NOUN
ajst-14153	143	4	,	,	PUNCT
ajst-14153	143	5	it	it	PRON
ajst-14153	143	6	is	be	AUX
ajst-14153	143	7	demonstrated	demonstrate	VERB
ajst-14153	143	8	that	that	SCONJ
ajst-14153	143	9	this	this	DET
ajst-14153	143	10	method	method	NOUN
ajst-14153	143	11	can	can	AUX
ajst-14153	143	12	achieve	achieve	VERB
ajst-14153	143	13	the	the	DET
ajst-14153	143	14	desired	desire	VERB
ajst-14153	143	15	positioning	positioning	NOUN
ajst-14153	143	16	accuracy	accuracy	NOUN
ajst-14153	143	17	for	for	ADP
ajst-14153	143	18	indoor	indoor	ADJ
ajst-14153	143	19	robots	robot	NOUN
ajst-14153	143	20	.	.	PUNCT
ajst-14153	144	1	references	reference	NOUN
ajst-14153	144	2	[	[	X
ajst-14153	144	3	1	1	NUM
ajst-14153	144	4	]	]	X
ajst-14153	144	5	zhao	zhao	PROPN
ajst-14153	144	6	h	h	PROPN
ajst-14153	144	7	m	m	PROPN
ajst-14153	144	8	,	,	PUNCT
ajst-14153	144	9	zhao	zhao	PROPN
ajst-14153	144	10	j	j	PROPN
ajst-14153	144	11	l.	l.	PROPN
ajst-14153	144	12	a	a	DET
ajst-14153	144	13	review	review	NOUN
ajst-14153	144	14	of	of	ADP
ajst-14153	144	15	indoor	indoor	ADJ
ajst-14153	144	16	positioning	positioning	NOUN
ajst-14153	144	17	algorithms	algorithm	NOUN
ajst-14153	144	18	for	for	ADP
ajst-14153	144	19	ultra	ultra	ADJ
ajst-14153	144	20	-	-	ADJ
ajst-14153	144	21	wideband	wideband	ADJ
ajst-14153	144	22	.	.	PUNCT
ajst-14153	145	1	telecommunications	telecommunication	NOUN
ajst-14153	145	2	science	science	NOUN
ajst-14153	145	3	,	,	PUNCT
ajst-14153	145	4	2018	2018	NUM
ajst-14153	145	5	,	,	PUNCT
ajst-14153	145	6	34(09	34(09	NUM
ajst-14153	145	7	):	):	PUNCT
ajst-14153	145	8	130	130	NUM
ajst-14153	145	9	-	-	SYM
ajst-14153	145	10	142	142	NUM
ajst-14153	145	11	.	.	PUNCT
ajst-14153	146	1	[	[	X
ajst-14153	146	2	2	2	X
ajst-14153	146	3	]	]	X
ajst-14153	146	4	liu	liu	PROPN
ajst-14153	146	5	l	l	PROPN
ajst-14153	146	6	,	,	PUNCT
ajst-14153	146	7	xu	xu	PROPN
ajst-14153	146	8	x	x	SYM
ajst-14153	146	9	w	w	PROPN
ajst-14153	146	10	,	,	PUNCT
ajst-14153	146	11	zhou	zhou	PROPN
ajst-14153	146	12	g	g	PROPN
ajst-14153	146	13	z	z	PROPN
ajst-14153	146	14	,	,	PUNCT
ajst-14153	146	15	et	et	PROPN
ajst-14153	146	16	al	al	PROPN
ajst-14153	146	17	.	.	PUNCT
ajst-14153	147	1	locating	locate	VERB
ajst-14153	147	2	method	method	NOUN
ajst-14153	147	3	of	of	ADP
ajst-14153	147	4	power	power	NOUN
ajst-14153	147	5	inspection	inspection	NOUN
ajst-14153	147	6	robot	robot	NOUN
ajst-14153	147	7	based	base	VERB
ajst-14153	147	8	on	on	ADP
ajst-14153	147	9	uwb	uwb	PROPN
ajst-14153	147	10	and	and	CCONJ
ajst-14153	147	11	imu	imu	NOUN
ajst-14153	147	12	.	.	PROPN
ajst-14153	147	13	automation	automation	PROPN
ajst-14153	147	14	expo	expo	PROPN
ajst-14153	147	15	,	,	PUNCT
ajst-14153	147	16	2022	2022	NUM
ajst-14153	147	17	,	,	PUNCT
ajst-14153	147	18	39(04	39(04	NUM
ajst-14153	147	19	):	):	PUNCT
ajst-14153	147	20	46	46	NUM
ajst-14153	147	21	-	-	SYM
ajst-14153	147	22	51	51	NUM
ajst-14153	147	23	.	.	PUNCT
ajst-14153	147	24	160	160	NUM
ajst-14153	148	1	[	[	SYM
ajst-14153	148	2	3	3	NUM
ajst-14153	148	3	]	]	X
ajst-14153	148	4	sun	sun	PROPN
ajst-14153	148	5	j	j	PROPN
ajst-14153	148	6	,	,	PUNCT
ajst-14153	148	7	gu	gu	NOUN
ajst-14153	148	8	r	r	PROPN
ajst-14153	148	9	,	,	PUNCT
ajst-14153	148	10	li	li	PROPN
ajst-14153	148	11	s	s	PROPN
ajst-14153	148	12	,	,	PUNCT
ajst-14153	148	13	et	et	PROPN
ajst-14153	148	14	al	al	PROPN
ajst-14153	148	15	.	.	PROPN
ajst-14153	148	16	huid	huid	PROPN
ajst-14153	148	17	:	:	PUNCT
ajst-14153	148	18	dbn	dbn	PROPN
ajst-14153	148	19	-	-	PUNCT
ajst-14153	148	20	based	base	VERB
ajst-14153	148	21	fingerprint	fingerprint	NOUN
ajst-14153	148	22	localization	localization	NOUN
ajst-14153	148	23	and	and	CCONJ
ajst-14153	148	24	tracking	tracking	NOUN
ajst-14153	148	25	system	system	NOUN
ajst-14153	148	26	with	with	ADP
ajst-14153	148	27	hybrid	hybrid	ADJ
ajst-14153	148	28	uwb	uwb	NOUN
ajst-14153	148	29	and	and	CCONJ
ajst-14153	148	30	imu	imu	NOUN
ajst-14153	148	31	.	.	PUNCT
ajst-14153	149	1	china	china	PROPN
ajst-14153	149	2	communications	communications	PROPN
ajst-14153	149	3	,	,	PUNCT
ajst-14153	149	4	2023	2023	NUM
ajst-14153	149	5	,	,	PUNCT
ajst-14153	149	6	20(02	20(02	NUM
ajst-14153	149	7	):	):	PUNCT
ajst-14153	149	8	139	139	NUM
ajst-14153	149	9	-	-	SYM
ajst-14153	149	10	154	154	NUM
ajst-14153	149	11	.	.	PUNCT
ajst-14153	150	1	[	[	X
ajst-14153	150	2	4	4	NUM
ajst-14153	150	3	]	]	SYM
ajst-14153	150	4	hu	hu	PROPN
ajst-14153	150	5	w	w	PROPN
ajst-14153	150	6	l	l	PROPN
ajst-14153	150	7	,	,	PUNCT
ajst-14153	150	8	zhou	zhou	PROPN
ajst-14153	150	9	y	y	PROPN
ajst-14153	150	10	f	f	PROPN
ajst-14153	150	11	,	,	PUNCT
ajst-14153	150	12	song	song	NOUN
ajst-14153	150	13	q	q	PROPN
ajst-14153	150	14	j	j	PROPN
ajst-14153	150	15	,	,	PUNCT
ajst-14153	150	16	et	et	PROPN
ajst-14153	150	17	al	al	PROPN
ajst-14153	150	18	.	.	PROPN
ajst-14153	150	19	research	research	NOUN
ajst-14153	150	20	on	on	ADP
ajst-14153	150	21	indoor	indoor	ADJ
ajst-14153	150	22	positioning	positioning	NOUN
ajst-14153	150	23	algorithm	algorithm	NOUN
ajst-14153	150	24	based	base	VERB
ajst-14153	150	25	on	on	ADP
ajst-14153	150	26	uwb	uwb	PROPN
ajst-14153	150	27	and	and	CCONJ
ajst-14153	150	28	imu	imu	NOUN
ajst-14153	150	29	information	information	NOUN
ajst-14153	150	30	fusion	fusion	NOUN
ajst-14153	150	31	.	.	PUNCT
ajst-14153	151	1	manufacturing	manufacturing	NOUN
ajst-14153	151	2	automation	automation	NOUN
ajst-14153	151	3	,	,	PUNCT
ajst-14153	151	4	2023	2023	NUM
ajst-14153	151	5	,	,	PUNCT
ajst-14153	151	6	45(02	45(02	PROPN
ajst-14153	151	7	):	):	PUNCT
ajst-14153	151	8	193197	193197	NUM
ajst-14153	151	9	+	+	SYM
ajst-14153	151	10	213	213	NUM
ajst-14153	151	11	.	.	PUNCT
ajst-14153	152	1	[	[	X
ajst-14153	152	2	5	5	NUM
ajst-14153	152	3	]	]	SYM
ajst-14153	152	4	li	li	PROPN
ajst-14153	152	5	x	x	PROPN
ajst-14153	152	6	,	,	PUNCT
ajst-14153	152	7	wang	wang	PROPN
ajst-14153	152	8	y.	y.	PROPN
ajst-14153	152	9	research	research	PROPN
ajst-14153	152	10	on	on	ADP
ajst-14153	152	11	the	the	DET
ajst-14153	152	12	uwb	uwb	PROPN
ajst-14153	152	13	/	/	SYM
ajst-14153	152	14	imu	imu	NOUN
ajst-14153	152	15	fusion	fusion	NOUN
ajst-14153	152	16	positioning	positioning	NOUN
ajst-14153	152	17	of	of	ADP
ajst-14153	152	18	mobile	mobile	ADJ
ajst-14153	152	19	vehicle	vehicle	NOUN
ajst-14153	152	20	based	base	VERB
ajst-14153	152	21	on	on	ADP
ajst-14153	152	22	motion	motion	NOUN
ajst-14153	152	23	constraints	constraint	NOUN
ajst-14153	152	24	.	.	PUNCT
ajst-14153	153	1	acta	acta	PROPN
ajst-14153	153	2	geod	geod	PROPN
ajst-14153	153	3	geophys	geophy	NOUN
ajst-14153	153	4	55	55	NUM
ajst-14153	153	5	,	,	PUNCT
ajst-14153	153	6	237–255	237–255	NUM
ajst-14153	153	7	(	(	PUNCT
ajst-14153	153	8	2020	2020	NUM
ajst-14153	153	9	)	)	PUNCT
ajst-14153	153	10	.	.	PUNCT
ajst-14153	154	1	[	[	X
ajst-14153	154	2	6	6	NUM
ajst-14153	154	3	]	]	PUNCT
ajst-14153	154	4	zou	zou	PROPN
ajst-14153	154	5	a	a	PROPN
ajst-14153	154	6	,	,	PUNCT
ajst-14153	154	7	hu	hu	PROPN
ajst-14153	154	8	w	w	PROPN
ajst-14153	154	9	,	,	PUNCT
ajst-14153	154	10	luo	luo	PROPN
ajst-14153	154	11	y	y	PROPN
ajst-14153	154	12	,	,	PUNCT
ajst-14153	154	13	jiang	jiang	PROPN
ajst-14153	155	1	p.	p.	PROPN
ajst-14153	155	2	an	an	DET
ajst-14153	155	3	improved	improved	ADJ
ajst-14153	155	4	uwb	uwb	NOUN
ajst-14153	155	5	/	/	SYM
ajst-14153	155	6	imu	imu	NOUN
ajst-14153	155	7	tightly	tightly	ADV
ajst-14153	155	8	coupled	couple	VERB
ajst-14153	155	9	positioning	positioning	NOUN
ajst-14153	155	10	algorithm	algorithm	NOUN
ajst-14153	155	11	study	study	NOUN
ajst-14153	155	12	.	.	PUNCT
ajst-14153	156	1	sensors	sensor	NOUN
ajst-14153	156	2	2023	2023	NUM
ajst-14153	156	3	,	,	PUNCT
ajst-14153	156	4	23	23	NUM
ajst-14153	156	5	,	,	PUNCT
ajst-14153	156	6	5918	5918	NUM
ajst-14153	156	7	.	.	PUNCT
ajst-14153	157	1	[	[	X
ajst-14153	157	2	7	7	X
ajst-14153	157	3	]	]	X
ajst-14153	157	4	yao	yao	PROPN
ajst-14153	157	5	l	l	PROPN
ajst-14153	157	6	,	,	PUNCT
ajst-14153	157	7	nie	nie	PROPN
ajst-14153	157	8	x	x	SYM
ajst-14153	157	9	g	g	PROPN
ajst-14153	157	10	,	,	PUNCT
ajst-14153	157	11	huang	huang	PROPN
ajst-14153	157	12	h	h	PROPN
ajst-14153	157	13	y	y	PROPN
ajst-14153	157	14	,	,	PUNCT
ajst-14153	157	15	et	et	PROPN
ajst-14153	157	16	al	al	PROPN
ajst-14153	157	17	.	.	PROPN
ajst-14153	157	18	research	research	NOUN
ajst-14153	157	19	on	on	ADP
ajst-14153	157	20	uwb	uwb	PROPN
ajst-14153	157	21	/	/	SYM
ajst-14153	157	22	imu	imu	NOUN
ajst-14153	157	23	combined	combine	VERB
ajst-14153	157	24	positioning	positioning	NOUN
ajst-14153	157	25	using	use	VERB
ajst-14153	157	26	unscented	unscente	VERB
ajst-14153	157	27	kalman	kalman	NOUN
ajst-14153	157	28	filter	filter	NOUN
ajst-14153	157	29	algorithm	algorithm	PROPN
ajst-14153	157	30	.	.	PUNCT
ajst-14153	158	1	mechanical	mechanical	ADJ
ajst-14153	158	2	science	science	NOUN
ajst-14153	158	3	and	and	CCONJ
ajst-14153	158	4	technology	technology	NOUN
ajst-14153	158	5	:	:	PUNCT
ajst-14153	158	6	1	1	NUM
ajst-14153	158	7	-	-	SYM
ajst-14153	158	8	10	10	NUM
ajst-14153	158	9	.	.	PUNCT
ajst-14153	159	1	[	[	X
ajst-14153	159	2	8	8	NUM
ajst-14153	159	3	]	]	X
ajst-14153	159	4	zhang	zhang	PROPN
ajst-14153	160	1	b	b	PROPN
ajst-14153	160	2	f	f	PROPN
ajst-14153	160	3	,	,	PUNCT
ajst-14153	160	4	jin	jin	PROPN
ajst-14153	160	5	w	w	PROPN
ajst-14153	160	6	y.	y.	PROPN
ajst-14153	160	7	indoor	indoor	PROPN
ajst-14153	160	8	positioning	positioning	NOUN
ajst-14153	160	9	and	and	CCONJ
ajst-14153	160	10	navigation	navigation	NOUN
ajst-14153	160	11	algorithm	algorithm	NOUN
ajst-14153	160	12	based	base	VERB
ajst-14153	160	13	on	on	ADP
ajst-14153	160	14	uwb	uwb	PROPN
ajst-14153	160	15	and	and	CCONJ
ajst-14153	160	16	imu	imu	VERB
ajst-14153	160	17	tight	tight	ADJ
ajst-14153	160	18	combination	combination	NOUN
ajst-14153	160	19	.	.	PUNCT
ajst-14153	161	1	electronic	electronic	ADJ
ajst-14153	161	2	measurement	measurement	NOUN
ajst-14153	161	3	technology	technology	NOUN
ajst-14153	161	4	,	,	PUNCT
ajst-14153	161	5	2022	2022	NUM
ajst-14153	161	6	,	,	PUNCT
ajst-14153	161	7	45(10	45(10	NUM
ajst-14153	161	8	):	):	PUNCT
ajst-14153	161	9	67	67	NUM
ajst-14153	161	10	-	-	SYM
ajst-14153	161	11	73	73	NUM
ajst-14153	161	12	.	.	PUNCT
ajst-14153	162	1	[	[	X
ajst-14153	162	2	9	9	NUM
ajst-14153	162	3	]	]	X
ajst-14153	162	4	wang	wang	PROPN
ajst-14153	162	5	p	p	PROPN
ajst-14153	162	6	,	,	PUNCT
ajst-14153	162	7	hou	hou	PROPN
ajst-14153	162	8	z	z	PROPN
ajst-14153	162	9	s.	s.	PROPN
ajst-14153	162	10	indoor	indoor	PROPN
ajst-14153	162	11	dynamic	dynamic	ADJ
ajst-14153	162	12	positioning	positioning	NOUN
ajst-14153	162	13	algorithm	algorithm	NOUN
ajst-14153	162	14	based	base	VERB
ajst-14153	162	15	on	on	ADP
ajst-14153	162	16	uwb	uwb	NOUN
ajst-14153	162	17	and	and	CCONJ
ajst-14153	162	18	imu	imu	NOUN
ajst-14153	162	19	fusion	fusion	NOUN
ajst-14153	162	20	.	.	PUNCT
ajst-14153	163	1	electronic	electronic	ADJ
ajst-14153	163	2	measurement	measurement	NOUN
ajst-14153	163	3	technology	technology	NOUN
ajst-14153	163	4	,	,	PUNCT
ajst-14153	163	5	2023	2023	NUM
ajst-14153	163	6	,	,	PUNCT
ajst-14153	163	7	46(10	46(10	NUM
ajst-14153	163	8	):	):	PUNCT
ajst-14153	163	9	76	76	NUM
ajst-14153	163	10	-	-	SYM
ajst-14153	163	11	83	83	NUM
ajst-14153	163	12	.	.	PUNCT
ajst-14153	164	1	[	[	X
ajst-14153	164	2	10	10	NUM
ajst-14153	164	3	]	]	X
ajst-14153	164	4	yang	yang	PROPN
ajst-14153	164	5	x	x	PROPN
ajst-14153	164	6	j	j	PROPN
ajst-14153	164	7	,	,	PUNCT
ajst-14153	164	8	huang	huang	PROPN
ajst-14153	164	9	f	f	PROPN
ajst-14153	164	10	,	,	PUNCT
ajst-14153	164	11	shang	shang	PROPN
ajst-14153	164	12	k	k	PROPN
ajst-14153	164	13	,	,	PUNCT
ajst-14153	164	14	yan	yan	PROPN
ajst-14153	164	15	s	s	PART
ajst-14153	164	16	h.	h.	NOUN
ajst-14153	164	17	fusion	fusion	NOUN
ajst-14153	164	18	positioning	positioning	NOUN
ajst-14153	164	19	method	method	NOUN
ajst-14153	164	20	of	of	ADP
ajst-14153	164	21	uwb	uwb	PROPN
ajst-14153	164	22	/	/	SYM
ajst-14153	164	23	imu	imu	NOUN
ajst-14153	164	24	/	/	SYM
ajst-14153	164	25	odometer	odometer	NOUN
ajst-14153	164	26	based	base	VERB
ajst-14153	164	27	on	on	ADP
ajst-14153	164	28	improved	improved	ADJ
ajst-14153	164	29	ukf	ukf	NOUN
ajst-14153	164	30	.	.	PROPN
ajst-14153	164	31	journal	journal	PROPN
ajst-14153	164	32	of	of	ADP
ajst-14153	164	33	chinese	chinese	ADJ
ajst-14153	164	34	inertial	inertial	ADJ
ajst-14153	164	35	technology	technology	NOUN
ajst-14153	164	36	,	,	PUNCT
ajst-14153	164	37	2023	2023	NUM
ajst-14153	164	38	,	,	PUNCT
ajst-14153	164	39	31(05	31(05	NUM
ajst-14153	164	40	):	):	PUNCT
ajst-14153	164	41	462	462	NUM
ajst-14153	164	42	-	-	NOUN
ajst-14153	164	43	471	471	NUM
ajst-14153	164	44	.	.	PUNCT
ajst-14153	165	1	[	[	X
ajst-14153	165	2	11	11	NUM
ajst-14153	165	3	]	]	PUNCT
ajst-14153	165	4	]	]	X
ajst-14153	165	5	d.	d.	PROPN
ajst-14153	165	6	tedaldi	tedaldi	PROPN
ajst-14153	165	7	,	,	PUNCT
ajst-14153	165	8	a.	a.	NOUN
ajst-14153	165	9	pretto	pretto	NOUN
ajst-14153	165	10	and	and	CCONJ
ajst-14153	165	11	e.	e.	PROPN
ajst-14153	165	12	menegatti	menegatti	PROPN
ajst-14153	165	13	,	,	PUNCT
ajst-14153	165	14	"	"	PUNCT
ajst-14153	165	15	a	a	DET
ajst-14153	165	16	robust	robust	ADJ
ajst-14153	165	17	and	and	CCONJ
ajst-14153	165	18	easy	easy	ADJ
ajst-14153	165	19	to	to	PART
ajst-14153	165	20	implement	implement	VERB
ajst-14153	165	21	method	method	NOUN
ajst-14153	165	22	for	for	ADP
ajst-14153	165	23	imu	imu	NOUN
ajst-14153	165	24	calibration	calibration	NOUN
ajst-14153	165	25	without	without	ADP
ajst-14153	165	26	external	external	ADJ
ajst-14153	165	27	equipments	equipment	NOUN
ajst-14153	165	28	,	,	PUNCT
ajst-14153	165	29	"	"	PUNCT
ajst-14153	165	30	2014	2014	NUM
ajst-14153	165	31	ieee	ieee	PROPN
ajst-14153	165	32	international	international	ADJ
ajst-14153	165	33	conference	conference	NOUN
ajst-14153	165	34	on	on	ADP
ajst-14153	165	35	robotics	robotic	NOUN
ajst-14153	165	36	and	and	CCONJ
ajst-14153	165	37	automation	automation	NOUN
ajst-14153	165	38	(	(	PUNCT
ajst-14153	165	39	icra	icra	PROPN
ajst-14153	165	40	)	)	PUNCT
ajst-14153	165	41	,	,	PUNCT
ajst-14153	165	42	hong	hong	PROPN
ajst-14153	165	43	kong	kong	PROPN
ajst-14153	165	44	,	,	PUNCT
ajst-14153	165	45	china	china	PROPN
ajst-14153	165	46	,	,	PUNCT
ajst-14153	165	47	2014	2014	NUM
ajst-14153	165	48	,	,	PUNCT
ajst-14153	165	49	pp	pp	ADJ
ajst-14153	165	50	.	.	PUNCT
ajst-14153	165	51	30423049	30423049	NUM
ajst-14153	165	52	.	.	PUNCT
ajst-14153	166	1	[	[	X
ajst-14153	166	2	12	12	NUM
ajst-14153	166	3	]	]	PUNCT
ajst-14153	166	4	a.	a.	NOUN
ajst-14153	166	5	pretto	pretto	NOUN
ajst-14153	166	6	and	and	CCONJ
ajst-14153	166	7	g.	g.	PROPN
ajst-14153	166	8	grisetti	grisetti	PROPN
ajst-14153	166	9	,	,	PUNCT
ajst-14153	166	10	"	"	PUNCT
ajst-14153	166	11	calibration	calibration	NOUN
ajst-14153	166	12	and	and	CCONJ
ajst-14153	166	13	performance	performance	NOUN
ajst-14153	166	14	evaluation	evaluation	NOUN
ajst-14153	166	15	of	of	ADP
ajst-14153	166	16	low	low	ADJ
ajst-14153	166	17	-	-	PUNCT
ajst-14153	166	18	cost	cost	NOUN
ajst-14153	166	19	imus	imus	NOUN
ajst-14153	166	20	"	"	PUNCT
ajst-14153	166	21	.	.	PUNCT
ajst-14153	167	1	in	in	ADP
ajst-14153	167	2	proceedings	proceeding	NOUN
ajst-14153	167	3	of	of	ADP
ajst-14153	167	4	the	the	DET
ajst-14153	167	5	20th	20th	ADJ
ajst-14153	167	6	imeko	imeko	NOUN
ajst-14153	167	7	tc4	tc4	PROPN
ajst-14153	167	8	international	international	ADJ
ajst-14153	167	9	symposium	symposium	NOUN
ajst-14153	167	10	,	,	PUNCT
ajst-14153	167	11	sep	sep	PROPN
ajst-14153	167	12	.	.	PROPN
ajst-14153	167	13	15	15	NUM
ajst-14153	167	14	17	17	NUM
ajst-14153	167	15	,	,	PUNCT
ajst-14153	167	16	2014	2014	NUM
ajst-14153	167	17	benevento	benevento	PROPN
ajst-14153	167	18	,	,	PUNCT
ajst-14153	167	19	italy	italy	PROPN
ajst-14153	167	20	,	,	PUNCT
ajst-14153	167	21	pages	page	VERB
ajst-14153	167	22	:	:	PUNCT
ajst-14153	167	23	429	429	NUM
ajst-14153	167	24	434	434	NUM
ajst-14153	167	25	.	.	PUNCT