id sid tid token lemma pos ajst-16325 1 1 academic academic ADJ ajst-16325 1 2 journal journal NOUN ajst-16325 1 3 of of ADP ajst-16325 1 4 science science NOUN ajst-16325 1 5 and and CCONJ ajst-16325 1 6 technology technology NOUN ajst-16325 1 7 issn issn NOUN ajst-16325 1 8 : : PUNCT ajst-16325 1 9 2771 2771 NUM ajst-16325 1 10 - - SYM ajst-16325 1 11 3032 3032 NUM ajst-16325 1 12 | | NOUN ajst-16325 1 13 vol vol NOUN ajst-16325 1 14 . . PROPN ajst-16325 2 1 9 9 NUM ajst-16325 2 2 , , PUNCT ajst-16325 2 3 no no INTJ ajst-16325 2 4 . . NOUN ajst-16325 2 5 1 1 NUM ajst-16325 2 6 , , PUNCT ajst-16325 2 7 2024 2024 NUM ajst-16325 2 8 110 110 NUM ajst-16325 2 9 research research NOUN ajst-16325 2 10 on on ADP ajst-16325 2 11 real‐time real‐time NOUN ajst-16325 2 12 simulation simulation NOUN ajst-16325 2 13 of of ADP ajst-16325 2 14 attitude attitude NOUN ajst-16325 2 15 and and CCONJ ajst-16325 2 16 path path NOUN ajst-16325 2 17 based base VERB ajst-16325 2 18 on on ADP ajst-16325 2 19 inertial inertial ADJ ajst-16325 2 20 data datum NOUN ajst-16325 2 21 of of ADP ajst-16325 2 22 probe probe PROPN ajst-16325 2 23 renjie renjie PROPN ajst-16325 2 24 huang huang PROPN ajst-16325 2 25 , , PUNCT ajst-16325 2 26 jun jun PROPN ajst-16325 2 27 li li PROPN ajst-16325 2 28 * * PROPN ajst-16325 2 29 , , PUNCT ajst-16325 2 30 junlong junlong PROPN ajst-16325 2 31 wang wang PROPN ajst-16325 2 32 , , PUNCT ajst-16325 2 33 ye ye PROPN ajst-16325 2 34 yuan yuan NOUN ajst-16325 2 35 , , PUNCT ajst-16325 2 36 chenchen chenchen PROPN ajst-16325 2 37 liu liu PROPN ajst-16325 2 38 , , PUNCT ajst-16325 3 1 chen chen PROPN ajst-16325 4 1 he he PRON ajst-16325 5 1 college college PROPN ajst-16325 5 2 of of ADP ajst-16325 5 3 mechanical mechanical ADJ ajst-16325 5 4 engineering engineering NOUN ajst-16325 5 5 , , PUNCT ajst-16325 5 6 sichuan sichuan PROPN ajst-16325 5 7 university university PROPN ajst-16325 5 8 of of ADP ajst-16325 5 9 science science PROPN ajst-16325 5 10 & & CCONJ ajst-16325 5 11 engineering engineering PROPN ajst-16325 5 12 , , PUNCT ajst-16325 5 13 yibing yibing NOUN ajst-16325 5 14 , , PUNCT ajst-16325 5 15 644000 644000 NUM ajst-16325 5 16 , , PUNCT ajst-16325 5 17 china china PROPN ajst-16325 5 18 * * PUNCT ajst-16325 5 19 corresponding correspond VERB ajst-16325 5 20 author author NOUN ajst-16325 5 21 abstract abstract NOUN ajst-16325 5 22 : : PUNCT ajst-16325 5 23 in in ADP ajst-16325 5 24 order order NOUN ajst-16325 5 25 to to PART ajst-16325 5 26 solve solve VERB ajst-16325 5 27 the the DET ajst-16325 5 28 problems problem NOUN ajst-16325 5 29 of of ADP ajst-16325 5 30 manual manual ADJ ajst-16325 5 31 missed miss VERB ajst-16325 5 32 detection detection NOUN ajst-16325 5 33 and and CCONJ ajst-16325 5 34 low low ADJ ajst-16325 5 35 efficiency efficiency NOUN ajst-16325 5 36 of of ADP ajst-16325 5 37 traditional traditional ADJ ajst-16325 5 38 class class NOUN ajst-16325 5 39 a a DET ajst-16325 5 40 ultrasound ultrasound NOUN ajst-16325 5 41 , , PUNCT ajst-16325 5 42 the the DET ajst-16325 5 43 inertial inertial ADJ ajst-16325 5 44 data datum NOUN ajst-16325 5 45 of of ADP ajst-16325 5 46 the the DET ajst-16325 5 47 probe probe NOUN ajst-16325 5 48 is be AUX ajst-16325 5 49 obtained obtain VERB ajst-16325 5 50 by by ADP ajst-16325 5 51 binding bind VERB ajst-16325 5 52 the the DET ajst-16325 5 53 imu imu NOUN ajst-16325 5 54 inertial inertial ADJ ajst-16325 5 55 sensor sensor NOUN ajst-16325 5 56 with with ADP ajst-16325 5 57 the the DET ajst-16325 5 58 probe probe NOUN ajst-16325 5 59 . . PUNCT ajst-16325 6 1 combined combine VERB ajst-16325 6 2 with with ADP ajst-16325 6 3 unity unity NOUN ajst-16325 6 4 motion motion NOUN ajst-16325 6 5 simulation simulation NOUN ajst-16325 6 6 , , PUNCT ajst-16325 6 7 the the DET ajst-16325 6 8 real real ADJ ajst-16325 6 9 - - PUNCT ajst-16325 6 10 time time NOUN ajst-16325 6 11 simulation simulation NOUN ajst-16325 6 12 of of ADP ajst-16325 6 13 twin twin PROPN ajst-16325 6 14 's 's PART ajst-16325 6 15 posture posture NOUN ajst-16325 6 16 and and CCONJ ajst-16325 6 17 path path NOUN ajst-16325 6 18 is be AUX ajst-16325 6 19 realized realize VERB ajst-16325 6 20 , , PUNCT ajst-16325 6 21 which which PRON ajst-16325 6 22 lays lay VERB ajst-16325 6 23 the the DET ajst-16325 6 24 foundation foundation NOUN ajst-16325 6 25 for for ADP ajst-16325 6 26 the the DET ajst-16325 6 27 construction construction NOUN ajst-16325 6 28 of of ADP ajst-16325 6 29 digital digital ADJ ajst-16325 6 30 twin twin ADJ ajst-16325 6 31 system system NOUN ajst-16325 6 32 . . PUNCT ajst-16325 7 1 keywords keyword NOUN ajst-16325 7 2 : : PUNCT ajst-16325 7 3 unity unity NOUN ajst-16325 7 4 , , PUNCT ajst-16325 7 5 imu imu NOUN ajst-16325 7 6 , , PUNCT ajst-16325 7 7 digital digital ADJ ajst-16325 7 8 twin twin ADJ ajst-16325 7 9 , , PUNCT ajst-16325 7 10 ultrasonic ultrasonic ADJ ajst-16325 7 11 detection detection NOUN ajst-16325 7 12 . . PUNCT ajst-16325 8 1 1 1 X ajst-16325 8 2 . . X ajst-16325 8 3 introduction introduction NOUN ajst-16325 8 4 pipeline pipeline NOUN ajst-16325 8 5 is be AUX ajst-16325 8 6 known know VERB ajst-16325 8 7 as as ADP ajst-16325 8 8 the the DET ajst-16325 8 9 artery artery NOUN ajst-16325 8 10 of of ADP ajst-16325 8 11 modern modern ADJ ajst-16325 8 12 industry industry NOUN ajst-16325 8 13 and and CCONJ ajst-16325 8 14 human human ADJ ajst-16325 8 15 life life NOUN ajst-16325 8 16 , , PUNCT ajst-16325 8 17 and and CCONJ ajst-16325 8 18 circular circular ADJ ajst-16325 8 19 welding welding NOUN ajst-16325 8 20 is be AUX ajst-16325 8 21 the the DET ajst-16325 8 22 basis basis NOUN ajst-16325 8 23 of of ADP ajst-16325 8 24 pipeline pipeline NOUN ajst-16325 8 25 application application NOUN ajst-16325 8 26 , , PUNCT ajst-16325 8 27 which which PRON ajst-16325 8 28 has have VERB ajst-16325 8 29 great great ADJ ajst-16325 8 30 influence influence NOUN ajst-16325 8 31 on on ADP ajst-16325 8 32 safeguarding safeguard VERB ajst-16325 8 33 national national ADJ ajst-16325 8 34 energy energy NOUN ajst-16325 8 35 security security NOUN ajst-16325 8 36 , , PUNCT ajst-16325 8 37 ensuring ensure VERB ajst-16325 8 38 economic economic ADJ ajst-16325 8 39 construction construction NOUN ajst-16325 8 40 and and CCONJ ajst-16325 8 41 residents resident NOUN ajst-16325 8 42 ' ' PART ajst-16325 8 43 life life NOUN ajst-16325 8 44 . . PUNCT ajst-16325 9 1 as as ADP ajst-16325 9 2 the the DET ajst-16325 9 3 most most ADV ajst-16325 9 4 vulnerable vulnerable ADJ ajst-16325 9 5 part part NOUN ajst-16325 9 6 of of ADP ajst-16325 9 7 the the DET ajst-16325 9 8 pipeline pipeline NOUN ajst-16325 9 9 , , PUNCT ajst-16325 9 10 the the DET ajst-16325 9 11 weld weld NOUN ajst-16325 9 12 is be AUX ajst-16325 9 13 the the DET ajst-16325 9 14 key key ADJ ajst-16325 9 15 factor factor NOUN ajst-16325 9 16 to to PART ajst-16325 9 17 determine determine VERB ajst-16325 9 18 the the DET ajst-16325 9 19 safe safe ADJ ajst-16325 9 20 , , PUNCT ajst-16325 9 21 effective effective ADJ ajst-16325 9 22 and and CCONJ ajst-16325 9 23 stable stable ADJ ajst-16325 9 24 operation operation NOUN ajst-16325 9 25 of of ADP ajst-16325 9 26 the the DET ajst-16325 9 27 pipeline pipeline NOUN ajst-16325 9 28 after after ADP ajst-16325 9 29 completion completion NOUN ajst-16325 9 30 , , PUNCT ajst-16325 9 31 so so CCONJ ajst-16325 9 32 it it PRON ajst-16325 9 33 is be AUX ajst-16325 9 34 particularly particularly ADV ajst-16325 9 35 important important ADJ ajst-16325 9 36 to to PART ajst-16325 9 37 ensure ensure VERB ajst-16325 9 38 the the DET ajst-16325 9 39 quality quality NOUN ajst-16325 9 40 of of ADP ajst-16325 9 41 the the DET ajst-16325 9 42 girth girth ADJ ajst-16325 9 43 weld weld NOUN ajst-16325 9 44 of of ADP ajst-16325 9 45 the the DET ajst-16325 9 46 pipeline pipeline NOUN ajst-16325 9 47 in in ADP ajst-16325 9 48 service service NOUN ajst-16325 9 49 . . PUNCT ajst-16325 10 1 with with ADP ajst-16325 10 2 its its PRON ajst-16325 10 3 low low ADJ ajst-16325 10 4 cost cost NOUN ajst-16325 10 5 , , PUNCT ajst-16325 10 6 high high ADJ ajst-16325 10 7 precision precision NOUN ajst-16325 10 8 and and CCONJ ajst-16325 10 9 good good ADJ ajst-16325 10 10 portability portability NOUN ajst-16325 10 11 , , PUNCT ajst-16325 10 12 ultrasonic ultrasonic ADJ ajst-16325 10 13 testing testing NOUN ajst-16325 10 14 technology technology NOUN ajst-16325 10 15 has have AUX ajst-16325 10 16 become become VERB ajst-16325 10 17 an an DET ajst-16325 10 18 important important ADJ ajst-16325 10 19 means mean NOUN ajst-16325 10 20 of of ADP ajst-16325 10 21 girth girth ADJ ajst-16325 10 22 weld weld NOUN ajst-16325 10 23 quality quality NOUN ajst-16325 10 24 evaluation evaluation NOUN ajst-16325 10 25 . . PUNCT ajst-16325 11 1 with with ADP ajst-16325 11 2 the the DET ajst-16325 11 3 increasing increase VERB ajst-16325 11 4 mileage mileage NOUN ajst-16325 11 5 of of ADP ajst-16325 11 6 global global ADJ ajst-16325 11 7 pipelines pipeline NOUN ajst-16325 11 8 , , PUNCT ajst-16325 11 9 the the DET ajst-16325 11 10 large large ADJ ajst-16325 11 11 - - PUNCT ajst-16325 11 12 scale scale NOUN ajst-16325 11 13 application application NOUN ajst-16325 11 14 of of ADP ajst-16325 11 15 metal metal NOUN ajst-16325 11 16 pipe pipe NOUN ajst-16325 11 17 network network NOUN ajst-16325 11 18 , , PUNCT ajst-16325 11 19 the the DET ajst-16325 11 20 large large ADJ ajst-16325 11 21 - - PUNCT ajst-16325 11 22 scale scale NOUN ajst-16325 11 23 size size NOUN ajst-16325 11 24 and and CCONJ ajst-16325 11 25 the the DET ajst-16325 11 26 complicated complicated ADJ ajst-16325 11 27 laying lay VERB ajst-16325 11 28 conditions condition NOUN ajst-16325 11 29 make make VERB ajst-16325 11 30 the the DET ajst-16325 11 31 girth girth ADJ ajst-16325 11 32 weld weld NOUN ajst-16325 11 33 detection detection NOUN ajst-16325 11 34 a a DET ajst-16325 11 35 huge huge ADJ ajst-16325 11 36 workload workload NOUN ajst-16325 11 37 , , PUNCT ajst-16325 11 38 and and CCONJ ajst-16325 11 39 the the DET ajst-16325 11 40 task task NOUN ajst-16325 11 41 is be AUX ajst-16325 11 42 more more ADV ajst-16325 11 43 arduous arduous ADJ ajst-16325 11 44 and and CCONJ ajst-16325 11 45 dangerous dangerous ADJ ajst-16325 11 46 . . PUNCT ajst-16325 12 1 the the DET ajst-16325 12 2 traditional traditional ADJ ajst-16325 12 3 manual manual ADJ ajst-16325 12 4 detection detection NOUN ajst-16325 12 5 technology technology NOUN ajst-16325 12 6 has have VERB ajst-16325 12 7 the the DET ajst-16325 12 8 problems problem NOUN ajst-16325 12 9 of of ADP ajst-16325 12 10 missed miss VERB ajst-16325 12 11 detection detection NOUN ajst-16325 12 12 and and CCONJ ajst-16325 12 13 low low ADJ ajst-16325 12 14 efficiency efficiency NOUN ajst-16325 12 15 , , PUNCT ajst-16325 12 16 which which PRON ajst-16325 12 17 is be AUX ajst-16325 12 18 difficult difficult ADJ ajst-16325 12 19 to to PART ajst-16325 12 20 meet meet VERB ajst-16325 12 21 the the DET ajst-16325 12 22 current current ADJ ajst-16325 12 23 development development NOUN ajst-16325 12 24 needs need NOUN ajst-16325 12 25 . . PUNCT ajst-16325 13 1 as as SCONJ ajst-16325 13 2 a a DET ajst-16325 13 3 key key ADJ ajst-16325 13 4 enabling enable VERB ajst-16325 13 5 technology technology NOUN ajst-16325 13 6 to to PART ajst-16325 13 7 realize realize VERB ajst-16325 13 8 intelligent intelligent ADJ ajst-16325 13 9 manufacturing manufacturing NOUN ajst-16325 13 10 , , PUNCT ajst-16325 13 11 digital digital ADJ ajst-16325 13 12 twin twin ADJ ajst-16325 13 13 technology technology NOUN ajst-16325 13 14 can can AUX ajst-16325 13 15 be be AUX ajst-16325 13 16 used use VERB ajst-16325 13 17 to to PART ajst-16325 13 18 model model VERB ajst-16325 13 19 and and CCONJ ajst-16325 13 20 monitor monitor VERB ajst-16325 13 21 the the DET ajst-16325 13 22 research research NOUN ajst-16325 13 23 object object NOUN ajst-16325 13 24 in in ADP ajst-16325 13 25 real real ADJ ajst-16325 13 26 time time NOUN ajst-16325 13 27 . . PUNCT ajst-16325 14 1 and and CCONJ ajst-16325 14 2 through through ADP ajst-16325 14 3 twin twin ADJ ajst-16325 14 4 data datum NOUN ajst-16325 14 5 analysis analysis NOUN ajst-16325 14 6 and and CCONJ ajst-16325 14 7 simulation simulation NOUN ajst-16325 14 8 verification verification NOUN ajst-16325 14 9 , , PUNCT ajst-16325 14 10 intelligent intelligent ADJ ajst-16325 14 11 decision decision NOUN ajst-16325 14 12 - - PUNCT ajst-16325 14 13 making making NOUN ajst-16325 14 14 such such ADJ ajst-16325 14 15 as as ADP ajst-16325 14 16 state state NOUN ajst-16325 14 17 prediction prediction NOUN ajst-16325 14 18 and and CCONJ ajst-16325 14 19 fault fault VERB ajst-16325 14 20 diagnosis diagnosis NOUN ajst-16325 14 21 is be AUX ajst-16325 14 22 realized realize VERB ajst-16325 14 23 . . PUNCT ajst-16325 15 1 in in ADP ajst-16325 15 2 this this DET ajst-16325 15 3 paper paper NOUN ajst-16325 15 4 , , PUNCT ajst-16325 15 5 based base VERB ajst-16325 15 6 on on ADP ajst-16325 15 7 the the DET ajst-16325 15 8 inertial inertial ADJ ajst-16325 15 9 data datum NOUN ajst-16325 15 10 of of ADP ajst-16325 15 11 ultrasonic ultrasonic ADJ ajst-16325 15 12 probe probe NOUN ajst-16325 15 13 , , PUNCT ajst-16325 15 14 the the DET ajst-16325 15 15 attitude attitude NOUN ajst-16325 15 16 and and CCONJ ajst-16325 15 17 position position NOUN ajst-16325 15 18 of of ADP ajst-16325 15 19 twin twin NOUN ajst-16325 15 20 are be AUX ajst-16325 15 21 driven drive VERB ajst-16325 15 22 and and CCONJ ajst-16325 15 23 the the DET ajst-16325 15 24 moving move VERB ajst-16325 15 25 path path NOUN ajst-16325 15 26 is be AUX ajst-16325 15 27 drawn draw VERB ajst-16325 15 28 , , PUNCT ajst-16325 15 29 which which PRON ajst-16325 15 30 provides provide VERB ajst-16325 15 31 a a DET ajst-16325 15 32 theoretical theoretical ADJ ajst-16325 15 33 basis basis NOUN ajst-16325 15 34 for for ADP ajst-16325 15 35 the the DET ajst-16325 15 36 digital digital ADJ ajst-16325 15 37 twins twin NOUN ajst-16325 15 38 of of ADP ajst-16325 15 39 ultrasonic ultrasonic ADJ ajst-16325 15 40 nondestructive nondestructive ADJ ajst-16325 15 41 testing testing NOUN ajst-16325 15 42 in in ADP ajst-16325 15 43 the the DET ajst-16325 15 44 future future NOUN ajst-16325 15 45 . . PUNCT ajst-16325 16 1 2 2 X ajst-16325 16 2 . . X ajst-16325 16 3 inertial inertial ADJ ajst-16325 16 4 data datum NOUN ajst-16325 16 5 preprocessing preprocesse VERB ajst-16325 16 6 in in ADP ajst-16325 16 7 this this DET ajst-16325 16 8 paper paper NOUN ajst-16325 16 9 , , PUNCT ajst-16325 16 10 a a DET ajst-16325 16 11 high high ADJ ajst-16325 16 12 - - PUNCT ajst-16325 16 13 performance performance NOUN ajst-16325 16 14 miniature miniature ADJ ajst-16325 16 15 wireless wireless ADJ ajst-16325 16 16 transmission transmission NOUN ajst-16325 16 17 attitude attitude NOUN ajst-16325 16 18 sensor sensor NOUN ajst-16325 16 19 , , PUNCT ajst-16325 16 20 lpms lpm NOUN ajst-16325 16 21 - - PUNCT ajst-16325 16 22 b2 b2 NOUN ajst-16325 16 23 , , PUNCT ajst-16325 16 24 is be AUX ajst-16325 16 25 developed develop VERB ajst-16325 16 26 and and CCONJ ajst-16325 16 27 produced produce VERB ajst-16325 16 28 by by ADP ajst-16325 16 29 japanese japanese ADJ ajst-16325 16 30 lp lp ADJ ajst-16325 16 31 - - PUNCT ajst-16325 16 32 research research NOUN ajst-16325 16 33 company company NOUN ajst-16325 16 34 and and CCONJ ajst-16325 16 35 china china PROPN ajst-16325 16 36 guangzhou guangzhou PROPN ajst-16325 16 37 alubi alubi PROPN ajst-16325 16 38 electronic electronic PROPN ajst-16325 16 39 technology technology PROPN ajst-16325 16 40 co. co. PROPN ajst-16325 16 41 , , PUNCT ajst-16325 16 42 ltd ltd PROPN ajst-16325 16 43 . . PROPN ajst-16325 16 44 , , PUNCT ajst-16325 16 45 as as SCONJ ajst-16325 16 46 shown show VERB ajst-16325 16 47 in in ADP ajst-16325 16 48 figure figure NOUN ajst-16325 16 49 1 1 NUM ajst-16325 16 50 . . ADP ajst-16325 16 51 2.1 2.1 NUM ajst-16325 16 52 . . PUNCT ajst-16325 17 1 gyroscope gyroscope NOUN ajst-16325 17 2 calibration calibration NOUN ajst-16325 17 3 in in ADP ajst-16325 17 4 this this DET ajst-16325 17 5 paper paper NOUN ajst-16325 17 6 , , PUNCT ajst-16325 17 7 the the DET ajst-16325 17 8 field field NOUN ajst-16325 17 9 calibration calibration NOUN ajst-16325 17 10 method method NOUN ajst-16325 17 11 is be AUX ajst-16325 17 12 used use VERB ajst-16325 17 13 to to PART ajst-16325 17 14 calibrate calibrate VERB ajst-16325 17 15 the the DET ajst-16325 17 16 gyroscope gyroscope NOUN ajst-16325 17 17 initially initially ADV ajst-16325 17 18 . . PUNCT ajst-16325 18 1 this this DET ajst-16325 18 2 method method NOUN ajst-16325 18 3 is be AUX ajst-16325 18 4 easy easy ADJ ajst-16325 18 5 to to PART ajst-16325 18 6 realize realize VERB ajst-16325 18 7 without without ADP ajst-16325 18 8 the the DET ajst-16325 18 9 assistance assistance NOUN ajst-16325 18 10 of of ADP ajst-16325 18 11 turntable turntable ADJ ajst-16325 18 12 and and CCONJ ajst-16325 18 13 other other ADJ ajst-16325 18 14 equipment equipment NOUN ajst-16325 18 15 . . PUNCT ajst-16325 19 1 firstly firstly ADV ajst-16325 19 2 , , PUNCT ajst-16325 19 3 the the DET ajst-16325 19 4 error error NOUN ajst-16325 19 5 model model NOUN ajst-16325 19 6 of of ADP ajst-16325 19 7 gyroscope gyroscope NOUN ajst-16325 19 8 data datum NOUN ajst-16325 19 9 is be AUX ajst-16325 19 10 established establish VERB ajst-16325 19 11 , , PUNCT ajst-16325 19 12 and and CCONJ ajst-16325 19 13 the the DET ajst-16325 19 14 actual actual ADJ ajst-16325 19 15 measured measured ADJ ajst-16325 19 16 value value NOUN ajst-16325 19 17 of of ADP ajst-16325 19 18 gyroscope gyroscope NOUN ajst-16325 19 19 can can AUX ajst-16325 19 20 be be AUX ajst-16325 19 21 understood understand VERB ajst-16325 19 22 as as ADP ajst-16325 19 23 the the DET ajst-16325 19 24 sum sum NOUN ajst-16325 19 25 of of ADP ajst-16325 19 26 zero zero NUM ajst-16325 19 27 drift drift NOUN ajst-16325 19 28 , , PUNCT ajst-16325 19 29 actual actual ADJ ajst-16325 19 30 data datum NOUN ajst-16325 19 31 and and CCONJ ajst-16325 19 32 random random ADJ ajst-16325 19 33 error error NOUN ajst-16325 19 34 . . PUNCT ajst-16325 20 1 the the DET ajst-16325 20 2 formula formula NOUN ajst-16325 20 3 is be AUX ajst-16325 20 4 as as SCONJ ajst-16325 20 5 follows follow VERB ajst-16325 20 6 : : PUNCT ajst-16325 20 7 figure figure NOUN ajst-16325 20 8 1 1 NUM ajst-16325 20 9 . . PUNCT ajst-16325 20 10 imu imu ADJ ajst-16325 20 11 physical physical ADJ ajst-16325 20 12 image image NOUN ajst-16325 20 13 π‘Š π‘Š PROPN ajst-16325 20 14 π‘Š π‘Š NOUN ajst-16325 20 15 π‘Š π‘Š NOUN ajst-16325 20 16 𝑀 𝑀 NOUN ajst-16325 20 17 𝑀 𝑀 PART ajst-16325 20 18 𝑀 𝑀 PART ajst-16325 20 19 𝑀 𝑀 PART ajst-16325 20 20 𝑀 𝑀 NOUN ajst-16325 20 21 𝑀 𝑀 ADP ajst-16325 20 22 𝑣 𝑣 PART ajst-16325 20 23 𝑣 𝑣 PRON ajst-16325 20 24 𝑣 𝑣 X ajst-16325 20 25 ( ( PUNCT ajst-16325 20 26 1 1 NUM ajst-16325 20 27 ) ) PUNCT ajst-16325 20 28 where where SCONJ ajst-16325 20 29 w w NOUN ajst-16325 20 30 is be AUX ajst-16325 20 31 the the DET ajst-16325 20 32 actual actual ADJ ajst-16325 20 33 measured measure VERB ajst-16325 20 34 value value NOUN ajst-16325 20 35 of of ADP ajst-16325 20 36 each each DET ajst-16325 20 37 axis axis NOUN ajst-16325 20 38 of of ADP ajst-16325 20 39 the the DET ajst-16325 20 40 gyroscope gyroscope NOUN ajst-16325 20 41 , , PUNCT ajst-16325 20 42 𝑀 𝑀 X ajst-16325 20 43 is be AUX ajst-16325 20 44 the the DET ajst-16325 20 45 zero zero NUM ajst-16325 20 46 drift drift NOUN ajst-16325 20 47 of of ADP ajst-16325 20 48 each each DET ajst-16325 20 49 axis axis NOUN ajst-16325 20 50 of of ADP ajst-16325 20 51 the the DET ajst-16325 20 52 gyroscope gyroscope NOUN ajst-16325 20 53 , , PUNCT ajst-16325 20 54 and and CCONJ ajst-16325 20 55 𝑣 𝑣 PRON ajst-16325 20 56 is be AUX ajst-16325 20 57 the the DET ajst-16325 20 58 random random ADJ ajst-16325 20 59 error error NOUN ajst-16325 20 60 of of ADP ajst-16325 20 61 each each DET ajst-16325 20 62 axis axis NOUN ajst-16325 20 63 of of ADP ajst-16325 20 64 the the DET ajst-16325 20 65 gyroscope gyroscope NOUN ajst-16325 20 66 . . PUNCT ajst-16325 21 1 gyroscope gyroscope NOUN ajst-16325 21 2 will will AUX ajst-16325 21 3 produce produce VERB ajst-16325 21 4 inevitable inevitable ADJ ajst-16325 21 5 zero zero NUM ajst-16325 21 6 drift drift NOUN ajst-16325 21 7 according accord VERB ajst-16325 21 8 to to ADP ajst-16325 21 9 the the DET ajst-16325 21 10 change change NOUN ajst-16325 21 11 of of ADP ajst-16325 21 12 ambient ambient ADJ ajst-16325 21 13 temperature temperature NOUN ajst-16325 21 14 , , PUNCT ajst-16325 21 15 and and CCONJ ajst-16325 21 16 the the DET ajst-16325 21 17 subsequent subsequent ADJ ajst-16325 21 18 data data NOUN ajst-16325 21 19 fusion fusion NOUN ajst-16325 21 20 algorithm algorithm NOUN ajst-16325 21 21 will will AUX ajst-16325 21 22 be be AUX ajst-16325 21 23 constantly constantly ADV ajst-16325 21 24 revised revise VERB ajst-16325 21 25 . . PUNCT ajst-16325 22 1 therefore therefore ADV ajst-16325 22 2 , , PUNCT ajst-16325 22 3 here here ADV ajst-16325 22 4 is be AUX ajst-16325 22 5 mainly mainly ADV ajst-16325 22 6 zero zero NUM ajst-16325 22 7 drift drift NOUN ajst-16325 22 8 correction correction NOUN ajst-16325 22 9 for for ADP ajst-16325 22 10 gyroscope gyroscope NOUN ajst-16325 22 11 . . PUNCT ajst-16325 23 1 in in ADP ajst-16325 23 2 the the DET ajst-16325 23 3 process process NOUN ajst-16325 23 4 of of ADP ajst-16325 23 5 correction correction NOUN ajst-16325 23 6 , , PUNCT ajst-16325 23 7 the the DET ajst-16325 23 8 single single ADJ ajst-16325 23 9 - - PUNCT ajst-16325 23 10 node node NOUN ajst-16325 23 11 sensor sensor NOUN ajst-16325 23 12 is be AUX ajst-16325 23 13 stationary stationary ADJ ajst-16325 23 14 for for ADP ajst-16325 23 15 10 10 NUM ajst-16325 23 16 seconds second NOUN ajst-16325 23 17 after after ADP ajst-16325 23 18 being be AUX ajst-16325 23 19 turned turn VERB ajst-16325 23 20 on on ADP ajst-16325 23 21 , , PUNCT ajst-16325 23 22 and and CCONJ ajst-16325 23 23 then then ADV ajst-16325 23 24 the the DET ajst-16325 23 25 zero zero NUM ajst-16325 23 26 output output NOUN ajst-16325 23 27 value value NOUN ajst-16325 23 28 of of ADP ajst-16325 23 29 the the DET ajst-16325 23 30 gyroscope gyroscope NOUN ajst-16325 23 31 is be AUX ajst-16325 23 32 collected collect VERB ajst-16325 23 33 by by ADP ajst-16325 23 34 the the DET ajst-16325 23 35 sensor sensor NOUN ajst-16325 23 36 for for ADP ajst-16325 23 37 many many ADJ ajst-16325 23 38 times time NOUN ajst-16325 23 39 , , PUNCT ajst-16325 23 40 and and CCONJ ajst-16325 23 41 then then ADV ajst-16325 23 42 the the DET ajst-16325 23 43 obtained obtain VERB ajst-16325 23 44 data datum NOUN ajst-16325 23 45 is be AUX ajst-16325 23 46 averaged average VERB ajst-16325 23 47 by by ADP ajst-16325 23 48 formula formula NOUN ajst-16325 23 49 ( ( PUNCT ajst-16325 23 50 1 1 NUM ajst-16325 23 51 ) ) PUNCT ajst-16325 23 52 to to PART ajst-16325 23 53 obtain obtain VERB ajst-16325 23 54 the the DET ajst-16325 23 55 zero zero NUM ajst-16325 23 56 drift drift NOUN ajst-16325 23 57 value value NOUN ajst-16325 23 58 w_0 w_0 PROPN ajst-16325 23 59 of of ADP ajst-16325 23 60 the the DET ajst-16325 23 61 gyroscope gyroscope NOUN ajst-16325 23 62 , , PUNCT ajst-16325 23 63 and and CCONJ ajst-16325 23 64 finally finally ADV ajst-16325 23 65 it it PRON ajst-16325 23 66 is be AUX ajst-16325 23 67 brought bring VERB ajst-16325 23 68 into into ADP ajst-16325 23 69 formula formula NOUN ajst-16325 23 70 ( ( PUNCT ajst-16325 23 71 2 2 NUM ajst-16325 23 72 ) ) PUNCT ajst-16325 23 73 to to PART ajst-16325 23 74 correct correct VERB ajst-16325 23 75 the the DET ajst-16325 23 76 gyroscope gyroscope NOUN ajst-16325 23 77 . . PUNCT ajst-16325 24 1 πœ” πœ” AUX ajst-16325 24 2 βˆ‘ βˆ‘ PART ajst-16325 24 3 β€Š β€Š SPACE ajst-16325 24 4 πœ” πœ” PROPN ajst-16325 24 5 ( ( PUNCT ajst-16325 24 6 2 2 NUM ajst-16325 24 7 ) ) PUNCT ajst-16325 24 8 taking take VERB ajst-16325 24 9 the the DET ajst-16325 24 10 z z NOUN ajst-16325 24 11 axis axis NOUN ajst-16325 24 12 as as ADP ajst-16325 24 13 an an DET ajst-16325 24 14 example example NOUN ajst-16325 24 15 , , PUNCT ajst-16325 24 16 the the DET ajst-16325 24 17 gyro gyro NOUN ajst-16325 24 18 calibration calibration NOUN ajst-16325 24 19 result result NOUN ajst-16325 24 20 is be AUX ajst-16325 24 21 shown show VERB ajst-16325 24 22 in in ADP ajst-16325 24 23 figure figure NOUN ajst-16325 24 24 2 2 NUM ajst-16325 24 25 ( ( PUNCT ajst-16325 24 26 where where SCONJ ajst-16325 24 27 the the DET ajst-16325 24 28 abscissa abscissa NOUN ajst-16325 24 29 is be AUX ajst-16325 24 30 the the DET ajst-16325 24 31 number number NOUN ajst-16325 24 32 of of ADP ajst-16325 24 33 data datum NOUN ajst-16325 24 34 samples sample NOUN ajst-16325 24 35 , , PUNCT ajst-16325 24 36 the the DET ajst-16325 24 37 ordinate ordinate NOUN ajst-16325 24 38 is be AUX ajst-16325 24 39 the the DET ajst-16325 24 40 gyro gyro NOUN ajst-16325 24 41 output output NOUN ajst-16325 24 42 value value NOUN ajst-16325 24 43 , , PUNCT ajst-16325 24 44 bc bc PROPN ajst-16325 24 45 is be AUX ajst-16325 24 46 before before ADP ajst-16325 24 47 calibration calibration NOUN ajst-16325 24 48 , , PUNCT ajst-16325 24 49 and and CCONJ ajst-16325 24 50 ac ac PROPN ajst-16325 24 51 is be AUX ajst-16325 24 52 after after ADP ajst-16325 24 53 calibration calibration NOUN ajst-16325 24 54 ) ) PUNCT ajst-16325 24 55 . . PUNCT ajst-16325 25 1 111 111 NUM ajst-16325 25 2 figure figure NOUN ajst-16325 25 3 2 2 NUM ajst-16325 25 4 . . PUNCT ajst-16325 25 5 comparison comparison NOUN ajst-16325 25 6 chart chart NOUN ajst-16325 25 7 of of ADP ajst-16325 25 8 gyroscope gyroscope NOUN ajst-16325 25 9 calibration calibration NOUN ajst-16325 25 10 results result VERB ajst-16325 25 11 2.2 2.2 NUM ajst-16325 25 12 . . PUNCT ajst-16325 26 1 acceleration acceleration NOUN ajst-16325 26 2 calibration calibration NOUN ajst-16325 26 3 when when SCONJ ajst-16325 26 4 the the DET ajst-16325 26 5 accelerometer accelerometer NOUN ajst-16325 26 6 is be AUX ajst-16325 26 7 kept keep VERB ajst-16325 26 8 at at ADP ajst-16325 26 9 rest rest NOUN ajst-16325 26 10 , , PUNCT ajst-16325 26 11 its its PRON ajst-16325 26 12 theoretical theoretical ADJ ajst-16325 26 13 value value NOUN ajst-16325 26 14 is be AUX ajst-16325 26 15 only only ADV ajst-16325 26 16 affected affect VERB ajst-16325 26 17 by by ADP ajst-16325 26 18 the the DET ajst-16325 26 19 acceleration acceleration NOUN ajst-16325 26 20 of of ADP ajst-16325 26 21 gravity gravity NOUN ajst-16325 26 22 , , PUNCT ajst-16325 26 23 that that ADV ajst-16325 26 24 is is ADV ajst-16325 26 25 , , PUNCT ajst-16325 26 26 the the DET ajst-16325 26 27 three three NUM ajst-16325 26 28 - - PUNCT ajst-16325 26 29 axis axis NOUN ajst-16325 26 30 measured measure VERB ajst-16325 26 31 value value NOUN ajst-16325 26 32 is be AUX ajst-16325 26 33 the the DET ajst-16325 26 34 component component NOUN ajst-16325 26 35 of of ADP ajst-16325 26 36 the the DET ajst-16325 26 37 acceleration acceleration NOUN ajst-16325 26 38 of of ADP ajst-16325 26 39 gravity gravity NOUN ajst-16325 26 40 in in ADP ajst-16325 26 41 three three NUM ajst-16325 26 42 axes axis NOUN ajst-16325 26 43 , , PUNCT ajst-16325 26 44 and and CCONJ ajst-16325 26 45 the the DET ajst-16325 26 46 following follow VERB ajst-16325 26 47 formula formula NOUN ajst-16325 26 48 can can AUX ajst-16325 26 49 be be AUX ajst-16325 26 50 obtained obtain VERB ajst-16325 26 51 : : PUNCT ajst-16325 26 52 π‘Žπ‘π‘ π‘Žπ‘π‘ NUM ajst-16325 26 53 π‘Žπ‘π‘ π‘Žπ‘π‘ NOUN ajst-16325 26 54 π‘Žπ‘π‘ π‘Žπ‘π‘ NOUN ajst-16325 26 55 g g PROPN ajst-16325 26 56 ( ( PUNCT ajst-16325 26 57 3 3 NUM ajst-16325 26 58 ) ) PUNCT ajst-16325 26 59 deterministic deterministic ADJ ajst-16325 26 60 error error NOUN ajst-16325 26 61 mainly mainly ADV ajst-16325 26 62 includes include VERB ajst-16325 26 63 scale scale NOUN ajst-16325 26 64 and and CCONJ ajst-16325 26 65 deviation deviation NOUN ajst-16325 26 66 ( ( PUNCT ajst-16325 26 67 scale scale NOUN ajst-16325 26 68 bias bias NOUN ajst-16325 26 69 : : PUNCT ajst-16325 26 70 in in ADP ajst-16325 26 71 theory theory NOUN ajst-16325 26 72 , , PUNCT ajst-16325 26 73 when when SCONJ ajst-16325 26 74 there there PRON ajst-16325 26 75 is be VERB ajst-16325 26 76 no no DET ajst-16325 26 77 external external ADJ ajst-16325 26 78 effect effect NOUN ajst-16325 26 79 , , PUNCT ajst-16325 26 80 the the DET ajst-16325 26 81 output output NOUN ajst-16325 26 82 of of ADP ajst-16325 26 83 accelerometer accelerometer NOUN ajst-16325 26 84 should should AUX ajst-16325 26 85 only only ADV ajst-16325 26 86 be be AUX ajst-16325 26 87 affected affect VERB ajst-16325 26 88 by by ADP ajst-16325 26 89 gravity gravity NOUN ajst-16325 26 90 acceleration acceleration NOUN ajst-16325 26 91 , , PUNCT ajst-16325 26 92 but but CCONJ ajst-16325 26 93 in in ADP ajst-16325 26 94 fact fact NOUN ajst-16325 26 95 there there PRON ajst-16325 26 96 will will AUX ajst-16325 26 97 be be AUX ajst-16325 26 98 a a DET ajst-16325 26 99 bias bias NOUN ajst-16325 26 100 b b NOUN ajst-16325 26 101 in in ADP ajst-16325 26 102 the the DET ajst-16325 26 103 data datum NOUN ajst-16325 26 104 . . PUNCT ajst-16325 27 1 the the DET ajst-16325 27 2 deviation deviation NOUN ajst-16325 27 3 scale scale NOUN ajst-16325 27 4 can can AUX ajst-16325 27 5 be be AUX ajst-16325 27 6 regarded regard VERB ajst-16325 27 7 as as SCONJ ajst-16325 27 8 the the DET ajst-16325 27 9 ratio ratio NOUN ajst-16325 27 10 between between ADP ajst-16325 27 11 the the DET ajst-16325 27 12 actual actual ADJ ajst-16325 27 13 value value NOUN ajst-16325 27 14 and and CCONJ ajst-16325 27 15 the the DET ajst-16325 27 16 output output NOUN ajst-16325 27 17 value value NOUN ajst-16325 27 18 of of ADP ajst-16325 27 19 the the DET ajst-16325 27 20 sensor sensor NOUN ajst-16325 27 21 ) ) PUNCT ajst-16325 27 22 and and CCONJ ajst-16325 27 23 the the DET ajst-16325 27 24 inter inter ADJ ajst-16325 27 25 - - ADJ ajst-16325 27 26 axis axis ADJ ajst-16325 27 27 error error NOUN ajst-16325 27 28 ( ( PUNCT ajst-16325 27 29 due due ADP ajst-16325 27 30 to to ADP ajst-16325 27 31 the the DET ajst-16325 27 32 problem problem NOUN ajst-16325 27 33 of of ADP ajst-16325 27 34 hardware hardware NOUN ajst-16325 27 35 manufacturing manufacturing NOUN ajst-16325 27 36 process process NOUN ajst-16325 27 37 , , PUNCT ajst-16325 27 38 the the DET ajst-16325 27 39 x x PROPN ajst-16325 27 40 - - NOUN ajst-16325 27 41 y y ADJ ajst-16325 27 42 , , PUNCT ajst-16325 27 43 z z NOUN ajst-16325 27 44 - - PUNCT ajst-16325 27 45 x x X ajst-16325 27 46 and and CCONJ ajst-16325 27 47 y y PROPN ajst-16325 27 48 - - PUNCT ajst-16325 27 49 z z NOUN ajst-16325 27 50 axes axis NOUN ajst-16325 27 51 are be AUX ajst-16325 27 52 not not PART ajst-16325 27 53 vertical vertical ADJ ajst-16325 27 54 , , PUNCT ajst-16325 27 55 that that ADV ajst-16325 27 56 is is ADV ajst-16325 27 57 , , PUNCT ajst-16325 27 58 the the DET ajst-16325 27 59 inter inter ADJ ajst-16325 27 60 - - ADJ ajst-16325 27 61 axis axis ADJ ajst-16325 27 62 error error NOUN ajst-16325 27 63 ) ) PUNCT ajst-16325 27 64 . . PUNCT ajst-16325 28 1 considering consider VERB ajst-16325 28 2 the the DET ajst-16325 28 3 inter inter ADJ ajst-16325 28 4 - - ADJ ajst-16325 28 5 axis axis ADJ ajst-16325 28 6 error error NOUN ajst-16325 28 7 , , PUNCT ajst-16325 28 8 the the DET ajst-16325 28 9 relationship relationship NOUN ajst-16325 28 10 between between ADP ajst-16325 28 11 the the DET ajst-16325 28 12 actual actual ADJ ajst-16325 28 13 acceleration acceleration NOUN ajst-16325 28 14 and and CCONJ ajst-16325 28 15 the the DET ajst-16325 28 16 measured measure VERB ajst-16325 28 17 value value NOUN ajst-16325 28 18 is be AUX ajst-16325 28 19 shown show VERB ajst-16325 28 20 in in ADP ajst-16325 28 21 formula formula NOUN ajst-16325 28 22 ( ( PUNCT ajst-16325 28 23 4 4 NUM ajst-16325 28 24 ) ) PUNCT ajst-16325 28 25 , , PUNCT ajst-16325 28 26 where where SCONJ ajst-16325 28 27 l l NOUN ajst-16325 28 28 is be AUX ajst-16325 28 29 the the DET ajst-16325 28 30 actual actual ADJ ajst-16325 28 31 acceleration acceleration NOUN ajst-16325 28 32 , , PUNCT ajst-16325 28 33 a a PRON ajst-16325 28 34 is be AUX ajst-16325 28 35 the the DET ajst-16325 28 36 measured measure VERB ajst-16325 28 37 acceleration acceleration NOUN ajst-16325 28 38 value value NOUN ajst-16325 28 39 , , PUNCT ajst-16325 28 40 b b PROPN ajst-16325 28 41 is be AUX ajst-16325 28 42 the the DET ajst-16325 28 43 bias bias NOUN ajst-16325 28 44 value value NOUN ajst-16325 28 45 , , PUNCT ajst-16325 28 46 s s VERB ajst-16325 28 47 is be AUX ajst-16325 28 48 the the DET ajst-16325 28 49 scale scale NOUN ajst-16325 28 50 value value NOUN ajst-16325 28 51 , , PUNCT ajst-16325 28 52 and and CCONJ ajst-16325 28 53 m m PROPN ajst-16325 28 54 is be AUX ajst-16325 28 55 the the DET ajst-16325 28 56 inter inter ADJ ajst-16325 28 57 - - ADJ ajst-16325 28 58 axis axis ADJ ajst-16325 28 59 error error NOUN ajst-16325 28 60 . . PUNCT ajst-16325 29 1 𝑙 𝑙 X ajst-16325 30 1 𝑙 𝑙 X ajst-16325 30 2 𝑙 𝑙 X ajst-16325 30 3 𝑠 𝑠 INTJ ajst-16325 30 4 π‘š π‘š X ajst-16325 30 5 π‘š π‘š X ajst-16325 30 6 π‘š π‘š X ajst-16325 30 7 𝑠 𝑠 X ajst-16325 30 8 π‘š π‘š NOUN ajst-16325 30 9 π‘š π‘š X ajst-16325 30 10 π‘š π‘š X ajst-16325 30 11 𝑠 𝑠 NUM ajst-16325 30 12 π‘Ž π‘Ž NOUN ajst-16325 30 13 π‘Ž π‘Ž NOUN ajst-16325 30 14 π‘Ž π‘Ž PROPN ajst-16325 30 15 𝑏 𝑏 NOUN ajst-16325 30 16 𝑏 𝑏 PROPN ajst-16325 30 17 𝑏 𝑏 PROPN ajst-16325 30 18 ( ( PUNCT ajst-16325 30 19 4 4 NUM ajst-16325 30 20 ) ) PUNCT ajst-16325 30 21 because because SCONJ ajst-16325 30 22 the the DET ajst-16325 30 23 imu imu NOUN ajst-16325 30 24 used use VERB ajst-16325 30 25 in in ADP ajst-16325 30 26 this this DET ajst-16325 30 27 paper paper NOUN ajst-16325 30 28 is be AUX ajst-16325 30 29 a a DET ajst-16325 30 30 commercial commercial ADJ ajst-16325 30 31 product product NOUN ajst-16325 30 32 , , PUNCT ajst-16325 30 33 the the DET ajst-16325 30 34 inter inter ADJ ajst-16325 30 35 - - ADJ ajst-16325 30 36 axis axis ADJ ajst-16325 30 37 error error NOUN ajst-16325 30 38 m m NOUN ajst-16325 30 39 can can AUX ajst-16325 30 40 be be AUX ajst-16325 30 41 ignored ignore VERB ajst-16325 30 42 here here ADV ajst-16325 30 43 , , PUNCT ajst-16325 30 44 so so CCONJ ajst-16325 30 45 the the DET ajst-16325 30 46 formula formula NOUN ajst-16325 30 47 ( ( PUNCT ajst-16325 30 48 4 4 X ajst-16325 30 49 ) ) PUNCT ajst-16325 30 50 can can AUX ajst-16325 30 51 be be AUX ajst-16325 30 52 simplified simplify VERB ajst-16325 30 53 as as SCONJ ajst-16325 30 54 follows follow VERB ajst-16325 30 55 : : PUNCT ajst-16325 31 1 𝑙 𝑙 PROPN ajst-16325 31 2 𝑙 𝑙 X ajst-16325 31 3 𝑙 𝑙 X ajst-16325 31 4 𝑠 𝑠 INTJ ajst-16325 31 5 0 0 NUM ajst-16325 31 6 0 0 NUM ajst-16325 31 7 0 0 NUM ajst-16325 31 8 𝑠 𝑠 X ajst-16325 31 9 0 0 NUM ajst-16325 31 10 0 0 NUM ajst-16325 31 11 0 0 NUM ajst-16325 32 1 𝑠 𝑠 NUM ajst-16325 32 2 π‘Ž π‘Ž NOUN ajst-16325 32 3 π‘Ž π‘Ž X ajst-16325 32 4 π‘Ž π‘Ž PROPN ajst-16325 32 5 𝑏 𝑏 NOUN ajst-16325 32 6 𝑏 𝑏 PROPN ajst-16325 32 7 𝑏 𝑏 PROPN ajst-16325 32 8 ( ( PUNCT ajst-16325 32 9 5 5 NUM ajst-16325 32 10 ) ) PUNCT ajst-16325 32 11 in in ADP ajst-16325 32 12 the the DET ajst-16325 32 13 process process NOUN ajst-16325 32 14 of of ADP ajst-16325 32 15 calibration calibration NOUN ajst-16325 32 16 , , PUNCT ajst-16325 32 17 firstly firstly ADV ajst-16325 32 18 , , PUNCT ajst-16325 32 19 the the DET ajst-16325 32 20 accelerometer accelerometer NOUN ajst-16325 32 21 is be AUX ajst-16325 32 22 placed place VERB ajst-16325 32 23 on on ADP ajst-16325 32 24 the the DET ajst-16325 32 25 desktop desktop NOUN ajst-16325 32 26 , , PUNCT ajst-16325 32 27 then then ADV ajst-16325 32 28 it it PRON ajst-16325 32 29 is be AUX ajst-16325 32 30 slowly slowly ADV ajst-16325 32 31 turned turn VERB ajst-16325 32 32 over over ADP ajst-16325 32 33 and and CCONJ ajst-16325 32 34 each each DET ajst-16325 32 35 surface surface NOUN ajst-16325 32 36 is be AUX ajst-16325 32 37 kept keep VERB ajst-16325 32 38 for for ADP ajst-16325 32 39 a a DET ajst-16325 32 40 period period NOUN ajst-16325 32 41 of of ADP ajst-16325 32 42 time time NOUN ajst-16325 32 43 , , PUNCT ajst-16325 32 44 and and CCONJ ajst-16325 32 45 six six NUM ajst-16325 32 46 data datum NOUN ajst-16325 32 47 are be AUX ajst-16325 32 48 measured measure VERB ajst-16325 32 49 respectively respectively ADV ajst-16325 32 50 as as ADP ajst-16325 32 51 the the DET ajst-16325 32 52 actual actual ADJ ajst-16325 32 53 measured measured ADJ ajst-16325 32 54 acceleration acceleration NOUN ajst-16325 32 55 vector vector NOUN ajst-16325 32 56 a a NOUN ajst-16325 32 57 ; ; PUNCT ajst-16325 32 58 then then ADV ajst-16325 32 59 calculate calculate VERB ajst-16325 32 60 the the DET ajst-16325 32 61 reference reference NOUN ajst-16325 32 62 vector vector NOUN ajst-16325 32 63 as as SCONJ ajst-16325 32 64 follows follow VERB ajst-16325 32 65 : : PUNCT ajst-16325 32 66 𝑙 𝑙 X ajst-16325 32 67 ⎣ ⎣ ADV ajst-16325 32 68 ⎒ ⎒ NOUN ajst-16325 32 69 ⎒ ⎒ NOUN ajst-16325 32 70 ⎒ ⎒ NOUN ajst-16325 32 71 ⎒ ⎒ NOUN ajst-16325 32 72 ⎑ ⎑ VERB ajst-16325 32 73 g g NOUN ajst-16325 32 74 0 0 NUM ajst-16325 32 75 0 0 NUM ajst-16325 33 1 g g NOUN ajst-16325 33 2 0 0 NUM ajst-16325 33 3 0 0 NUM ajst-16325 33 4 0 0 NUM ajst-16325 33 5 g g NOUN ajst-16325 33 6 0 0 NUM ajst-16325 33 7 0 0 NUM ajst-16325 34 1 g g NOUN ajst-16325 34 2 0 0 NUM ajst-16325 34 3 0 0 NUM ajst-16325 34 4 0 0 NUM ajst-16325 34 5 g g NOUN ajst-16325 34 6 0 0 NUM ajst-16325 34 7 0 0 NUM ajst-16325 34 8 g⎦ g⎦ PROPN ajst-16325 34 9 βŽ₯ βŽ₯ PROPN ajst-16325 34 10 βŽ₯ βŽ₯ PROPN ajst-16325 34 11 βŽ₯ βŽ₯ PROPN ajst-16325 34 12 βŽ₯ βŽ₯ PROPN ajst-16325 34 13 ⎀ ⎀ PROPN ajst-16325 34 14 ( ( PUNCT ajst-16325 34 15 6 6 NUM ajst-16325 34 16 ) ) PUNCT ajst-16325 34 17 then then ADV ajst-16325 34 18 use use VERB ajst-16325 34 19 the the DET ajst-16325 34 20 maximum maximum ADJ ajst-16325 34 21 and and CCONJ ajst-16325 34 22 minimum minimum ADJ ajst-16325 34 23 measured measure VERB ajst-16325 34 24 values value NOUN ajst-16325 34 25 on on ADP ajst-16325 34 26 each each DET ajst-16325 34 27 axis axis NOUN ajst-16325 34 28 to to PART ajst-16325 34 29 get get VERB ajst-16325 34 30 the the DET ajst-16325 34 31 offset offset NOUN ajst-16325 34 32 of of ADP ajst-16325 34 33 each each DET ajst-16325 34 34 axis axis NOUN ajst-16325 34 35 , , PUNCT ajst-16325 34 36 and and CCONJ ajst-16325 34 37 the the DET ajst-16325 34 38 formula formula NOUN ajst-16325 34 39 is be AUX ajst-16325 34 40 as as SCONJ ajst-16325 34 41 follows follow VERB ajst-16325 34 42 : : PUNCT ajst-16325 34 43 𝑏 𝑏 NOUN ajst-16325 34 44 ( ( PUNCT ajst-16325 34 45 7 7 NUM ajst-16325 34 46 ) ) PUNCT ajst-16325 34 47 finally finally ADV ajst-16325 34 48 , , PUNCT ajst-16325 34 49 the the DET ajst-16325 34 50 actual actual ADJ ajst-16325 34 51 measured measure VERB ajst-16325 34 52 value value NOUN ajst-16325 34 53 l l NOUN ajst-16325 34 54 , , PUNCT ajst-16325 34 55 formula formula NOUN ajst-16325 34 56 ( ( PUNCT ajst-16325 34 57 6 6 NUM ajst-16325 34 58 ) ) PUNCT ajst-16325 34 59 and and CCONJ ajst-16325 34 60 formula formula NOUN ajst-16325 34 61 ( ( PUNCT ajst-16325 34 62 7 7 NUM ajst-16325 34 63 ) ) PUNCT ajst-16325 34 64 in in ADP ajst-16325 34 65 the the DET ajst-16325 34 66 experiment experiment NOUN ajst-16325 34 67 are be AUX ajst-16325 34 68 brought bring VERB ajst-16325 34 69 into into ADP ajst-16325 34 70 the the DET ajst-16325 34 71 calibration calibration NOUN ajst-16325 34 72 model model NOUN ajst-16325 34 73 formula formula NOUN ajst-16325 34 74 ( ( PUNCT ajst-16325 34 75 5 5 NUM ajst-16325 34 76 ) ) PUNCT ajst-16325 34 77 and and CCONJ ajst-16325 34 78 the the DET ajst-16325 34 79 calibration calibration NOUN ajst-16325 34 80 formula formula NOUN ajst-16325 34 81 is be AUX ajst-16325 34 82 obtained obtain VERB ajst-16325 34 83 . . PUNCT ajst-16325 35 1 because because SCONJ ajst-16325 35 2 the the DET ajst-16325 35 3 error error NOUN ajst-16325 35 4 of of ADP ajst-16325 35 5 accelerometer accelerometer NOUN ajst-16325 35 6 is be AUX ajst-16325 35 7 only only ADV ajst-16325 35 8 affected affect VERB ajst-16325 35 9 by by ADP ajst-16325 35 10 its its PRON ajst-16325 35 11 own own ADJ ajst-16325 35 12 hardware hardware NOUN ajst-16325 35 13 , , PUNCT ajst-16325 35 14 it it PRON ajst-16325 35 15 only only ADV ajst-16325 35 16 needs need VERB ajst-16325 35 17 to to PART ajst-16325 35 18 be be AUX ajst-16325 35 19 corrected correct VERB ajst-16325 35 20 once once ADV ajst-16325 35 21 . . PUNCT ajst-16325 36 1 in in ADP ajst-16325 36 2 this this DET ajst-16325 36 3 paper paper NOUN ajst-16325 36 4 , , PUNCT ajst-16325 36 5 x x ADJ ajst-16325 36 6 - - ADJ ajst-16325 36 7 axis axis ADJ ajst-16325 36 8 calibration calibration NOUN ajst-16325 36 9 is be AUX ajst-16325 36 10 taken take VERB ajst-16325 36 11 as as ADP ajst-16325 36 12 an an DET ajst-16325 36 13 example example NOUN ajst-16325 36 14 , , PUNCT ajst-16325 36 15 and and CCONJ ajst-16325 36 16 the the DET ajst-16325 36 17 calibration calibration NOUN ajst-16325 36 18 results result NOUN ajst-16325 36 19 are be AUX ajst-16325 36 20 shown show VERB ajst-16325 36 21 in in ADP ajst-16325 36 22 figure figure NOUN ajst-16325 36 23 3 3 NUM ajst-16325 36 24 below below ADV ajst-16325 36 25 ( ( PUNCT ajst-16325 36 26 bc bc PROPN ajst-16325 36 27 before before ADP ajst-16325 36 28 calibration calibration NOUN ajst-16325 36 29 and and CCONJ ajst-16325 36 30 ac ac PROPN ajst-16325 36 31 after after ADP ajst-16325 36 32 calibration calibration NOUN ajst-16325 36 33 ): ): PUNCT ajst-16325 36 34 figure figure NOUN ajst-16325 36 35 3 3 NUM ajst-16325 36 36 . . NOUN ajst-16325 36 37 comparison comparison NOUN ajst-16325 36 38 chart chart NOUN ajst-16325 36 39 of of ADP ajst-16325 36 40 accelerometer accelerometer NOUN ajst-16325 36 41 calibration calibration NOUN ajst-16325 36 42 results result VERB ajst-16325 36 43 3 3 NUM ajst-16325 36 44 . . PUNCT ajst-16325 37 1 pre pre ADJ ajst-16325 37 2 - - ADJ ajst-16325 37 3 integration integration NOUN ajst-16325 37 4 algorithm algorithm NOUN ajst-16325 37 5 for for ADP ajst-16325 37 6 imu imu ADJ ajst-16325 37 7 attitude attitude NOUN ajst-16325 37 8 solution solution NOUN ajst-16325 37 9 in in ADP ajst-16325 37 10 this this DET ajst-16325 37 11 paper paper NOUN ajst-16325 37 12 , , PUNCT ajst-16325 37 13 a a DET ajst-16325 37 14 nine nine NUM ajst-16325 37 15 - - PUNCT ajst-16325 37 16 axis axis NOUN ajst-16325 37 17 imu imu NOUN ajst-16325 37 18 is be AUX ajst-16325 37 19 used use VERB ajst-16325 37 20 , , PUNCT ajst-16325 37 21 and and CCONJ ajst-16325 37 22 its its PRON ajst-16325 37 23 integrated integrated ADJ ajst-16325 37 24 three three NUM ajst-16325 37 25 sensors sensor NOUN ajst-16325 37 26 , , PUNCT ajst-16325 37 27 namely namely ADV ajst-16325 37 28 gyroscope gyroscope NOUN ajst-16325 37 29 , , PUNCT ajst-16325 37 30 accelerometer accelerometer NOUN ajst-16325 37 31 and and CCONJ ajst-16325 37 32 magnetometer magnetometer NOUN ajst-16325 37 33 , , PUNCT ajst-16325 37 34 can can AUX ajst-16325 37 35 be be AUX ajst-16325 37 36 fused fuse VERB ajst-16325 37 37 to to PART ajst-16325 37 38 improve improve VERB ajst-16325 37 39 the the DET ajst-16325 37 40 measurement measurement NOUN ajst-16325 37 41 accuracy accuracy NOUN ajst-16325 37 42 of of ADP ajst-16325 37 43 the the DET ajst-16325 37 44 whole whole ADJ ajst-16325 37 45 system system NOUN ajst-16325 37 46 . . PUNCT ajst-16325 38 1 the the DET ajst-16325 38 2 main main ADJ ajst-16325 38 3 data datum NOUN ajst-16325 38 4 fusion fusion NOUN ajst-16325 38 5 algorithms algorithm NOUN ajst-16325 38 6 include include VERB ajst-16325 38 7 kalman kalman NOUN ajst-16325 38 8 filter filter PROPN ajst-16325 38 9 and and CCONJ ajst-16325 38 10 its its PRON ajst-16325 38 11 derivatives[1 derivatives[1 NOUN ajst-16325 38 12 - - PUNCT ajst-16325 38 13 3 3 NUM ajst-16325 38 14 ] ] PUNCT ajst-16325 38 15 , , PUNCT ajst-16325 38 16 complementary complementary ADJ ajst-16325 38 17 filter[4 filter[4 PROPN ajst-16325 38 18 - - SYM ajst-16325 38 19 5 5 NUM ajst-16325 38 20 ] ] PUNCT ajst-16325 38 21 , , PUNCT ajst-16325 38 22 particle particle NOUN ajst-16325 38 23 filter[6 filter[6 PRON ajst-16325 38 24 ] ] PUNCT ajst-16325 38 25 , , PUNCT ajst-16325 38 26 optimizationbased optimizationbased ADJ ajst-16325 38 27 method[7 method[7 NOUN ajst-16325 38 28 ] ] PUNCT ajst-16325 38 29 , , PUNCT ajst-16325 38 30 etc etc X ajst-16325 38 31 . . X ajst-16325 39 1 the the DET ajst-16325 39 2 data data NOUN ajst-16325 39 3 fusion fusion NOUN ajst-16325 39 4 algorithm algorithm NOUN ajst-16325 39 5 used use VERB ajst-16325 39 6 in in ADP ajst-16325 39 7 this this DET ajst-16325 39 8 paper paper NOUN ajst-16325 39 9 is be AUX ajst-16325 39 10 kalman kalman NOUN ajst-16325 39 11 algorithm algorithm PROPN ajst-16325 39 12 . . PUNCT ajst-16325 40 1 because because SCONJ ajst-16325 40 2 this this DET ajst-16325 40 3 paper paper NOUN ajst-16325 40 4 has have VERB ajst-16325 40 5 a a DET ajst-16325 40 6 complete complete ADJ ajst-16325 40 7 circular circular ADJ ajst-16325 40 8 motion motion NOUN ajst-16325 40 9 , , PUNCT ajst-16325 40 10 in in ADP ajst-16325 40 11 order order NOUN ajst-16325 40 12 to to PART ajst-16325 40 13 avoid avoid VERB ajst-16325 40 14 the the DET ajst-16325 40 15 singularity singularity NOUN ajst-16325 40 16 of of ADP ajst-16325 40 17 euler euler PROPN ajst-16325 40 18 angle angle PROPN ajst-16325 40 19 , , PUNCT ajst-16325 40 20 quaternion quaternion NOUN ajst-16325 40 21 is be AUX ajst-16325 40 22 chosen choose VERB ajst-16325 40 23 as as ADP ajst-16325 40 24 the the DET ajst-16325 40 25 attitude attitude NOUN ajst-16325 40 26 calculation calculation NOUN ajst-16325 40 27 method method NOUN ajst-16325 40 28 in in ADP ajst-16325 40 29 this this DET ajst-16325 40 30 paper paper NOUN ajst-16325 40 31 . . PUNCT ajst-16325 41 1 quaternions quaternion NOUN ajst-16325 41 2 were be AUX ajst-16325 41 3 first first ADV ajst-16325 41 4 invented invent VERB ajst-16325 41 5 by by ADP ajst-16325 41 6 sir sir PROPN ajst-16325 41 7 william william PROPN ajst-16325 41 8 rowan rowan PROPN ajst-16325 41 9 hamilton[8 hamilton[8 PROPN ajst-16325 41 10 ] ] X ajst-16325 41 11 in in ADP ajst-16325 41 12 1843 1843 NUM ajst-16325 41 13 as as ADP ajst-16325 41 14 an an DET ajst-16325 41 15 extension extension NOUN ajst-16325 41 16 of of ADP ajst-16325 41 17 complex complex ADJ ajst-16325 41 18 numbers number NOUN ajst-16325 41 19 . . PUNCT ajst-16325 42 1 any any DET ajst-16325 42 2 definite definite ADJ ajst-16325 42 3 vector vector NOUN ajst-16325 42 4 in in ADP ajst-16325 42 5 three three NUM ajst-16325 42 6 - - PUNCT ajst-16325 42 7 dimensional dimensional ADJ ajst-16325 42 8 space space NOUN ajst-16325 42 9 can can AUX ajst-16325 42 10 be be AUX ajst-16325 42 11 expressed express VERB ajst-16325 42 12 as as ADP ajst-16325 42 13 a a DET ajst-16325 42 14 rotation rotation NOUN ajst-16325 42 15 around around ADP ajst-16325 42 16 a a DET ajst-16325 42 17 specific specific ADJ ajst-16325 42 18 axis axis NOUN ajst-16325 42 19 . . PUNCT ajst-16325 43 1 as as ADV ajst-16325 43 2 long long ADV ajst-16325 43 3 as as SCONJ ajst-16325 43 4 the the DET ajst-16325 43 5 rotation rotation NOUN ajst-16325 43 6 axis axis NOUN ajst-16325 43 7 and and CCONJ ajst-16325 43 8 rotation rotation NOUN ajst-16325 43 9 angle angle NOUN ajst-16325 43 10 of of ADP ajst-16325 43 11 the the DET ajst-16325 43 12 vector vector NOUN ajst-16325 43 13 are be AUX ajst-16325 43 14 given give VERB ajst-16325 43 15 , , PUNCT ajst-16325 43 16 it it PRON ajst-16325 43 17 will will AUX ajst-16325 43 18 be be AUX ajst-16325 43 19 easy easy ADJ ajst-16325 43 20 to to PART ajst-16325 43 21 represent represent VERB ajst-16325 43 22 quaternion quaternion NOUN ajst-16325 43 23 or or CCONJ ajst-16325 43 24 convert convert VERB ajst-16325 43 25 it it PRON ajst-16325 43 26 from from ADP ajst-16325 43 27 quaternion quaternion NOUN ajst-16325 43 28 to to ADP ajst-16325 43 29 other other ADJ ajst-16325 43 30 forms form NOUN ajst-16325 43 31 . . PUNCT ajst-16325 44 1 complex complex ADJ ajst-16325 44 2 numbers number NOUN ajst-16325 44 3 have have VERB ajst-16325 44 4 real real ADJ ajst-16325 44 5 and and CCONJ ajst-16325 44 6 imaginary imaginary ADJ ajst-16325 44 7 parts part NOUN ajst-16325 44 8 , , PUNCT ajst-16325 44 9 and and CCONJ ajst-16325 44 10 similar similar ADJ ajst-16325 44 11 quaternions quaternion NOUN ajst-16325 44 12 consist consist NOUN ajst-16325 44 13 of of ADP ajst-16325 44 14 one one NUM ajst-16325 44 15 real real ADJ ajst-16325 44 16 part part NOUN ajst-16325 44 17 and and CCONJ ajst-16325 44 18 three three NUM ajst-16325 44 19 imaginary imaginary ADJ ajst-16325 44 20 parts part NOUN ajst-16325 44 21 . . PUNCT ajst-16325 45 1 three three NUM ajst-16325 45 2 imaginary imaginary ADJ ajst-16325 45 3 parts part NOUN ajst-16325 45 4 are be AUX ajst-16325 45 5 closely closely ADV ajst-16325 45 6 related relate VERB ajst-16325 45 7 to to ADP ajst-16325 45 8 the the DET ajst-16325 45 9 rotation rotation NOUN ajst-16325 45 10 axis axis NOUN ajst-16325 45 11 , , PUNCT ajst-16325 45 12 and and CCONJ ajst-16325 45 13 the the DET ajst-16325 45 14 rotation rotation NOUN ajst-16325 45 15 angle angle NOUN ajst-16325 45 16 affects affect VERB ajst-16325 45 17 four four NUM ajst-16325 45 18 parts part NOUN ajst-16325 45 19 . . PUNCT ajst-16325 46 1 a a DET ajst-16325 46 2 quaternion quaternion NOUN ajst-16325 46 3 q q NOUN ajst-16325 46 4 can can AUX ajst-16325 46 5 be be AUX ajst-16325 46 6 defined define VERB ajst-16325 46 7 in in ADP ajst-16325 46 8 the the DET ajst-16325 46 9 following follow VERB ajst-16325 46 10 form form NOUN ajst-16325 46 11 : : PUNCT ajst-16325 46 12 π‘ž π‘ž PROPN ajst-16325 46 13 π‘ž π‘ž PROPN ajst-16325 46 14 , , PUNCT ajst-16325 46 15 π‘ž π‘ž PROPN ajst-16325 46 16 π‘–π‘ž π‘–π‘ž PROPN ajst-16325 46 17 π‘—π‘ž π‘—π‘ž INTJ ajst-16325 46 18 π‘˜π‘ž π‘˜π‘ž NOUN ajst-16325 46 19 π‘ž π‘ž X ajst-16325 46 20 π‘ž π‘ž X ajst-16325 46 21 π‘ž π‘ž X ajst-16325 46 22 ( ( PUNCT ajst-16325 46 23 8) 8) NUM ajst-16325 46 24 where where SCONJ ajst-16325 46 25 π‘ž π‘ž PROPN ajst-16325 46 26 is be AUX ajst-16325 46 27 the the DET ajst-16325 46 28 imaginary imaginary ADJ ajst-16325 46 29 part part NOUN ajst-16325 46 30 of of ADP ajst-16325 46 31 quaternion quaternion NOUN ajst-16325 46 32 and and CCONJ ajst-16325 46 33 π‘ž π‘ž PROPN ajst-16325 46 34 is be AUX ajst-16325 46 35 the the DET ajst-16325 46 36 real real ADJ ajst-16325 46 37 part part NOUN ajst-16325 46 38 . . PUNCT ajst-16325 47 1 i i PRON ajst-16325 47 2 , , PUNCT ajst-16325 47 3 j j PROPN ajst-16325 47 4 and and CCONJ ajst-16325 47 5 k k PROPN ajst-16325 47 6 are be AUX ajst-16325 47 7 standard standard ADJ ajst-16325 47 8 orthogonal orthogonal ADJ ajst-16325 47 9 bases basis NOUN ajst-16325 47 10 of of ADP ajst-16325 47 11 threedimensional threedimensional ADJ ajst-16325 47 12 space space NOUN ajst-16325 47 13 and and CCONJ ajst-16325 47 14 satisfy satisfy VERB ajst-16325 47 15 the the DET ajst-16325 47 16 following follow VERB ajst-16325 47 17 formula formula NOUN ajst-16325 47 18 : : PUNCT ajst-16325 47 19 112 112 NUM ajst-16325 47 20 𝑖 𝑖 SYM ajst-16325 47 21 𝑗 𝑗 X ajst-16325 47 22 π‘˜ π‘˜ PRON ajst-16325 47 23 1 1 NUM ajst-16325 47 24 ( ( PUNCT ajst-16325 47 25 9 9 NUM ajst-16325 47 26 ) ) PUNCT ajst-16325 47 27 because because SCONJ ajst-16325 47 28 the the DET ajst-16325 47 29 data data NOUN ajst-16325 47 30 acquisition acquisition NOUN ajst-16325 47 31 frequency frequency NOUN ajst-16325 47 32 of of ADP ajst-16325 47 33 imu imu NOUN ajst-16325 47 34 is be AUX ajst-16325 47 35 generally generally ADV ajst-16325 47 36 100hz 100hz ADJ ajst-16325 47 37 or or CCONJ ajst-16325 47 38 even even ADV ajst-16325 47 39 1000hz 1000hz ADJ ajst-16325 47 40 , , PUNCT ajst-16325 47 41 which which PRON ajst-16325 47 42 is be AUX ajst-16325 47 43 much much ADV ajst-16325 47 44 higher high ADJ ajst-16325 47 45 than than ADP ajst-16325 47 46 the the DET ajst-16325 47 47 frequency frequency NOUN ajst-16325 47 48 of of ADP ajst-16325 47 49 unity unity NOUN ajst-16325 47 50 rendering rendering NOUN ajst-16325 47 51 animation animation NOUN ajst-16325 47 52 processing processing NOUN ajst-16325 47 53 function function NOUN ajst-16325 47 54 fixedupdate fixedupdate ADJ ajst-16325 47 55 , , PUNCT ajst-16325 47 56 there there PRON ajst-16325 47 57 will will AUX ajst-16325 47 58 be be AUX ajst-16325 47 59 redundant redundant ADJ ajst-16325 47 60 imu imu NOUN ajst-16325 47 61 measurement measurement NOUN ajst-16325 47 62 values value NOUN ajst-16325 47 63 between between ADP ajst-16325 47 64 two two NUM ajst-16325 47 65 frames frame NOUN ajst-16325 47 66 of of ADP ajst-16325 47 67 images image NOUN ajst-16325 47 68 rendered render VERB ajst-16325 47 69 by by ADP ajst-16325 47 70 animation animation NOUN ajst-16325 47 71 , , PUNCT ajst-16325 47 72 as as SCONJ ajst-16325 47 73 shown show VERB ajst-16325 47 74 in in ADP ajst-16325 47 75 figure figure NOUN ajst-16325 47 76 2 2 NUM ajst-16325 47 77 - - SYM ajst-16325 47 78 1 1 NUM ajst-16325 47 79 . . PUNCT ajst-16325 48 1 the the DET ajst-16325 48 2 common common ADJ ajst-16325 48 3 method method NOUN ajst-16325 48 4 is be AUX ajst-16325 48 5 to to PART ajst-16325 48 6 use use VERB ajst-16325 48 7 preintegration preintegration NOUN ajst-16325 48 8 algorithm[9 algorithm[9 NOUN ajst-16325 48 9 ] ] PUNCT ajst-16325 48 10 to to PART ajst-16325 48 11 match match VERB ajst-16325 48 12 the the DET ajst-16325 48 13 two two NUM ajst-16325 48 14 and and CCONJ ajst-16325 48 15 reduce reduce VERB ajst-16325 48 16 repeated repeat VERB ajst-16325 48 17 integration integration NOUN ajst-16325 48 18 calculation calculation NOUN ajst-16325 48 19 . . PUNCT ajst-16325 49 1 figure figure VERB ajst-16325 49 2 4 4 NUM ajst-16325 49 3 . . PUNCT ajst-16325 49 4 schematic schematic ADJ ajst-16325 49 5 diagram diagram NOUN ajst-16325 49 6 of of ADP ajst-16325 49 7 animation animation NOUN ajst-16325 49 8 rendered render VERB ajst-16325 49 9 image image NOUN ajst-16325 49 10 frames frame NOUN ajst-16325 49 11 and and CCONJ ajst-16325 49 12 imu imu VERB ajst-16325 49 13 with with ADP ajst-16325 49 14 different different ADJ ajst-16325 49 15 frequencies frequency NOUN ajst-16325 49 16 imu imu ADJ ajst-16325 49 17 pre pre ADJ ajst-16325 49 18 - - ADJ ajst-16325 49 19 integration integration NOUN ajst-16325 49 20 model model NOUN ajst-16325 49 21 is be AUX ajst-16325 49 22 shown show VERB ajst-16325 49 23 in in ADP ajst-16325 49 24 the the DET ajst-16325 49 25 following follow VERB ajst-16325 49 26 formula formula NOUN ajst-16325 49 27 ( ( PUNCT ajst-16325 49 28 10)[10 10)[10 NOUN ajst-16325 49 29 ] ] X ajst-16325 49 30 : : PUNCT ajst-16325 49 31 ⎩ ⎩ NUM ajst-16325 49 32 βŽͺ βŽͺ NOUN ajst-16325 49 33 ⎨ ⎨ ADJ ajst-16325 49 34 βŽͺ βŽͺ NOUN ajst-16325 49 35 βŽ§Ξ΄π‘… βŽ§Ξ΄π‘… NOUN ajst-16325 49 36 exp exp NOUN ajst-16325 49 37 𝐽 𝐽 PROPN ajst-16325 49 38 𝛿𝑏 𝛿𝑏 ADP ajst-16325 49 39 𝑅 𝑅 PROPN ajst-16325 49 40 𝑅 𝑅 PROPN ajst-16325 49 41 exp exp NOUN ajst-16325 49 42 π›Ώπœ™ π›Ώπœ™ PRON ajst-16325 50 1 δ𝑣 δ𝑣 PROPN ajst-16325 50 2 𝐽 𝐽 PROPN ajst-16325 50 3 𝛿𝑏 𝛿𝑏 NOUN ajst-16325 50 4 𝐽 𝐽 NOUN ajst-16325 50 5 𝛿𝑏 𝛿𝑏 ADP ajst-16325 50 6 𝑅 𝑅 PROPN ajst-16325 50 7 𝑣 𝑣 PROPN ajst-16325 50 8 𝑣 𝑣 PROPN ajst-16325 50 9 𝑔δ𝑑 𝑔δ𝑑 PROPN ajst-16325 50 10 𝛿𝑣 𝛿𝑣 PROPN ajst-16325 50 11 Ξ΄ Ξ΄ PROPN ajst-16325 50 12 οΏ½ οΏ½ PROPN ajst-16325 50 13 Μ‚ Μ‚ VERB ajst-16325 50 14 οΏ½ οΏ½ PROPN ajst-16325 50 15 𝐽 𝐽 PROPN ajst-16325 50 16 𝛿𝑏 𝛿𝑏 ADP ajst-16325 50 17 𝐽 𝐽 NOUN ajst-16325 50 18 𝛿𝑏 𝛿𝑏 ADP ajst-16325 50 19 𝑅 𝑅 PROPN ajst-16325 50 20 𝑝 𝑝 PROPN ajst-16325 50 21 𝑝 𝑝 PROPN ajst-16325 50 22 𝑣 𝑣 PROPN ajst-16325 50 23 δ𝑑 δ𝑑 X ajst-16325 50 24 𝑔δ𝑑 𝑔δ𝑑 PROPN ajst-16325 50 25 𝛿𝑝 𝛿𝑝 PROPN ajst-16325 50 26 ( ( PUNCT ajst-16325 50 27 10 10 NUM ajst-16325 50 28 ) ) PUNCT ajst-16325 50 29 in in ADP ajst-16325 50 30 der der PROPN ajst-16325 50 31 formel formel PROPN ajst-16325 50 32 , , PUNCT ajst-16325 50 33 δ𝑅 δ𝑅 PROPN ajst-16325 50 34 𝑏 𝑏 PRON ajst-16325 50 35 is be AUX ajst-16325 50 36 abbreviated abbreviate VERB ajst-16325 50 37 as as ADP ajst-16325 50 38 δ𝑅 δ𝑅 NOUN ajst-16325 50 39 , , PUNCT ajst-16325 50 40 δ𝑣 δ𝑣 PROPN ajst-16325 50 41 𝑏 𝑏 NOUN ajst-16325 50 42 , , PUNCT ajst-16325 50 43 𝑏 𝑏 PROPN ajst-16325 50 44 is be AUX ajst-16325 50 45 abbreviated abbreviate VERB ajst-16325 50 46 as as ADP ajst-16325 50 47 δ𝑣 δ𝑣 PROPN ajst-16325 50 48 , , PUNCT ajst-16325 50 49 Ξ΄ Ξ΄ PROPN ajst-16325 50 50 οΏ½ οΏ½ PROPN ajst-16325 50 51 Μ‚ Μ‚ PROPN ajst-16325 50 52 οΏ½ οΏ½ PROPN ajst-16325 50 53 𝑏 𝑏 PROPN ajst-16325 50 54 , , PUNCT ajst-16325 50 55 𝑏 𝑏 PROPN ajst-16325 50 56 is be AUX ajst-16325 50 57 abbreviated abbreviate VERB ajst-16325 50 58 as as ADP ajst-16325 50 59 Ξ΄ Ξ΄ PROPN ajst-16325 50 60 οΏ½ οΏ½ PROPN ajst-16325 50 61 Μ‚ Μ‚ PROPN ajst-16325 50 62 οΏ½ οΏ½ PROPN ajst-16325 50 63 . . PUNCT ajst-16325 51 1 4 4 X ajst-16325 51 2 . . X ajst-16325 51 3 unity unity NOUN ajst-16325 51 4 simulation simulation NOUN ajst-16325 51 5 results result VERB ajst-16325 51 6 4.1 4.1 NUM ajst-16325 51 7 . . PUNCT ajst-16325 52 1 attitude attitude NOUN ajst-16325 52 2 simulation simulation NOUN ajst-16325 52 3 after after SCONJ ajst-16325 52 4 the the DET ajst-16325 52 5 probe probe NOUN ajst-16325 52 6 model model NOUN ajst-16325 52 7 is be AUX ajst-16325 52 8 imported import VERB ajst-16325 52 9 into into ADP ajst-16325 52 10 unity unity NOUN ajst-16325 52 11 3d 3d NOUN ajst-16325 52 12 , , PUNCT ajst-16325 52 13 a a DET ajst-16325 52 14 new new ADJ ajst-16325 52 15 quaternion quaternion NOUN ajst-16325 52 16 is be AUX ajst-16325 52 17 mounted mount VERB ajst-16325 52 18 on on ADP ajst-16325 52 19 the the DET ajst-16325 52 20 probe probe NOUN ajst-16325 52 21 model model NOUN ajst-16325 52 22 through through ADP ajst-16325 52 23 the the DET ajst-16325 52 24 transform transform NOUN ajst-16325 52 25 . . PUNCT ajst-16325 53 1 rotation rotation NOUN ajst-16325 53 2 component component NOUN ajst-16325 53 3 of of ADP ajst-16325 53 4 unity unity NOUN ajst-16325 53 5 3d 3d NOUN ajst-16325 53 6 , , PUNCT ajst-16325 53 7 and and CCONJ ajst-16325 53 8 the the DET ajst-16325 53 9 𝑀 𝑀 PROPN ajst-16325 53 10 , , PUNCT ajst-16325 53 11 π‘₯ π‘₯ PROPN ajst-16325 53 12 , , PUNCT ajst-16325 53 13 𝑦 𝑦 NOUN ajst-16325 53 14 , , PUNCT ajst-16325 53 15 𝑧 𝑧 PRON ajst-16325 53 16 quaternions quaternion NOUN ajst-16325 53 17 after after SCONJ ajst-16325 53 18 serial serial ADJ ajst-16325 53 19 port port NOUN ajst-16325 53 20 processing processing NOUN ajst-16325 53 21 are be AUX ajst-16325 53 22 assigned assign VERB ajst-16325 53 23 to to ADP ajst-16325 53 24 the the DET ajst-16325 53 25 virtual virtual ADJ ajst-16325 53 26 body body NOUN ajst-16325 53 27 of of ADP ajst-16325 53 28 the the DET ajst-16325 53 29 probe probe NOUN ajst-16325 53 30 , , PUNCT ajst-16325 53 31 so so SCONJ ajst-16325 53 32 that that SCONJ ajst-16325 53 33 the the DET ajst-16325 53 34 attitude attitude NOUN ajst-16325 53 35 data datum NOUN ajst-16325 53 36 can can AUX ajst-16325 53 37 drive drive VERB ajst-16325 53 38 the the DET ajst-16325 53 39 attitude attitude NOUN ajst-16325 53 40 of of ADP ajst-16325 53 41 the the DET ajst-16325 53 42 twin twin NOUN ajst-16325 53 43 . . PUNCT ajst-16325 54 1 the the DET ajst-16325 54 2 experimental experimental ADJ ajst-16325 54 3 results result NOUN ajst-16325 54 4 are be AUX ajst-16325 54 5 shown show VERB ajst-16325 54 6 in in ADP ajst-16325 54 7 figure figure NOUN ajst-16325 54 8 5 5 NUM ajst-16325 54 9 below below ADV ajst-16325 54 10 : : PUNCT ajst-16325 54 11 figure figure VERB ajst-16325 54 12 5 5 NUM ajst-16325 54 13 . . PUNCT ajst-16325 54 14 comparison comparison NOUN ajst-16325 54 15 of of ADP ajst-16325 54 16 unity unity NOUN ajst-16325 54 17 3d 3d PROPN ajst-16325 54 18 pose pose VERB ajst-16325 54 19 simulation simulation NOUN ajst-16325 54 20 results result VERB ajst-16325 54 21 4.2 4.2 NUM ajst-16325 54 22 . . PUNCT ajst-16325 55 1 path path PROPN ajst-16325 55 2 simulation simulation NOUN ajst-16325 55 3 through through ADP ajst-16325 55 4 the the DET ajst-16325 55 5 acceleration acceleration NOUN ajst-16325 55 6 mode mode NOUN ajst-16325 55 7 in in ADP ajst-16325 55 8 the the DET ajst-16325 55 9 addforce addforce ADJ ajst-16325 55 10 function function NOUN ajst-16325 55 11 of of ADP ajst-16325 55 12 unity unity NOUN ajst-16325 55 13 3d 3d NOUN ajst-16325 55 14 , , PUNCT ajst-16325 55 15 the the DET ajst-16325 55 16 calibrated calibrate VERB ajst-16325 55 17 acceleration acceleration NOUN ajst-16325 55 18 data datum NOUN ajst-16325 55 19 read read VERB ajst-16325 55 20 by by ADP ajst-16325 55 21 serial serial ADJ ajst-16325 55 22 port port NOUN ajst-16325 55 23 is be AUX ajst-16325 55 24 pre pre ADJ ajst-16325 55 25 - - ADJ ajst-16325 55 26 integrated integrated ADJ ajst-16325 55 27 , , PUNCT ajst-16325 55 28 and and CCONJ ajst-16325 55 29 a a DET ajst-16325 55 30 dll dll NOUN ajst-16325 55 31 dynamic dynamic ADJ ajst-16325 55 32 chain chain NOUN ajst-16325 55 33 library library NOUN ajst-16325 55 34 with with ADP ajst-16325 55 35 the the DET ajst-16325 55 36 external external ADJ ajst-16325 55 37 output output NOUN ajst-16325 55 38 frequency frequency NOUN ajst-16325 55 39 of of ADP ajst-16325 55 40 50hz 50hz NOUN ajst-16325 55 41 ( ( PUNCT ajst-16325 55 42 the the DET ajst-16325 55 43 same same ADJ ajst-16325 55 44 as as ADP ajst-16325 55 45 the the DET ajst-16325 55 46 frame frame NOUN ajst-16325 55 47 rate rate NOUN ajst-16325 55 48 of of ADP ajst-16325 55 49 the the DET ajst-16325 55 50 fixedupdate fixedupdate ADJ ajst-16325 55 51 animation animation NOUN ajst-16325 55 52 rendering render VERB ajst-16325 55 53 function function NOUN ajst-16325 55 54 ) ) PUNCT ajst-16325 55 55 is be AUX ajst-16325 55 56 established establish VERB ajst-16325 55 57 . . PUNCT ajst-16325 56 1 ax ax NOUN ajst-16325 56 2 , , PUNCT ajst-16325 56 3 ay ay PROPN ajst-16325 56 4 and and CCONJ ajst-16325 56 5 az az PROPN ajst-16325 56 6 are be AUX ajst-16325 56 7 assigned assign VERB ajst-16325 56 8 to to ADP ajst-16325 56 9 the the DET ajst-16325 56 10 virtual virtual ADJ ajst-16325 56 11 body body NOUN ajst-16325 56 12 of of ADP ajst-16325 56 13 the the DET ajst-16325 56 14 probe probe NOUN ajst-16325 56 15 by by ADP ajst-16325 56 16 creating create VERB ajst-16325 56 17 a a DET ajst-16325 56 18 new new ADJ ajst-16325 56 19 three three NUM ajst-16325 56 20 - - PUNCT ajst-16325 56 21 dimensional dimensional ADJ ajst-16325 56 22 vector vector NOUN ajst-16325 56 23 , , PUNCT ajst-16325 56 24 so so SCONJ ajst-16325 56 25 that that SCONJ ajst-16325 56 26 the the DET ajst-16325 56 27 purpose purpose NOUN ajst-16325 56 28 of of ADP ajst-16325 56 29 driving drive VERB ajst-16325 56 30 the the DET ajst-16325 56 31 twin twin NOUN ajst-16325 56 32 by by ADP ajst-16325 56 33 inertial inertial ADJ ajst-16325 56 34 data datum NOUN ajst-16325 56 35 can can AUX ajst-16325 56 36 be be AUX ajst-16325 56 37 completed complete VERB ajst-16325 56 38 . . PUNCT ajst-16325 57 1 the the DET ajst-16325 57 2 experimental experimental ADJ ajst-16325 57 3 results result NOUN ajst-16325 57 4 are be AUX ajst-16325 57 5 shown show VERB ajst-16325 57 6 in in ADP ajst-16325 57 7 figure figure NOUN ajst-16325 57 8 6 6 NUM ajst-16325 57 9 below below ADV ajst-16325 57 10 . . PUNCT ajst-16325 58 1 figure figure VERB ajst-16325 58 2 6 6 NUM ajst-16325 58 3 . . PUNCT ajst-16325 59 1 the the DET ajst-16325 59 2 velocity velocity NOUN ajst-16325 59 3 - - PUNCT ajst-16325 59 4 time time NOUN ajst-16325 59 5 diagram diagram NOUN ajst-16325 59 6 of of ADP ajst-16325 59 7 acceleration acceleration NOUN ajst-16325 59 8 integration integration NOUN ajst-16325 59 9 during during ADP ajst-16325 59 10 probe probe NOUN ajst-16325 59 11 movement movement NOUN ajst-16325 59 12 . . PUNCT ajst-16325 60 1 5 5 X ajst-16325 60 2 . . X ajst-16325 60 3 conclusion conclusion NOUN ajst-16325 60 4 ( ( PUNCT ajst-16325 60 5 1 1 NUM ajst-16325 60 6 ) ) PUNCT ajst-16325 60 7 in in ADP ajst-16325 60 8 this this DET ajst-16325 60 9 paper paper NOUN ajst-16325 60 10 , , PUNCT ajst-16325 60 11 the the DET ajst-16325 60 12 inertial inertial ADJ ajst-16325 60 13 sensor sensor NOUN ajst-16325 60 14 and and CCONJ ajst-16325 60 15 the the DET ajst-16325 60 16 ultrasonic ultrasonic ADJ ajst-16325 60 17 probe probe NOUN ajst-16325 60 18 are be AUX ajst-16325 60 19 tied tie VERB ajst-16325 60 20 and and CCONJ ajst-16325 60 21 bridged bridge VERB ajst-16325 60 22 , , PUNCT ajst-16325 60 23 and and CCONJ ajst-16325 60 24 the the DET ajst-16325 60 25 probe probe NOUN ajst-16325 60 26 twin twin NOUN ajst-16325 60 27 is be AUX ajst-16325 60 28 driven drive VERB ajst-16325 60 29 by by ADP ajst-16325 60 30 obtaining obtain VERB ajst-16325 60 31 the the DET ajst-16325 60 32 inertial inertial ADJ ajst-16325 60 33 data datum NOUN ajst-16325 60 34 of of ADP ajst-16325 60 35 the the DET ajst-16325 60 36 probe probe NOUN ajst-16325 60 37 , , PUNCT ajst-16325 60 38 so so SCONJ ajst-16325 60 39 as as SCONJ ajst-16325 60 40 to to PART ajst-16325 60 41 map map VERB ajst-16325 60 42 the the DET ajst-16325 60 43 actual actual ADJ ajst-16325 60 44 motion motion NOUN ajst-16325 60 45 state state NOUN ajst-16325 60 46 ( ( PUNCT ajst-16325 60 47 attitude attitude NOUN ajst-16325 60 48 and and CCONJ ajst-16325 60 49 acceleration acceleration NOUN ajst-16325 60 50 ) ) PUNCT ajst-16325 60 51 of of ADP ajst-16325 60 52 the the DET ajst-16325 60 53 probe probe NOUN ajst-16325 60 54 in in ADP ajst-16325 60 55 real real ADJ ajst-16325 60 56 time time NOUN ajst-16325 60 57 . . PUNCT ajst-16325 61 1 ( ( PUNCT ajst-16325 61 2 2 2 X ajst-16325 61 3 ) ) PUNCT ajst-16325 61 4 in in ADP ajst-16325 61 5 the the DET ajst-16325 61 6 simulation simulation NOUN ajst-16325 61 7 process process NOUN ajst-16325 61 8 , , PUNCT ajst-16325 61 9 the the DET ajst-16325 61 10 pre pre ADJ ajst-16325 61 11 - - ADJ ajst-16325 61 12 integration integration ADJ ajst-16325 61 13 algorithm algorithm NOUN ajst-16325 61 14 is be AUX ajst-16325 61 15 adopted adopt VERB ajst-16325 61 16 for for ADP ajst-16325 61 17 the the DET ajst-16325 61 18 acceleration acceleration NOUN ajst-16325 61 19 data datum NOUN ajst-16325 61 20 of of ADP ajst-16325 61 21 inertial inertial ADJ ajst-16325 61 22 sensor sensor NOUN ajst-16325 61 23 , , PUNCT ajst-16325 61 24 which which PRON ajst-16325 61 25 makes make VERB ajst-16325 61 26 the the DET ajst-16325 61 27 accuracy accuracy NOUN ajst-16325 61 28 of of ADP ajst-16325 61 29 displacement displacement ADJ ajst-16325 61 30 simulation simulation NOUN ajst-16325 61 31 of of ADP ajst-16325 61 32 virtual virtual ADJ ajst-16325 61 33 body body NOUN ajst-16325 61 34 in in ADP ajst-16325 61 35 unity unity NOUN ajst-16325 61 36 improved improve VERB ajst-16325 61 37 by by ADP ajst-16325 61 38 18.3 18.3 NUM ajst-16325 61 39 % % NOUN ajst-16325 61 40 compared compare VERB ajst-16325 61 41 with with ADP ajst-16325 61 42 that that PRON ajst-16325 61 43 without without ADP ajst-16325 61 44 pre pre ADJ ajst-16325 61 45 - - ADJ ajst-16325 61 46 integration integration NOUN ajst-16325 61 47 algorithm algorithm NOUN ajst-16325 61 48 . . PUNCT ajst-16325 62 1 references reference NOUN ajst-16325 62 2 [ [ X ajst-16325 62 3 1 1 NUM ajst-16325 62 4 ] ] PUNCT ajst-16325 62 5 ligorio ligorio NOUN ajst-16325 62 6 g g PROPN ajst-16325 62 7 , , PUNCT ajst-16325 62 8 sabatini sabatini ADJ ajst-16325 62 9 a a DET ajst-16325 62 10 m. m. NOUN ajst-16325 62 11 a a DET ajst-16325 62 12 novel novel ADJ ajst-16325 62 13 kalman kalman NOUN ajst-16325 62 14 filter filter NOUN ajst-16325 62 15 for for ADP ajst-16325 62 16 human human ADJ ajst-16325 62 17 motion motion NOUN ajst-16325 62 18 tracking track VERB ajst-16325 62 19 with with ADP ajst-16325 62 20 an an DET ajst-16325 62 21 inertial inertial NOUN ajst-16325 62 22 - - PUNCT ajst-16325 62 23 based base VERB ajst-16325 62 24 dynamic dynamic ADJ ajst-16325 62 25 inclinometer[j inclinometer[j NOUN ajst-16325 62 26 ] ] PUNCT ajst-16325 62 27 . . PUNCT ajst-16325 63 1 ieee ieee NOUN ajst-16325 63 2 transactions transaction NOUN ajst-16325 63 3 on on ADP ajst-16325 63 4 biomedical biomedical ADJ ajst-16325 63 5 engineering engineering NOUN ajst-16325 63 6 , , PUNCT ajst-16325 63 7 2015 2015 NUM ajst-16325 63 8 , , PUNCT ajst-16325 63 9 62(8 62(8 NUM ajst-16325 63 10 ): ): PUNCT ajst-16325 63 11 2033 2033 NUM ajst-16325 63 12 - - SYM ajst-16325 63 13 2043 2043 NUM ajst-16325 63 14 . . PUNCT ajst-16325 64 1 [ [ X ajst-16325 64 2 2 2 NUM ajst-16325 64 3 ] ] PUNCT ajst-16325 64 4 xu xu PROPN ajst-16325 65 1 c c X ajst-16325 65 2 , , PUNCT ajst-16325 65 3 he he PRON ajst-16325 65 4 j j PROPN ajst-16325 65 5 , , PUNCT ajst-16325 65 6 zhang zhang PROPN ajst-16325 65 7 x x PROPN ajst-16325 65 8 , , PUNCT ajst-16325 65 9 et et PROPN ajst-16325 65 10 al al PROPN ajst-16325 65 11 . . PROPN ajst-16325 66 1 geometrical geometrical ADJ ajst-16325 66 2 kinematic kinematic ADJ ajst-16325 66 3 modeling modeling NOUN ajst-16325 66 4 on on ADP ajst-16325 66 5 human human ADJ ajst-16325 66 6 motion motion NOUN ajst-16325 66 7 using use VERB ajst-16325 66 8 method method NOUN ajst-16325 66 9 of of ADP ajst-16325 66 10 multi multi ADJ ajst-16325 66 11 - - ADJ ajst-16325 66 12 sensor sensor ADJ ajst-16325 66 13 fusion[j fusion[j NOUN ajst-16325 66 14 ] ] PUNCT ajst-16325 66 15 . . PUNCT ajst-16325 67 1 information information NOUN ajst-16325 67 2 fusion fusion NOUN ajst-16325 67 3 , , PUNCT ajst-16325 67 4 2018 2018 NUM ajst-16325 67 5 , , PUNCT ajst-16325 67 6 41 41 NUM ajst-16325 67 7 : : SYM ajst-16325 67 8 243 243 NUM ajst-16325 67 9 - - SYM ajst-16325 67 10 254 254 NUM ajst-16325 67 11 . . PUNCT ajst-16325 68 1 [ [ X ajst-16325 68 2 3 3 X ajst-16325 68 3 ] ] X ajst-16325 68 4 taunyazov taunyazov PROPN ajst-16325 68 5 t t PROPN ajst-16325 68 6 , , PUNCT ajst-16325 68 7 omarali omarali PROPN ajst-16325 68 8 b b NOUN ajst-16325 68 9 , , PUNCT ajst-16325 68 10 shintemirov shintemirov VERB ajst-16325 68 11 a. a. NOUN ajst-16325 68 12 a a DET ajst-16325 68 13 novel novel ADJ ajst-16325 68 14 low low ADJ ajst-16325 68 15 - - PUNCT ajst-16325 68 16 cost cost NOUN ajst-16325 68 17 4dof 4dof PROPN ajst-16325 68 18 wireless wireless ADJ ajst-16325 68 19 human human ADJ ajst-16325 68 20 arm arm NOUN ajst-16325 68 21 motion motion NOUN ajst-16325 68 22 tracker[c]//2016 tracker[c]//2016 PUNCT ajst-16325 68 23 6th 6th ADJ ajst-16325 68 24 ieee ieee NOUN ajst-16325 68 25 international international ADJ ajst-16325 68 26 conference conference NOUN ajst-16325 68 27 on on ADP ajst-16325 68 28 biomedical biomedical ADJ ajst-16325 68 29 robotics robotic NOUN ajst-16325 68 30 and and CCONJ ajst-16325 68 31 biomechatronics biomechatronic NOUN ajst-16325 68 32 ( ( PUNCT ajst-16325 68 33 biorob biorob PROPN ajst-16325 68 34 ) ) PUNCT ajst-16325 68 35 . . PUNCT ajst-16325 69 1 ieee ieee PROPN ajst-16325 69 2 , , PUNCT ajst-16325 69 3 2016 2016 NUM ajst-16325 69 4 : : PUNCT ajst-16325 69 5 157 157 NUM ajst-16325 69 6 - - SYM ajst-16325 69 7 162 162 NUM ajst-16325 69 8 . . PUNCT ajst-16325 70 1 [ [ X ajst-16325 70 2 4 4 X ajst-16325 70 3 ] ] PUNCT ajst-16325 70 4 atrsaei atrsaei ADJ ajst-16325 70 5 a a PRON ajst-16325 70 6 , , PUNCT ajst-16325 70 7 salarieh salarieh ADJ ajst-16325 70 8 h h NOUN ajst-16325 70 9 , , PUNCT ajst-16325 70 10 alasty alasty VERB ajst-16325 70 11 a a PRON ajst-16325 70 12 , , PUNCT ajst-16325 70 13 et et PROPN ajst-16325 70 14 al al PROPN ajst-16325 70 15 . . PUNCT ajst-16325 70 16 human human ADJ ajst-16325 70 17 arm arm NOUN ajst-16325 70 18 motion motion NOUN ajst-16325 70 19 tracking tracking NOUN ajst-16325 70 20 by by ADP ajst-16325 70 21 inertial inertial NOUN ajst-16325 70 22 / / SYM ajst-16325 70 23 magnetic magnetic ADJ ajst-16325 70 24 sensors sensor NOUN ajst-16325 70 25 using use VERB ajst-16325 70 26 unscented unscente VERB ajst-16325 70 27 kalman kalman NOUN ajst-16325 70 28 filter filter NOUN ajst-16325 70 29 and and CCONJ ajst-16325 70 30 relative relative ADJ ajst-16325 70 31 motion motion NOUN ajst-16325 70 32 constraint[j constraint[j NOUN ajst-16325 70 33 ] ] PUNCT ajst-16325 70 34 . . PUNCT ajst-16325 71 1 journal journal PROPN ajst-16325 71 2 of of ADP ajst-16325 71 3 intelligent intelligent ADJ ajst-16325 71 4 & & CCONJ ajst-16325 71 5 robotic robotic ADJ ajst-16325 71 6 systems system NOUN ajst-16325 71 7 , , PUNCT ajst-16325 71 8 2018 2018 NUM ajst-16325 71 9 , , PUNCT ajst-16325 71 10 90 90 NUM ajst-16325 71 11 : : SYM ajst-16325 71 12 161 161 NUM ajst-16325 71 13 - - SYM ajst-16325 71 14 170 170 NUM ajst-16325 71 15 . . PUNCT ajst-16325 72 1 [ [ X ajst-16325 72 2 5 5 NUM ajst-16325 72 3 ] ] X ajst-16325 72 4 el el PROPN ajst-16325 72 5 - - PROPN ajst-16325 72 6 gohary gohary PROPN ajst-16325 72 7 m m PROPN ajst-16325 72 8 , , PUNCT ajst-16325 72 9 mcnames mcname NOUN ajst-16325 72 10 j. j. PROPN ajst-16325 72 11 human human PROPN ajst-16325 72 12 joint joint PROPN ajst-16325 72 13 angle angle NOUN ajst-16325 72 14 estimation estimation NOUN ajst-16325 72 15 with with ADP ajst-16325 72 16 inertial inertial ADJ ajst-16325 72 17 sensors sensor NOUN ajst-16325 72 18 and and CCONJ ajst-16325 72 19 validation validation NOUN ajst-16325 72 20 with with ADP ajst-16325 72 21 a a DET ajst-16325 72 22 robot robot NOUN ajst-16325 72 23 arm[j arm[j ADJ ajst-16325 72 24 ] ] PUNCT ajst-16325 72 25 . . PUNCT ajst-16325 73 1 ieee ieee NOUN ajst-16325 73 2 transactions transaction NOUN ajst-16325 73 3 on on ADP ajst-16325 73 4 biomedical biomedical ADJ ajst-16325 73 5 engineering engineering NOUN ajst-16325 73 6 , , PUNCT ajst-16325 73 7 2015 2015 NUM ajst-16325 73 8 , , PUNCT ajst-16325 73 9 62(7 62(7 NOUN ajst-16325 73 10 ): ): PUNCT ajst-16325 73 11 17591767 17591767 NUM ajst-16325 73 12 . . PUNCT ajst-16325 74 1 [ [ X ajst-16325 74 2 6 6 NUM ajst-16325 74 3 ] ] X ajst-16325 74 4 el el PROPN ajst-16325 74 5 - - PROPN ajst-16325 74 6 gohary gohary PROPN ajst-16325 74 7 m m PROPN ajst-16325 74 8 , , PUNCT ajst-16325 74 9 mcnames mcname NOUN ajst-16325 74 10 j. j. PROPN ajst-16325 74 11 human human PROPN ajst-16325 74 12 joint joint PROPN ajst-16325 74 13 angle angle NOUN ajst-16325 74 14 estimation estimation NOUN ajst-16325 74 15 with with ADP ajst-16325 74 16 inertial inertial ADJ ajst-16325 74 17 sensors sensor NOUN ajst-16325 74 18 and and CCONJ ajst-16325 74 19 validation validation NOUN ajst-16325 74 20 with with ADP ajst-16325 74 21 a a DET ajst-16325 74 22 robot robot NOUN ajst-16325 74 23 arm[j arm[j ADJ ajst-16325 74 24 ] ] PUNCT ajst-16325 74 25 . . PUNCT ajst-16325 75 1 ieee ieee NOUN ajst-16325 75 2 113 113 NUM ajst-16325 75 3 transactions transaction NOUN ajst-16325 75 4 on on ADP ajst-16325 75 5 biomedical biomedical ADJ ajst-16325 75 6 engineering engineering NOUN ajst-16325 75 7 , , PUNCT ajst-16325 75 8 2015 2015 NUM ajst-16325 75 9 , , PUNCT ajst-16325 75 10 62(7 62(7 NOUN ajst-16325 75 11 ): ): PUNCT ajst-16325 75 12 17591767 17591767 NUM ajst-16325 75 13 . . PUNCT ajst-16325 76 1 [ [ X ajst-16325 76 2 7 7 NUM ajst-16325 76 3 ] ] X ajst-16325 76 4 fourati fourati PROPN ajst-16325 76 5 h h PROPN ajst-16325 76 6 , , PUNCT ajst-16325 76 7 manamanni manamanni NOUN ajst-16325 76 8 n n CCONJ ajst-16325 76 9 , , PUNCT ajst-16325 76 10 afilal afilal NOUN ajst-16325 76 11 l l NOUN ajst-16325 76 12 , , PUNCT ajst-16325 76 13 et et PROPN ajst-16325 76 14 al al PROPN ajst-16325 76 15 . . PUNCT ajst-16325 77 1 a a DET ajst-16325 77 2 nonlinear nonlinear ADJ ajst-16325 77 3 filtering filter VERB ajst-16325 77 4 approach approach NOUN ajst-16325 77 5 for for ADP ajst-16325 77 6 the the DET ajst-16325 77 7 attitude attitude NOUN ajst-16325 77 8 and and CCONJ ajst-16325 77 9 dynamic dynamic ADJ ajst-16325 77 10 body body NOUN ajst-16325 77 11 acceleration acceleration NOUN ajst-16325 77 12 estimation estimation NOUN ajst-16325 77 13 based base VERB ajst-16325 77 14 on on ADP ajst-16325 77 15 inertial inertial ADJ ajst-16325 77 16 and and CCONJ ajst-16325 77 17 magnetic magnetic ADJ ajst-16325 77 18 sensors sensor NOUN ajst-16325 77 19 : : PUNCT ajst-16325 77 20 bio bio ADJ ajst-16325 77 21 - - PUNCT ajst-16325 77 22 logging log VERB ajst-16325 77 23 application[j application[j PROPN ajst-16325 77 24 ] ] PUNCT ajst-16325 77 25 . . PUNCT ajst-16325 78 1 ieee ieee PROPN ajst-16325 78 2 sensors sensor NOUN ajst-16325 78 3 journal journal PROPN ajst-16325 78 4 , , PUNCT ajst-16325 78 5 2010 2010 NUM ajst-16325 78 6 , , PUNCT ajst-16325 78 7 11(1 11(1 NUM ajst-16325 78 8 ): ): PUNCT ajst-16325 78 9 233 233 NUM ajst-16325 78 10 - - SYM ajst-16325 78 11 244 244 NUM ajst-16325 78 12 . . PUNCT ajst-16325 79 1 [ [ X ajst-16325 79 2 8 8 NUM ajst-16325 79 3 ] ] X ajst-16325 79 4 tian tian PROPN ajst-16325 79 5 y y PROPN ajst-16325 79 6 , , PUNCT ajst-16325 79 7 wei wei PROPN ajst-16325 79 8 h h PROPN ajst-16325 79 9 , , PUNCT ajst-16325 79 10 tan tan PROPN ajst-16325 79 11 j. j. PROPN ajst-16325 79 12 an an DET ajst-16325 79 13 adaptive adaptive ADJ ajst-16325 79 14 - - PUNCT ajst-16325 79 15 gain gain NOUN ajst-16325 79 16 complementary complementary ADJ ajst-16325 79 17 filter filter NOUN ajst-16325 79 18 for for ADP ajst-16325 79 19 real real ADJ ajst-16325 79 20 - - PUNCT ajst-16325 79 21 time time NOUN ajst-16325 79 22 human human ADJ ajst-16325 79 23 motion motion NOUN ajst-16325 79 24 tracking track VERB ajst-16325 79 25 with with ADP ajst-16325 79 26 marg marg NOUN ajst-16325 79 27 sensors sensor NOUN ajst-16325 79 28 in in ADP ajst-16325 79 29 free free ADJ ajst-16325 79 30 - - PUNCT ajst-16325 79 31 living live VERB ajst-16325 79 32 environments[j environments[j NOUN ajst-16325 79 33 ] ] PUNCT ajst-16325 79 34 . . PUNCT ajst-16325 80 1 ieee ieee NOUN ajst-16325 80 2 transactions transaction NOUN ajst-16325 80 3 on on ADP ajst-16325 80 4 neural neural ADJ ajst-16325 80 5 systems system NOUN ajst-16325 80 6 and and CCONJ ajst-16325 80 7 rehabilitation rehabilitation NOUN ajst-16325 80 8 engineering engineering NOUN ajst-16325 80 9 , , PUNCT ajst-16325 80 10 2012 2012 NUM ajst-16325 80 11 , , PUNCT ajst-16325 80 12 21(2 21(2 NUM ajst-16325 80 13 ): ): PUNCT ajst-16325 80 14 254 254 NUM ajst-16325 80 15 - - SYM ajst-16325 80 16 264 264 NUM ajst-16325 80 17 . . PUNCT ajst-16325 81 1 [ [ X ajst-16325 81 2 9 9 NUM ajst-16325 81 3 ] ] X ajst-16325 81 4 hsu hsu PROPN ajst-16325 81 5 y y PROPN ajst-16325 81 6 l l PROPN ajst-16325 81 7 , , PUNCT ajst-16325 81 8 wang wang PROPN ajst-16325 81 9 j j PROPN ajst-16325 81 10 s s PROPN ajst-16325 81 11 , , PUNCT ajst-16325 81 12 lin lin PROPN ajst-16325 81 13 y y PROPN ajst-16325 81 14 c c PROPN ajst-16325 81 15 , , PUNCT ajst-16325 81 16 et et PROPN ajst-16325 81 17 al al PROPN ajst-16325 81 18 . . PUNCT ajst-16325 82 1 a a DET ajst-16325 82 2 wearable wearable ADJ ajst-16325 82 3 inertial inertial NOUN ajst-16325 82 4 - - PUNCT ajst-16325 82 5 sensingbased sensingbase VERB ajst-16325 82 6 body body NOUN ajst-16325 82 7 sensor sensor NOUN ajst-16325 82 8 network network NOUN ajst-16325 82 9 for for ADP ajst-16325 82 10 shoulder shoulder NOUN ajst-16325 82 11 range range NOUN ajst-16325 82 12 of of ADP ajst-16325 82 13 motion motion NOUN ajst-16325 82 14 assessment[c]//2013 assessment[c]//2013 PROPN ajst-16325 82 15 1st 1st ADJ ajst-16325 82 16 international international ADJ ajst-16325 82 17 conference conference NOUN ajst-16325 82 18 on on ADP ajst-16325 82 19 orange orange PROPN ajst-16325 82 20 technologies technology NOUN ajst-16325 82 21 ( ( PUNCT ajst-16325 82 22 icot icot NOUN ajst-16325 82 23 ) ) PUNCT ajst-16325 82 24 . . PUNCT ajst-16325 83 1 ieee ieee PROPN ajst-16325 83 2 , , PUNCT ajst-16325 83 3 2013 2013 NUM ajst-16325 83 4 : : PUNCT ajst-16325 83 5 328 328 NUM ajst-16325 83 6 - - SYM ajst-16325 83 7 331 331 NUM ajst-16325 83 8 . . PUNCT ajst-16325 84 1 [ [ X ajst-16325 84 2 10 10 NUM ajst-16325 84 3 ] ] X ajst-16325 84 4 tao tao PROPN ajst-16325 84 5 y y PROPN ajst-16325 84 6 , , PUNCT ajst-16325 84 7 hu hu PROPN ajst-16325 85 1 h. h. PROPN ajst-16325 85 2 a a DET ajst-16325 85 3 novel novel NOUN ajst-16325 85 4 sensing sensing NOUN ajst-16325 85 5 and and CCONJ ajst-16325 85 6 data data NOUN ajst-16325 85 7 fusion fusion NOUN ajst-16325 85 8 system system NOUN ajst-16325 85 9 for for ADP ajst-16325 85 10 3 3 NUM ajst-16325 85 11 - - SYM ajst-16325 85 12 d d NOUN ajst-16325 85 13 arm arm NOUN ajst-16325 85 14 motion motion NOUN ajst-16325 85 15 tracking tracking NOUN ajst-16325 85 16 in in ADP ajst-16325 85 17 telerehabilitation[j telerehabilitation[j PROPN ajst-16325 85 18 ] ] PUNCT ajst-16325 85 19 . . PUNCT ajst-16325 86 1 ieee ieee NOUN ajst-16325 86 2 transactions transaction NOUN ajst-16325 86 3 on on ADP ajst-16325 86 4 instrumentation instrumentation NOUN ajst-16325 86 5 and and CCONJ ajst-16325 86 6 measurement measurement NOUN ajst-16325 86 7 , , PUNCT ajst-16325 86 8 2008 2008 NUM ajst-16325 86 9 , , PUNCT ajst-16325 86 10 57(5 57(5 NUM ajst-16325 86 11 ): ): PUNCT ajst-16325 86 12 1029 1029 NUM ajst-16325 86 13 - - SYM ajst-16325 86 14 1040 1040 NUM ajst-16325 86 15 . . PUNCT