id	sid	tid	token	lemma	pos
ajst-30194	1	1	academic	academic	ADJ
ajst-30194	1	2	journal	journal	NOUN
ajst-30194	1	3	of	of	ADP
ajst-30194	1	4	science	science	NOUN
ajst-30194	1	5	and	and	CCONJ
ajst-30194	1	6	technology	technology	NOUN
ajst-30194	1	7	issn	issn	NOUN
ajst-30194	1	8	:	:	PUNCT
ajst-30194	1	9	2771	2771	NUM
ajst-30194	1	10	-	-	SYM
ajst-30194	1	11	3032	3032	NUM
ajst-30194	1	12	|	|	NOUN
ajst-30194	1	13	vol	vol	NOUN
ajst-30194	1	14	.	.	PUNCT
ajst-30194	2	1	14	14	NUM
ajst-30194	2	2	,	,	PUNCT
ajst-30194	2	3	no	no	INTJ
ajst-30194	2	4	.	.	NOUN
ajst-30194	2	5	3	3	NUM
ajst-30194	2	6	,	,	PUNCT
ajst-30194	2	7	2025	2025	NUM
ajst-30194	2	8	168	168	NUM
ajst-30194	2	9	application	application	NOUN
ajst-30194	2	10	of	of	ADP
ajst-30194	2	11	square‐root	square‐root	PROPN
ajst-30194	2	12	information	information	NOUN
ajst-30194	2	13	kalman	kalman	NOUN
ajst-30194	2	14	filtering	filter	VERB
ajst-30194	2	15	to	to	ADP
ajst-30194	2	16	combined	combined	ADJ
ajst-30194	2	17	navigation	navigation	NOUN
ajst-30194	2	18	systems	system	NOUN
ajst-30194	2	19	yifan	yifan	PROPN
ajst-30194	2	20	yang	yang	PROPN
ajst-30194	2	21	,	,	PUNCT
ajst-30194	2	22	yanmin	yanmin	PROPN
ajst-30194	2	23	luo	luo	PROPN
ajst-30194	2	24	xi	xi	ADP
ajst-30194	2	25	'	'	PUNCT
ajst-30194	2	26	an	an	DET
ajst-30194	2	27	shiyou	shiyou	PROPN
ajst-30194	2	28	university	university	NOUN
ajst-30194	2	29	,	,	PUNCT
ajst-30194	2	30	xi	xi	ADP
ajst-30194	2	31	'	'	PUNCT
ajst-30194	2	32	an	an	DET
ajst-30194	2	33	710065	710065	NUM
ajst-30194	2	34	,	,	PUNCT
ajst-30194	2	35	china	china	PROPN
ajst-30194	2	36	abstract	abstract	PROPN
ajst-30194	2	37	:	:	PUNCT
ajst-30194	2	38	with	with	ADP
ajst-30194	2	39	the	the	DET
ajst-30194	2	40	rapid	rapid	ADJ
ajst-30194	2	41	development	development	NOUN
ajst-30194	2	42	of	of	ADP
ajst-30194	2	43	modern	modern	ADJ
ajst-30194	2	44	science	science	NOUN
ajst-30194	2	45	and	and	CCONJ
ajst-30194	2	46	technology	technology	NOUN
ajst-30194	2	47	,	,	PUNCT
ajst-30194	2	48	navigation	navigation	NOUN
ajst-30194	2	49	technology	technology	NOUN
ajst-30194	2	50	plays	play	VERB
ajst-30194	2	51	a	a	DET
ajst-30194	2	52	crucial	crucial	ADJ
ajst-30194	2	53	role	role	NOUN
ajst-30194	2	54	in	in	ADP
ajst-30194	2	55	transportation	transportation	NOUN
ajst-30194	2	56	,	,	PUNCT
ajst-30194	2	57	aerospace	aerospace	NOUN
ajst-30194	2	58	,	,	PUNCT
ajst-30194	2	59	military	military	NOUN
ajst-30194	2	60	and	and	CCONJ
ajst-30194	2	61	other	other	ADJ
ajst-30194	2	62	fields	field	NOUN
ajst-30194	2	63	.	.	PUNCT
ajst-30194	3	1	at	at	ADP
ajst-30194	3	2	present	present	ADJ
ajst-30194	3	3	,	,	PUNCT
ajst-30194	3	4	a	a	DET
ajst-30194	3	5	single	single	ADJ
ajst-30194	3	6	navigation	navigation	NOUN
ajst-30194	3	7	technology	technology	NOUN
ajst-30194	3	8	has	have	AUX
ajst-30194	3	9	been	be	AUX
ajst-30194	3	10	difficult	difficult	ADJ
ajst-30194	3	11	to	to	PART
ajst-30194	3	12	meet	meet	VERB
ajst-30194	3	13	the	the	DET
ajst-30194	3	14	complex	complex	ADJ
ajst-30194	3	15	navigation	navigation	NOUN
ajst-30194	3	16	needs	need	NOUN
ajst-30194	3	17	of	of	ADP
ajst-30194	3	18	high	high	ADJ
ajst-30194	3	19	mobility	mobility	NOUN
ajst-30194	3	20	carriers	carrier	NOUN
ajst-30194	3	21	or	or	CCONJ
ajst-30194	3	22	special	special	ADJ
ajst-30194	3	23	environments	environment	NOUN
ajst-30194	3	24	.	.	PUNCT
ajst-30194	4	1	aiming	aim	VERB
ajst-30194	4	2	at	at	ADP
ajst-30194	4	3	the	the	DET
ajst-30194	4	4	above	above	ADJ
ajst-30194	4	5	problems	problem	NOUN
ajst-30194	4	6	,	,	PUNCT
ajst-30194	4	7	this	this	DET
ajst-30194	4	8	paper	paper	NOUN
ajst-30194	4	9	carries	carry	VERB
ajst-30194	4	10	out	out	ADP
ajst-30194	4	11	an	an	DET
ajst-30194	4	12	in	in	ADP
ajst-30194	4	13	-	-	PUNCT
ajst-30194	4	14	depth	depth	NOUN
ajst-30194	4	15	study	study	NOUN
ajst-30194	4	16	on	on	ADP
ajst-30194	4	17	the	the	DET
ajst-30194	4	18	tightly	tightly	ADV
ajst-30194	4	19	coupled	couple	VERB
ajst-30194	4	20	navigation	navigation	NOUN
ajst-30194	4	21	system	system	NOUN
ajst-30194	4	22	of	of	ADP
ajst-30194	4	23	strapdown	strapdown	ADJ
ajst-30194	4	24	inertial	inertial	ADJ
ajst-30194	4	25	navigation	navigation	NOUN
ajst-30194	4	26	system	system	NOUN
ajst-30194	4	27	(	(	PUNCT
ajst-30194	4	28	sins	sin	NOUN
ajst-30194	4	29	)	)	PUNCT
ajst-30194	4	30	and	and	CCONJ
ajst-30194	4	31	global	global	ADJ
ajst-30194	4	32	navigation	navigation	NOUN
ajst-30194	4	33	satellite	satellite	NOUN
ajst-30194	4	34	system	system	NOUN
ajst-30194	4	35	(	(	PUNCT
ajst-30194	4	36	gnss	gnss	NOUN
ajst-30194	4	37	)	)	PUNCT
ajst-30194	4	38	,	,	PUNCT
ajst-30194	4	39	and	and	CCONJ
ajst-30194	4	40	introduces	introduce	VERB
ajst-30194	4	41	the	the	DET
ajst-30194	4	42	square	square	ADJ
ajst-30194	4	43	-	-	PUNCT
ajst-30194	4	44	root	root	NOUN
ajst-30194	4	45	information	information	NOUN
ajst-30194	4	46	kalman	kalman	NOUN
ajst-30194	4	47	filtering	filtering	NOUN
ajst-30194	4	48	algorithm	algorithm	PROPN
ajst-30194	4	49	.	.	PUNCT
ajst-30194	5	1	the	the	DET
ajst-30194	5	2	algorithm	algorithm	NOUN
ajst-30194	5	3	takes	take	VERB
ajst-30194	5	4	the	the	DET
ajst-30194	5	5	information	information	NOUN
ajst-30194	5	6	matrix	matrix	NOUN
ajst-30194	5	7	(	(	PUNCT
ajst-30194	5	8	the	the	DET
ajst-30194	5	9	inverse	inverse	NOUN
ajst-30194	5	10	of	of	ADP
ajst-30194	5	11	the	the	DET
ajst-30194	5	12	mean	mean	ADJ
ajst-30194	5	13	square	square	ADJ
ajst-30194	5	14	error	error	NOUN
ajst-30194	5	15	matrix	matrix	NOUN
ajst-30194	5	16	)	)	PUNCT
ajst-30194	5	17	as	as	ADP
ajst-30194	5	18	the	the	DET
ajst-30194	5	19	updating	updating	NOUN
ajst-30194	5	20	object	object	NOUN
ajst-30194	5	21	,	,	PUNCT
ajst-30194	5	22	which	which	PRON
ajst-30194	5	23	effectively	effectively	ADV
ajst-30194	5	24	avoids	avoid	VERB
ajst-30194	5	25	the	the	DET
ajst-30194	5	26	numerical	numerical	ADJ
ajst-30194	5	27	instability	instability	NOUN
ajst-30194	5	28	and	and	CCONJ
ajst-30194	5	29	non	non	ADJ
ajst-30194	5	30	-	-	ADJ
ajst-30194	5	31	positive	positive	ADJ
ajst-30194	5	32	characterization	characterization	NOUN
ajst-30194	5	33	problems	problem	NOUN
ajst-30194	5	34	that	that	PRON
ajst-30194	5	35	may	may	AUX
ajst-30194	5	36	occur	occur	VERB
ajst-30194	5	37	in	in	ADP
ajst-30194	5	38	the	the	DET
ajst-30194	5	39	iterative	iterative	NOUN
ajst-30194	5	40	process	process	NOUN
ajst-30194	5	41	of	of	ADP
ajst-30194	5	42	the	the	DET
ajst-30194	5	43	mean	mean	ADJ
ajst-30194	5	44	square	square	ADJ
ajst-30194	5	45	error	error	NOUN
ajst-30194	5	46	matrix	matrix	NOUN
ajst-30194	5	47	.	.	PUNCT
ajst-30194	6	1	compared	compare	VERB
ajst-30194	6	2	with	with	ADP
ajst-30194	6	3	the	the	DET
ajst-30194	6	4	traditional	traditional	ADJ
ajst-30194	6	5	extended	extend	VERB
ajst-30194	6	6	kalman	kalman	NOUN
ajst-30194	6	7	filter	filter	NOUN
ajst-30194	6	8	,	,	PUNCT
ajst-30194	6	9	the	the	DET
ajst-30194	6	10	square	square	ADJ
ajst-30194	6	11	-	-	PUNCT
ajst-30194	6	12	root	root	NOUN
ajst-30194	6	13	information	information	NOUN
ajst-30194	6	14	kalman	kalman	NOUN
ajst-30194	6	15	filter	filter	PROPN
ajst-30194	6	16	has	have	VERB
ajst-30194	6	17	higher	high	ADJ
ajst-30194	6	18	numerical	numerical	ADJ
ajst-30194	6	19	stability	stability	NOUN
ajst-30194	6	20	and	and	CCONJ
ajst-30194	6	21	computational	computational	ADJ
ajst-30194	6	22	efficiency	efficiency	NOUN
ajst-30194	6	23	in	in	ADP
ajst-30194	6	24	dealing	deal	VERB
ajst-30194	6	25	with	with	ADP
ajst-30194	6	26	nonlinear	nonlinear	ADJ
ajst-30194	6	27	systems	system	NOUN
ajst-30194	6	28	,	,	PUNCT
ajst-30194	6	29	which	which	PRON
ajst-30194	6	30	is	be	AUX
ajst-30194	6	31	especially	especially	ADV
ajst-30194	6	32	suitable	suitable	ADJ
ajst-30194	6	33	for	for	ADP
ajst-30194	6	34	multi	multi	ADJ
ajst-30194	6	35	-	-	ADJ
ajst-30194	6	36	sensor	sensor	ADJ
ajst-30194	6	37	fusion	fusion	NOUN
ajst-30194	6	38	scenarios	scenario	NOUN
ajst-30194	6	39	.	.	PUNCT
ajst-30194	7	1	keywords	keyword	NOUN
ajst-30194	7	2	:	:	PUNCT
ajst-30194	7	3	inertial	inertial	ADJ
ajst-30194	7	4	navigation	navigation	NOUN
ajst-30194	7	5	;	;	PUNCT
ajst-30194	7	6	tight	tight	ADJ
ajst-30194	7	7	coupling	couple	VERB
ajst-30194	7	8	navigation	navigation	NOUN
ajst-30194	7	9	;	;	PUNCT
ajst-30194	7	10	extended	extend	VERB
ajst-30194	7	11	kalman	kalman	NOUN
ajst-30194	7	12	filter	filter	NOUN
ajst-30194	7	13	;	;	PUNCT
ajst-30194	7	14	square	square	ADJ
ajst-30194	7	15	-	-	PUNCT
ajst-30194	7	16	root	root	NOUN
ajst-30194	7	17	information	information	NOUN
ajst-30194	7	18	kalman	kalman	NOUN
ajst-30194	7	19	filtering	filtering	PROPN
ajst-30194	7	20	.	.	PUNCT
ajst-30194	8	1	1	1	X
ajst-30194	8	2	.	.	X
ajst-30194	8	3	introduction	introduction	NOUN
ajst-30194	8	4	with	with	ADP
ajst-30194	8	5	the	the	DET
ajst-30194	8	6	rapid	rapid	ADJ
ajst-30194	8	7	development	development	NOUN
ajst-30194	8	8	of	of	ADP
ajst-30194	8	9	modern	modern	ADJ
ajst-30194	8	10	navigation	navigation	NOUN
ajst-30194	8	11	technology	technology	NOUN
ajst-30194	8	12	,	,	PUNCT
ajst-30194	8	13	the	the	DET
ajst-30194	8	14	demand	demand	NOUN
ajst-30194	8	15	for	for	ADP
ajst-30194	8	16	high	high	ADJ
ajst-30194	8	17	-	-	PUNCT
ajst-30194	8	18	precision	precision	NOUN
ajst-30194	8	19	and	and	CCONJ
ajst-30194	8	20	highreliability	highreliability	NOUN
ajst-30194	8	21	navigation	navigation	NOUN
ajst-30194	8	22	and	and	CCONJ
ajst-30194	8	23	localization	localization	NOUN
ajst-30194	8	24	is	be	AUX
ajst-30194	8	25	growing	grow	VERB
ajst-30194	8	26	in	in	ADP
ajst-30194	8	27	military	military	ADJ
ajst-30194	8	28	,	,	PUNCT
ajst-30194	8	29	civil	civil	ADJ
ajst-30194	8	30	and	and	CCONJ
ajst-30194	8	31	industrial	industrial	ADJ
ajst-30194	8	32	fields	field	NOUN
ajst-30194	8	33	.	.	PUNCT
ajst-30194	9	1	in	in	ADP
ajst-30194	9	2	complex	complex	ADJ
ajst-30194	9	3	environments	environment	NOUN
ajst-30194	9	4	such	such	ADJ
ajst-30194	9	5	as	as	ADP
ajst-30194	9	6	urban	urban	ADJ
ajst-30194	9	7	canyons	canyon	NOUN
ajst-30194	9	8	,	,	PUNCT
ajst-30194	9	9	tunnels	tunnel	NOUN
ajst-30194	9	10	,	,	PUNCT
ajst-30194	9	11	underground	underground	ADJ
ajst-30194	9	12	spaces	space	NOUN
ajst-30194	9	13	or	or	CCONJ
ajst-30194	9	14	electromagnetic	electromagnetic	ADJ
ajst-30194	9	15	interference	interference	NOUN
ajst-30194	9	16	scenarios	scenario	NOUN
ajst-30194	9	17	,	,	PUNCT
ajst-30194	9	18	it	it	PRON
ajst-30194	9	19	is	be	AUX
ajst-30194	9	20	often	often	ADV
ajst-30194	9	21	difficult	difficult	ADJ
ajst-30194	9	22	for	for	SCONJ
ajst-30194	9	23	a	a	DET
ajst-30194	9	24	single	single	ADJ
ajst-30194	9	25	navigation	navigation	NOUN
ajst-30194	9	26	system	system	NOUN
ajst-30194	9	27	to	to	PART
ajst-30194	9	28	meet	meet	VERB
ajst-30194	9	29	the	the	DET
ajst-30194	9	30	actual	actual	ADJ
ajst-30194	9	31	needs	need	NOUN
ajst-30194	9	32	.	.	PUNCT
ajst-30194	10	1	for	for	ADP
ajst-30194	10	2	example	example	NOUN
ajst-30194	10	3	,	,	PUNCT
ajst-30194	10	4	global	global	ADJ
ajst-30194	10	5	navigation	navigation	NOUN
ajst-30194	10	6	satellite	satellite	NOUN
ajst-30194	10	7	systems	system	NOUN
ajst-30194	10	8	rely	rely	VERB
ajst-30194	10	9	on	on	ADP
ajst-30194	10	10	external	external	ADJ
ajst-30194	10	11	signals	signal	NOUN
ajst-30194	10	12	and	and	CCONJ
ajst-30194	10	13	are	be	AUX
ajst-30194	10	14	susceptible	susceptible	ADJ
ajst-30194	10	15	to	to	ADP
ajst-30194	10	16	occlusion	occlusion	NOUN
ajst-30194	10	17	or	or	CCONJ
ajst-30194	10	18	interference	interference	NOUN
ajst-30194	10	19	,	,	PUNCT
ajst-30194	10	20	while	while	SCONJ
ajst-30194	10	21	inertial	inertial	ADJ
ajst-30194	10	22	navigation	navigation	NOUN
ajst-30194	10	23	systems	system	NOUN
ajst-30194	10	24	,	,	PUNCT
ajst-30194	10	25	though	though	SCONJ
ajst-30194	10	26	autonomous	autonomous	ADJ
ajst-30194	10	27	,	,	PUNCT
ajst-30194	10	28	accumulate	accumulate	VERB
ajst-30194	10	29	errors	error	NOUN
ajst-30194	10	30	over	over	ADP
ajst-30194	10	31	time[1	time[1	NOUN
ajst-30194	10	32	]	]	PUNCT
ajst-30194	10	33	.	.	PUNCT
ajst-30194	11	1	combining	combine	VERB
ajst-30194	11	2	the	the	DET
ajst-30194	11	3	strapdown	strapdown	ADJ
ajst-30194	11	4	inertial	inertial	ADJ
ajst-30194	11	5	navigation	navigation	NOUN
ajst-30194	11	6	system	system	NOUN
ajst-30194	11	7	with	with	ADP
ajst-30194	11	8	the	the	DET
ajst-30194	11	9	global	global	ADJ
ajst-30194	11	10	navigation	navigation	PROPN
ajst-30194	11	11	satellite	satellite	NOUN
ajst-30194	11	12	systems	system	NOUN
ajst-30194	11	13	can	can	AUX
ajst-30194	11	14	combine	combine	VERB
ajst-30194	11	15	the	the	DET
ajst-30194	11	16	advantages	advantage	NOUN
ajst-30194	11	17	of	of	ADP
ajst-30194	11	18	inertial	inertial	ADJ
ajst-30194	11	19	navigation	navigation	NOUN
ajst-30194	11	20	's	's	PART
ajst-30194	11	21	strong	strong	ADJ
ajst-30194	11	22	anti	anti	ADJ
ajst-30194	11	23	-	-	ADJ
ajst-30194	11	24	jamming	jamming	ADJ
ajst-30194	11	25	ability	ability	NOUN
ajst-30194	11	26	and	and	CCONJ
ajst-30194	11	27	the	the	DET
ajst-30194	11	28	advantages	advantage	NOUN
ajst-30194	11	29	of	of	ADP
ajst-30194	11	30	satellite	satellite	NOUN
ajst-30194	11	31	navigation	navigation	NOUN
ajst-30194	11	32	's	's	PART
ajst-30194	11	33	high	high	ADJ
ajst-30194	11	34	long	long	ADJ
ajst-30194	11	35	-	-	PUNCT
ajst-30194	11	36	term	term	NOUN
ajst-30194	11	37	accuracy	accuracy	NOUN
ajst-30194	11	38	to	to	PART
ajst-30194	11	39	form	form	VERB
ajst-30194	11	40	a	a	DET
ajst-30194	11	41	complementary	complementary	ADJ
ajst-30194	11	42	system	system	NOUN
ajst-30194	11	43	.	.	PUNCT
ajst-30194	12	1	there	there	PRON
ajst-30194	12	2	are	be	VERB
ajst-30194	12	3	three	three	NUM
ajst-30194	12	4	main	main	ADJ
ajst-30194	12	5	combinations	combination	NOUN
ajst-30194	12	6	of	of	ADP
ajst-30194	12	7	current	current	ADJ
ajst-30194	12	8	combined	combine	VERB
ajst-30194	12	9	inertial	inertial	NOUN
ajst-30194	12	10	/	/	SYM
ajst-30194	12	11	satellite	satellite	NOUN
ajst-30194	12	12	navigation	navigation	NOUN
ajst-30194	12	13	systems	system	NOUN
ajst-30194	12	14	,	,	PUNCT
ajst-30194	12	15	namely	namely	ADV
ajst-30194	12	16	loose	loose	ADJ
ajst-30194	12	17	coupling[2	coupling[2	NOUN
ajst-30194	12	18	]	]	X
ajst-30194	12	19	,	,	PUNCT
ajst-30194	12	20	tight	tight	ADJ
ajst-30194	12	21	coupling[3	coupling[3	PROPN
ajst-30194	12	22	]	]	PUNCT
ajst-30194	12	23	and	and	CCONJ
ajst-30194	12	24	deep	deep	ADJ
ajst-30194	12	25	coupling[4	coupling[4	PROPN
ajst-30194	12	26	]	]	X
ajst-30194	12	27	.	.	PUNCT
ajst-30194	13	1	the	the	DET
ajst-30194	13	2	loose	loose	ADJ
ajst-30194	13	3	combination	combination	NOUN
ajst-30194	13	4	approach	approach	NOUN
ajst-30194	13	5	simply	simply	ADV
ajst-30194	13	6	fuses	fuse	VERB
ajst-30194	13	7	the	the	DET
ajst-30194	13	8	outputs	output	NOUN
ajst-30194	13	9	of	of	ADP
ajst-30194	13	10	an	an	DET
ajst-30194	13	11	inertial	inertial	ADJ
ajst-30194	13	12	navigation	navigation	NOUN
ajst-30194	13	13	system	system	NOUN
ajst-30194	13	14	and	and	CCONJ
ajst-30194	13	15	a	a	DET
ajst-30194	13	16	satellite	satellite	NOUN
ajst-30194	13	17	navigation	navigation	NOUN
ajst-30194	13	18	system	system	NOUN
ajst-30194	13	19	,	,	PUNCT
ajst-30194	13	20	usually	usually	ADV
ajst-30194	13	21	by	by	ADP
ajst-30194	13	22	correcting	correct	VERB
ajst-30194	13	23	the	the	DET
ajst-30194	13	24	errors	error	NOUN
ajst-30194	13	25	of	of	ADP
ajst-30194	13	26	the	the	DET
ajst-30194	13	27	inertial	inertial	ADJ
ajst-30194	13	28	navigation	navigation	NOUN
ajst-30194	13	29	system	system	NOUN
ajst-30194	13	30	through	through	ADP
ajst-30194	13	31	a	a	DET
ajst-30194	13	32	kalman	kalman	NOUN
ajst-30194	13	33	filter	filter	NOUN
ajst-30194	13	34	.	.	PUNCT
ajst-30194	14	1	in	in	ADP
ajst-30194	14	2	the	the	DET
ajst-30194	14	3	tight	tight	ADJ
ajst-30194	14	4	coupling	coupling	NOUN
ajst-30194	14	5	approach	approach	NOUN
ajst-30194	14	6	,	,	PUNCT
ajst-30194	14	7	the	the	DET
ajst-30194	14	8	pseudorange	pseudorange	NOUN
ajst-30194	14	9	and	and	CCONJ
ajst-30194	14	10	doppler	doppler	NOUN
ajst-30194	14	11	shift	shift	NOUN
ajst-30194	14	12	of	of	ADP
ajst-30194	14	13	the	the	DET
ajst-30194	14	14	satellite	satellite	NOUN
ajst-30194	14	15	navigation	navigation	NOUN
ajst-30194	14	16	system	system	NOUN
ajst-30194	14	17	are	be	AUX
ajst-30194	14	18	directly	directly	ADV
ajst-30194	14	19	fused	fuse	VERB
ajst-30194	14	20	with	with	ADP
ajst-30194	14	21	the	the	DET
ajst-30194	14	22	state	state	NOUN
ajst-30194	14	23	quantities	quantity	NOUN
ajst-30194	14	24	of	of	ADP
ajst-30194	14	25	the	the	DET
ajst-30194	14	26	inertial	inertial	ADJ
ajst-30194	14	27	navigation	navigation	NOUN
ajst-30194	14	28	system	system	NOUN
ajst-30194	14	29	,	,	PUNCT
ajst-30194	14	30	enabling	enable	VERB
ajst-30194	14	31	better	well	ADJ
ajst-30194	14	32	utilization	utilization	NOUN
ajst-30194	14	33	of	of	ADP
ajst-30194	14	34	satellite	satellite	NOUN
ajst-30194	14	35	navigation	navigation	NOUN
ajst-30194	14	36	information	information	NOUN
ajst-30194	14	37	.	.	PUNCT
ajst-30194	15	1	the	the	DET
ajst-30194	15	2	deep	deep	ADJ
ajst-30194	15	3	combination	combination	NOUN
ajst-30194	15	4	approach	approach	NOUN
ajst-30194	15	5	,	,	PUNCT
ajst-30194	15	6	on	on	ADP
ajst-30194	15	7	the	the	DET
ajst-30194	15	8	other	other	ADJ
ajst-30194	15	9	hand	hand	NOUN
ajst-30194	15	10	,	,	PUNCT
ajst-30194	15	11	deeply	deeply	ADV
ajst-30194	15	12	integrates	integrate	VERB
ajst-30194	15	13	the	the	DET
ajst-30194	15	14	receiver	receiver	NOUN
ajst-30194	15	15	of	of	ADP
ajst-30194	15	16	the	the	DET
ajst-30194	15	17	satellite	satellite	NOUN
ajst-30194	15	18	navigation	navigation	NOUN
ajst-30194	15	19	system	system	NOUN
ajst-30194	15	20	with	with	ADP
ajst-30194	15	21	the	the	DET
ajst-30194	15	22	inertial	inertial	ADJ
ajst-30194	15	23	navigation	navigation	NOUN
ajst-30194	15	24	system	system	NOUN
ajst-30194	15	25	,	,	PUNCT
ajst-30194	15	26	and	and	CCONJ
ajst-30194	15	27	even	even	ADV
ajst-30194	15	28	fuses	fuse	VERB
ajst-30194	15	29	them	they	PRON
ajst-30194	15	30	at	at	ADP
ajst-30194	15	31	the	the	DET
ajst-30194	15	32	signal	signal	ADJ
ajst-30194	15	33	processing	processing	NOUN
ajst-30194	15	34	level	level	NOUN
ajst-30194	15	35	to	to	PART
ajst-30194	15	36	further	far	ADV
ajst-30194	15	37	improve	improve	VERB
ajst-30194	15	38	the	the	DET
ajst-30194	15	39	system	system	NOUN
ajst-30194	15	40	's	's	PART
ajst-30194	15	41	anti	anti	ADJ
ajst-30194	15	42	-	-	ADJ
ajst-30194	15	43	interference	interference	ADJ
ajst-30194	15	44	capability	capability	NOUN
ajst-30194	15	45	and	and	CCONJ
ajst-30194	15	46	reliability	reliability	NOUN
ajst-30194	15	47	.	.	PUNCT
ajst-30194	16	1	kalman	kalman	NOUN
ajst-30194	16	2	filtering	filtering	PROPN
ajst-30194	16	3	is	be	AUX
ajst-30194	16	4	the	the	DET
ajst-30194	16	5	core	core	ADJ
ajst-30194	16	6	algorithm	algorithm	NOUN
ajst-30194	16	7	for	for	ADP
ajst-30194	16	8	state	state	NOUN
ajst-30194	16	9	estimation	estimation	NOUN
ajst-30194	16	10	,	,	PUNCT
ajst-30194	16	11	the	the	DET
ajst-30194	16	12	traditional	traditional	ADJ
ajst-30194	16	13	kalman	kalman	NOUN
ajst-30194	16	14	filtering	filtering	NOUN
ajst-30194	16	15	algorithm	algorithm	PROPN
ajst-30194	16	16	assumes	assume	VERB
ajst-30194	16	17	that	that	SCONJ
ajst-30194	16	18	the	the	DET
ajst-30194	16	19	system	system	NOUN
ajst-30194	16	20	is	be	AUX
ajst-30194	16	21	linear	linear	ADJ
ajst-30194	16	22	and	and	CCONJ
ajst-30194	16	23	the	the	DET
ajst-30194	16	24	noise	noise	NOUN
ajst-30194	16	25	is	be	AUX
ajst-30194	16	26	gaussian	gaussian	ADJ
ajst-30194	16	27	distribution	distribution	NOUN
ajst-30194	16	28	,	,	PUNCT
ajst-30194	16	29	in	in	ADP
ajst-30194	16	30	order	order	NOUN
ajst-30194	16	31	to	to	ADP
ajst-30194	16	32	the	the	DET
ajst-30194	16	33	nonlinear	nonlinear	ADJ
ajst-30194	16	34	system	system	NOUN
ajst-30194	16	35	model	model	NOUN
ajst-30194	16	36	and	and	CCONJ
ajst-30194	16	37	non	non	ADJ
ajst-30194	16	38	-	-	ADJ
ajst-30194	16	39	gaussian	gaussian	ADJ
ajst-30194	16	40	noise	noise	NOUN
ajst-30194	16	41	,	,	PUNCT
ajst-30194	16	42	the	the	DET
ajst-30194	16	43	researchers	researcher	NOUN
ajst-30194	16	44	proposed	propose	VERB
ajst-30194	16	45	the	the	DET
ajst-30194	16	46	extended	extended	ADJ
ajst-30194	16	47	kalman	kalman	NOUN
ajst-30194	16	48	filtering	filtering	NOUN
ajst-30194	16	49	algorithm	algorithm	PROPN
ajst-30194	16	50	,	,	PUNCT
ajst-30194	16	51	which	which	PRON
ajst-30194	16	52	linearizes	linearize	VERB
ajst-30194	16	53	the	the	DET
ajst-30194	16	54	nonlinear	nonlinear	ADJ
ajst-30194	16	55	model	model	NOUN
ajst-30194	16	56	through	through	ADP
ajst-30194	16	57	the	the	DET
ajst-30194	16	58	taylor	taylor	PROPN
ajst-30194	16	59	expansion[5	expansion[5	PROPN
ajst-30194	16	60	]	]	PUNCT
ajst-30194	16	61	,	,	PUNCT
ajst-30194	16	62	but	but	CCONJ
ajst-30194	16	63	it	it	PRON
ajst-30194	16	64	is	be	AUX
ajst-30194	16	65	prone	prone	ADJ
ajst-30194	16	66	to	to	ADP
ajst-30194	16	67	dispersion	dispersion	NOUN
ajst-30194	16	68	in	in	ADP
ajst-30194	16	69	the	the	DET
ajst-30194	16	70	strong	strong	ADJ
ajst-30194	16	71	nonlinear	nonlinear	ADJ
ajst-30194	16	72	scenario	scenario	NOUN
ajst-30194	16	73	.	.	PUNCT
ajst-30194	17	1	some	some	DET
ajst-30194	17	2	scholars	scholar	NOUN
ajst-30194	17	3	have	have	AUX
ajst-30194	17	4	proposed	propose	VERB
ajst-30194	17	5	several	several	ADJ
ajst-30194	17	6	adaptive	adaptive	ADJ
ajst-30194	17	7	algorithms	algorithm	NOUN
ajst-30194	17	8	,	,	PUNCT
ajst-30194	17	9	such	such	ADJ
ajst-30194	17	10	as	as	ADP
ajst-30194	17	11	the	the	DET
ajst-30194	17	12	sage	sage	NOUN
ajst-30194	17	13	-	-	PUNCT
ajst-30194	17	14	husa	husa	NOUN
ajst-30194	17	15	algorithm	algorithm	NOUN
ajst-30194	17	16	,	,	PUNCT
ajst-30194	17	17	which	which	PRON
ajst-30194	17	18	can	can	AUX
ajst-30194	17	19	dynamically	dynamically	ADV
ajst-30194	17	20	adjust	adjust	VERB
ajst-30194	17	21	the	the	DET
ajst-30194	17	22	noise	noise	NOUN
ajst-30194	17	23	covariance	covariance	NOUN
ajst-30194	17	24	matrix	matrix	NOUN
ajst-30194	17	25	r	r	NOUN
ajst-30194	17	26	to	to	PART
ajst-30194	17	27	improve	improve	VERB
ajst-30194	17	28	the	the	DET
ajst-30194	17	29	robustness	robustness	NOUN
ajst-30194	17	30	to	to	ADP
ajst-30194	17	31	abrupt	abrupt	ADJ
ajst-30194	17	32	noise	noise	NOUN
ajst-30194	17	33	,	,	PUNCT
ajst-30194	17	34	and	and	CCONJ
ajst-30194	17	35	is	be	AUX
ajst-30194	17	36	suitable	suitable	ADJ
ajst-30194	17	37	for	for	ADP
ajst-30194	17	38	intermittent	intermittent	ADJ
ajst-30194	17	39	satellite	satellite	NOUN
ajst-30194	17	40	signal	signal	NOUN
ajst-30194	17	41	scenarios	scenario	NOUN
ajst-30194	17	42	.	.	PUNCT
ajst-30194	18	1	aiming	aim	VERB
ajst-30194	18	2	at	at	ADP
ajst-30194	18	3	the	the	DET
ajst-30194	18	4	limitations	limitation	NOUN
ajst-30194	18	5	of	of	ADP
ajst-30194	18	6	the	the	DET
ajst-30194	18	7	ekf	ekf	PROPN
ajst-30194	18	8	algorithm	algorithm	PROPN
ajst-30194	18	9	,	,	PUNCT
ajst-30194	18	10	based	base	VERB
ajst-30194	18	11	on	on	ADP
ajst-30194	18	12	the	the	DET
ajst-30194	18	13	filtering	filtering	NOUN
ajst-30194	18	14	method	method	NOUN
ajst-30194	18	15	of	of	ADP
ajst-30194	18	16	nonlinear	nonlinear	ADJ
ajst-30194	18	17	transformation	transformation	NOUN
ajst-30194	18	18	,	,	PUNCT
ajst-30194	18	19	the	the	DET
ajst-30194	18	20	vast	vast	ADJ
ajst-30194	18	21	number	number	NOUN
ajst-30194	18	22	of	of	ADP
ajst-30194	18	23	scholars	scholar	NOUN
ajst-30194	18	24	have	have	AUX
ajst-30194	18	25	also	also	ADV
ajst-30194	18	26	proposed	propose	VERB
ajst-30194	18	27	the	the	DET
ajst-30194	18	28	traceless	traceless	NOUN
ajst-30194	18	29	kalman	kalman	NOUN
ajst-30194	18	30	filter	filter	NOUN
ajst-30194	18	31	and	and	CCONJ
ajst-30194	18	32	the	the	DET
ajst-30194	18	33	volumetric	volumetric	NOUN
ajst-30194	18	34	kalman	kalman	NOUN
ajst-30194	18	35	filter	filter	PROPN
ajst-30194	18	36	.	.	PUNCT
ajst-30194	19	1	ukf	ukf	NOUN
ajst-30194	19	2	approximates	approximate	VERB
ajst-30194	19	3	the	the	DET
ajst-30194	19	4	nonlinear	nonlinear	ADJ
ajst-30194	19	5	distribution	distribution	NOUN
ajst-30194	19	6	through	through	ADP
ajst-30194	19	7	the	the	DET
ajst-30194	19	8	traceless	traceless	NOUN
ajst-30194	19	9	transformation	transformation	NOUN
ajst-30194	19	10	,	,	PUNCT
ajst-30194	19	11	avoids	avoid	VERB
ajst-30194	19	12	the	the	DET
ajst-30194	19	13	calculation	calculation	NOUN
ajst-30194	19	14	of	of	ADP
ajst-30194	19	15	jacobi	jacobi	PROPN
ajst-30194	19	16	matrix	matrix	NOUN
ajst-30194	19	17	,	,	PUNCT
ajst-30194	19	18	and	and	CCONJ
ajst-30194	19	19	improves	improve	VERB
ajst-30194	19	20	the	the	DET
ajst-30194	19	21	positioning	positioning	NOUN
ajst-30194	19	22	accuracy	accuracy	NOUN
ajst-30194	19	23	by	by	ADP
ajst-30194	19	24	about	about	ADV
ajst-30194	19	25	20	20	NUM
ajst-30194	19	26	%	%	NOUN
ajst-30194	19	27	compared	compare	VERB
ajst-30194	19	28	with	with	ADP
ajst-30194	19	29	the	the	DET
ajst-30194	19	30	ekf	ekf	NOUN
ajst-30194	19	31	in	in	ADP
ajst-30194	19	32	the	the	DET
ajst-30194	19	33	inertial	inertial	NOUN
ajst-30194	19	34	/	/	SYM
ajst-30194	19	35	satellite	satellite	NOUN
ajst-30194	19	36	tight	tight	ADJ
ajst-30194	19	37	coupling	coupling	NOUN
ajst-30194	19	38	.	.	PUNCT
ajst-30194	20	1	in	in	ADP
ajst-30194	20	2	recent	recent	ADJ
ajst-30194	20	3	years	year	NOUN
ajst-30194	20	4	,	,	PUNCT
ajst-30194	20	5	deep	deep	ADJ
ajst-30194	20	6	learning	learning	NOUN
ajst-30194	20	7	has	have	AUX
ajst-30194	20	8	been	be	AUX
ajst-30194	20	9	used	use	VERB
ajst-30194	20	10	to	to	PART
ajst-30194	20	11	combine	combine	VERB
ajst-30194	20	12	with	with	ADP
ajst-30194	20	13	traditional	traditional	ADJ
ajst-30194	20	14	kalman	kalman	NOUN
ajst-30194	20	15	filtering	filter	VERB
ajst-30194	20	16	algorithms	algorithm	NOUN
ajst-30194	20	17	to	to	PART
ajst-30194	20	18	produce	produce	VERB
ajst-30194	20	19	neural	neural	ADJ
ajst-30194	20	20	network	network	NOUN
ajst-30194	20	21	-	-	PUNCT
ajst-30194	20	22	assisted	assist	VERB
ajst-30194	20	23	kalman	kalman	NOUN
ajst-30194	20	24	filtering	filtering	NOUN
ajst-30194	20	25	methods	method	NOUN
ajst-30194	20	26	,	,	PUNCT
ajst-30194	20	27	which	which	PRON
ajst-30194	20	28	utilize	utilize	VERB
ajst-30194	20	29	lstm	lstm	ADJ
ajst-30194	20	30	networks	network	NOUN
ajst-30194	20	31	to	to	PART
ajst-30194	20	32	predict	predict	VERB
ajst-30194	20	33	inertial	inertial	ADJ
ajst-30194	20	34	device	device	NOUN
ajst-30194	20	35	errors	error	NOUN
ajst-30194	20	36	,	,	PUNCT
ajst-30194	20	37	and	and	CCONJ
ajst-30194	20	38	end	end	NOUN
ajst-30194	20	39	-	-	PUNCT
ajst-30194	20	40	toend	toend	NOUN
ajst-30194	20	41	filtering	filter	VERB
ajst-30194	20	42	networks	network	NOUN
ajst-30194	20	43	that	that	PRON
ajst-30194	20	44	directly	directly	ADV
ajst-30194	20	45	model	model	VERB
ajst-30194	20	46	the	the	DET
ajst-30194	20	47	observation	observation	NOUN
ajst-30194	20	48	of	of	ADP
ajst-30194	20	49	noise	noise	NOUN
ajst-30194	20	50	characteristics	characteristic	NOUN
ajst-30194	20	51	through	through	ADP
ajst-30194	20	52	cnn	cnn	PROPN
ajst-30194	20	53	-	-	PUNCT
ajst-30194	20	54	transformer	transformer	NOUN
ajst-30194	20	55	networks	network	NOUN
ajst-30194	20	56	,	,	PUNCT
ajst-30194	20	57	which	which	PRON
ajst-30194	20	58	can	can	AUX
ajst-30194	20	59	replace	replace	VERB
ajst-30194	20	60	the	the	DET
ajst-30194	20	61	manual	manual	ADJ
ajst-30194	20	62	noise	noise	NOUN
ajst-30194	20	63	modeling	modeling	NOUN
ajst-30194	20	64	of	of	ADP
ajst-30194	20	65	traditional	traditional	ADJ
ajst-30194	20	66	kalman	kalman	NOUN
ajst-30194	20	67	filtering	filtering	NOUN
ajst-30194	20	68	,	,	PUNCT
ajst-30194	20	69	and	and	CCONJ
ajst-30194	20	70	show	show	VERB
ajst-30194	20	71	stronger	strong	ADJ
ajst-30194	20	72	adaptability	adaptability	NOUN
ajst-30194	20	73	in	in	ADP
ajst-30194	20	74	dynamic	dynamic	ADJ
ajst-30194	20	75	interference	interference	NOUN
ajst-30194	20	76	scenarios	scenario	NOUN
ajst-30194	20	77	.	.	PUNCT
ajst-30194	21	1	aiming	aim	VERB
ajst-30194	21	2	at	at	ADP
ajst-30194	21	3	the	the	DET
ajst-30194	21	4	problem	problem	NOUN
ajst-30194	21	5	that	that	SCONJ
ajst-30194	21	6	the	the	DET
ajst-30194	21	7	mean	mean	ADJ
ajst-30194	21	8	square	square	ADJ
ajst-30194	21	9	error	error	NOUN
ajst-30194	21	10	matrix	matrix	NOUN
ajst-30194	21	11	in	in	ADP
ajst-30194	21	12	kalman	kalman	NOUN
ajst-30194	21	13	filtering	filtering	NOUN
ajst-30194	21	14	tends	tend	VERB
ajst-30194	21	15	to	to	PART
ajst-30194	21	16	lose	lose	VERB
ajst-30194	21	17	its	its	PRON
ajst-30194	21	18	positive	positive	ADJ
ajst-30194	21	19	definiteness	definiteness	NOUN
ajst-30194	21	20	and	and	CCONJ
ajst-30194	21	21	the	the	DET
ajst-30194	21	22	demand	demand	NOUN
ajst-30194	21	23	of	of	ADP
ajst-30194	21	24	multi	multi	ADJ
ajst-30194	21	25	-	-	ADJ
ajst-30194	21	26	sensor	sensor	ADJ
ajst-30194	21	27	fusion	fusion	NOUN
ajst-30194	21	28	,	,	PUNCT
ajst-30194	21	29	square	square	ADJ
ajst-30194	21	30	-	-	PUNCT
ajst-30194	21	31	root	root	NOUN
ajst-30194	21	32	filtering	filtering	NOUN
ajst-30194	21	33	and	and	CCONJ
ajst-30194	21	34	information	information	NOUN
ajst-30194	21	35	filtering	filtering	NOUN
ajst-30194	21	36	are	be	AUX
ajst-30194	21	37	proposed	propose	VERB
ajst-30194	21	38	in	in	ADP
ajst-30194	21	39	this	this	DET
ajst-30194	21	40	paper	paper	NOUN
ajst-30194	21	41	.	.	PUNCT
ajst-30194	22	1	square	square	ADJ
ajst-30194	22	2	-	-	PUNCT
ajst-30194	22	3	root	root	NOUN
ajst-30194	22	4	filtering	filtering	NOUN
ajst-30194	22	5	updates	update	VERB
ajst-30194	22	6	the	the	DET
ajst-30194	22	7	square	square	NOUN
ajst-30194	22	8	-	-	PUNCT
ajst-30194	22	9	root	root	NOUN
ajst-30194	22	10	of	of	ADP
ajst-30194	22	11	the	the	DET
ajst-30194	22	12	mean	mean	ADJ
ajst-30194	22	13	square	square	ADJ
ajst-30194	22	14	error	error	NOUN
ajst-30194	22	15	matrix	matrix	NOUN
ajst-30194	22	16	by	by	ADP
ajst-30194	22	17	cholesky	cholesky	ADJ
ajst-30194	22	18	decomposition	decomposition	NOUN
ajst-30194	22	19	or	or	CCONJ
ajst-30194	22	20	qr	qr	ADJ
ajst-30194	22	21	decomposition	decomposition	NOUN
ajst-30194	22	22	to	to	PART
ajst-30194	22	23	improve	improve	VERB
ajst-30194	22	24	numerical	numerical	ADJ
ajst-30194	22	25	stability	stability	NOUN
ajst-30194	22	26	.	.	PUNCT
ajst-30194	23	1	information	information	NOUN
ajst-30194	23	2	filtering	filtering	NOUN
ajst-30194	23	3	takes	take	VERB
ajst-30194	23	4	the	the	DET
ajst-30194	23	5	information	information	NOUN
ajst-30194	23	6	matrix	matrix	NOUN
ajst-30194	23	7	,	,	PUNCT
ajst-30194	23	8	which	which	PRON
ajst-30194	23	9	is	be	AUX
ajst-30194	23	10	the	the	DET
ajst-30194	23	11	inverse	inverse	NOUN
ajst-30194	23	12	of	of	ADP
ajst-30194	23	13	the	the	DET
ajst-30194	23	14	mean	mean	ADJ
ajst-30194	23	15	square	square	ADJ
ajst-30194	23	16	error	error	NOUN
ajst-30194	23	17	matrix	matrix	NOUN
ajst-30194	23	18	,	,	PUNCT
ajst-30194	23	19	as	as	SCONJ
ajst-30194	23	20	the	the	DET
ajst-30194	23	21	updating	update	VERB
ajst-30194	23	22	object	object	NOUN
ajst-30194	23	23	to	to	PART
ajst-30194	23	24	avoid	avoid	VERB
ajst-30194	23	25	matrix	matrix	NOUN
ajst-30194	23	26	inversion	inversion	NOUN
ajst-30194	23	27	,	,	PUNCT
ajst-30194	23	28	making	make	VERB
ajst-30194	23	29	it	it	PRON
ajst-30194	23	30	more	more	ADV
ajst-30194	23	31	suitable	suitable	ADJ
ajst-30194	23	32	for	for	ADP
ajst-30194	23	33	multi	multi	ADJ
ajst-30194	23	34	-	-	ADJ
ajst-30194	23	35	sensor	sensor	ADJ
ajst-30194	23	36	data	datum	NOUN
ajst-30194	23	37	fusion	fusion	NOUN
ajst-30194	23	38	.	.	PUNCT
ajst-30194	24	1	169	169	NUM
ajst-30194	24	2	2	2	NUM
ajst-30194	24	3	.	.	PUNCT
ajst-30194	24	4	sins	sin	NOUN
ajst-30194	24	5	/	/	SYM
ajst-30194	24	6	gnss	gnss	NOUN
ajst-30194	24	7	tightly	tightly	ADV
ajst-30194	24	8	coupled	couple	VERB
ajst-30194	24	9	navigation	navigation	NOUN
ajst-30194	24	10	system	system	NOUN
ajst-30194	24	11	in	in	ADP
ajst-30194	24	12	the	the	DET
ajst-30194	24	13	tight	tight	ADJ
ajst-30194	24	14	coupling	couple	VERB
ajst-30194	24	15	system	system	NOUN
ajst-30194	24	16	,	,	PUNCT
ajst-30194	24	17	the	the	DET
ajst-30194	24	18	global	global	ADJ
ajst-30194	24	19	satellite	satellite	NOUN
ajst-30194	24	20	receiver	receiver	NOUN
ajst-30194	24	21	provides	provide	VERB
ajst-30194	24	22	the	the	DET
ajst-30194	24	23	raw	raw	ADJ
ajst-30194	24	24	information	information	NOUN
ajst-30194	24	25	pseudorange	pseudorange	NOUN
ajst-30194	24	26	and	and	CCONJ
ajst-30194	24	27	pseudorange	pseudorange	NOUN
ajst-30194	24	28	rate	rate	NOUN
ajst-30194	24	29	used	use	VERB
ajst-30194	24	30	for	for	ADP
ajst-30194	24	31	localization	localization	NOUN
ajst-30194	24	32	to	to	ADP
ajst-30194	24	33	the	the	DET
ajst-30194	24	34	kalman	kalman	NOUN
ajst-30194	24	35	filter	filter	NOUN
ajst-30194	24	36	,	,	PUNCT
ajst-30194	24	37	and	and	CCONJ
ajst-30194	24	38	the	the	DET
ajst-30194	24	39	errors	error	NOUN
ajst-30194	24	40	of	of	ADP
ajst-30194	24	41	each	each	DET
ajst-30194	24	42	pseudorange	pseudorange	NOUN
ajst-30194	24	43	and	and	CCONJ
ajst-30194	24	44	pseudorange	pseudorange	NOUN
ajst-30194	24	45	rate	rate	NOUN
ajst-30194	24	46	are	be	AUX
ajst-30194	24	47	independent	independent	ADJ
ajst-30194	24	48	of	of	ADP
ajst-30194	24	49	each	each	DET
ajst-30194	24	50	other	other	ADJ
ajst-30194	24	51	.	.	PUNCT
ajst-30194	25	1	the	the	DET
ajst-30194	25	2	strapdown	strapdown	ADJ
ajst-30194	25	3	inertial	inertial	ADJ
ajst-30194	25	4	navigation	navigation	NOUN
ajst-30194	25	5	system	system	NOUN
ajst-30194	25	6	(	(	PUNCT
ajst-30194	25	7	sins	sin	NOUN
ajst-30194	25	8	)	)	PUNCT
ajst-30194	25	9	solution	solution	NOUN
ajst-30194	25	10	module	module	NOUN
ajst-30194	25	11	receives	receive	VERB
ajst-30194	25	12	the	the	DET
ajst-30194	25	13	specific	specific	ADJ
ajst-30194	25	14	force	force	NOUN
ajst-30194	25	15	and	and	CCONJ
ajst-30194	25	16	angular	angular	ADJ
ajst-30194	25	17	rate	rate	NOUN
ajst-30194	25	18	information	information	NOUN
ajst-30194	25	19	output	output	NOUN
ajst-30194	25	20	from	from	ADP
ajst-30194	25	21	the	the	DET
ajst-30194	25	22	imu	imu	NOUN
ajst-30194	25	23	,	,	PUNCT
ajst-30194	25	24	generates	generate	VERB
ajst-30194	25	25	the	the	DET
ajst-30194	25	26	navigation	navigation	NOUN
ajst-30194	25	27	output	output	NOUN
ajst-30194	25	28	position	position	NOUN
ajst-30194	25	29	and	and	CCONJ
ajst-30194	25	30	velocity	velocity	NOUN
ajst-30194	25	31	information	information	NOUN
ajst-30194	25	32	for	for	ADP
ajst-30194	25	33	the	the	DET
ajst-30194	25	34	sins	sin	NOUN
ajst-30194	25	35	,	,	PUNCT
ajst-30194	25	36	and	and	CCONJ
ajst-30194	25	37	calculates	calculate	VERB
ajst-30194	25	38	the	the	DET
ajst-30194	25	39	pseudorange	pseudorange	NOUN
ajst-30194	25	40	and	and	CCONJ
ajst-30194	25	41	pseudorange	pseudorange	NOUN
ajst-30194	25	42	rate	rate	NOUN
ajst-30194	25	43	by	by	ADP
ajst-30194	25	44	combining	combine	VERB
ajst-30194	25	45	this	this	DET
ajst-30194	25	46	information	information	NOUN
ajst-30194	25	47	with	with	ADP
ajst-30194	25	48	the	the	DET
ajst-30194	25	49	ephemeris	ephemeris	NOUN
ajst-30194	25	50	generated	generate	VERB
ajst-30194	25	51	by	by	ADP
ajst-30194	25	52	the	the	DET
ajst-30194	25	53	satellite	satellite	NOUN
ajst-30194	25	54	receiver	receiver	NOUN
ajst-30194	25	55	.	.	PUNCT
ajst-30194	26	1	the	the	DET
ajst-30194	26	2	differences	difference	NOUN
ajst-30194	26	3	in	in	ADP
ajst-30194	26	4	pseudorange	pseudorange	NOUN
ajst-30194	26	5	and	and	CCONJ
ajst-30194	26	6	pseudorange	pseudorange	NOUN
ajst-30194	26	7	rate	rate	NOUN
ajst-30194	26	8	between	between	ADP
ajst-30194	26	9	those	those	PRON
ajst-30194	26	10	derived	derive	VERB
ajst-30194	26	11	from	from	ADP
ajst-30194	26	12	the	the	DET
ajst-30194	26	13	strapdown	strapdown	ADJ
ajst-30194	26	14	inertial	inertial	ADJ
ajst-30194	26	15	navigation	navigation	NOUN
ajst-30194	26	16	system	system	NOUN
ajst-30194	26	17	(	(	PUNCT
ajst-30194	26	18	sins	sin	NOUN
ajst-30194	26	19	)	)	PUNCT
ajst-30194	26	20	information	information	NOUN
ajst-30194	26	21	and	and	CCONJ
ajst-30194	26	22	those	those	PRON
ajst-30194	26	23	generated	generate	VERB
ajst-30194	26	24	by	by	ADP
ajst-30194	26	25	the	the	DET
ajst-30194	26	26	satellite	satellite	NOUN
ajst-30194	26	27	receiver	receiver	NOUN
ajst-30194	26	28	are	be	AUX
ajst-30194	26	29	used	use	VERB
ajst-30194	26	30	as	as	ADP
ajst-30194	26	31	inputs	input	NOUN
ajst-30194	26	32	to	to	ADP
ajst-30194	26	33	the	the	DET
ajst-30194	26	34	kalman	kalman	NOUN
ajst-30194	26	35	filter	filter	NOUN
ajst-30194	26	36	to	to	PART
ajst-30194	26	37	obtain	obtain	VERB
ajst-30194	26	38	the	the	DET
ajst-30194	26	39	state	state	NOUN
ajst-30194	26	40	error	error	NOUN
ajst-30194	26	41	estimate	estimate	NOUN
ajst-30194	26	42	of	of	ADP
ajst-30194	26	43	the	the	DET
ajst-30194	26	44	sins	sin	NOUN
ajst-30194	26	45	.	.	PUNCT
ajst-30194	27	1	the	the	DET
ajst-30194	27	2	gyro	gyro	NOUN
ajst-30194	27	3	drift	drift	NOUN
ajst-30194	27	4	and	and	CCONJ
ajst-30194	27	5	accelerometer	accelerometer	NOUN
ajst-30194	27	6	bias	bias	NOUN
ajst-30194	27	7	in	in	ADP
ajst-30194	27	8	this	this	DET
ajst-30194	27	9	state	state	NOUN
ajst-30194	27	10	error	error	NOUN
ajst-30194	27	11	estimate	estimate	NOUN
ajst-30194	27	12	are	be	AUX
ajst-30194	27	13	fed	feed	VERB
ajst-30194	27	14	back	back	ADV
ajst-30194	27	15	to	to	ADP
ajst-30194	27	16	the	the	DET
ajst-30194	27	17	strapdown	strapdown	ADJ
ajst-30194	27	18	inertial	inertial	ADJ
ajst-30194	27	19	navigation	navigation	NOUN
ajst-30194	27	20	system	system	NOUN
ajst-30194	27	21	(	(	PUNCT
ajst-30194	27	22	sins	sin	NOUN
ajst-30194	27	23	)	)	PUNCT
ajst-30194	27	24	for	for	ADP
ajst-30194	27	25	correction	correction	NOUN
ajst-30194	27	26	.	.	PUNCT
ajst-30194	28	1	the	the	DET
ajst-30194	28	2	position	position	NOUN
ajst-30194	28	3	and	and	CCONJ
ajst-30194	28	4	velocity	velocity	NOUN
ajst-30194	28	5	errors	error	NOUN
ajst-30194	28	6	in	in	ADP
ajst-30194	28	7	the	the	DET
ajst-30194	28	8	sins	sin	NOUN
ajst-30194	28	9	,	,	PUNCT
ajst-30194	28	10	after	after	ADP
ajst-30194	28	11	being	be	AUX
ajst-30194	28	12	corrected	correct	VERB
ajst-30194	28	13	using	use	VERB
ajst-30194	28	14	the	the	DET
ajst-30194	28	15	position	position	NOUN
ajst-30194	28	16	and	and	CCONJ
ajst-30194	28	17	velocity	velocity	NOUN
ajst-30194	28	18	errors	error	NOUN
ajst-30194	28	19	from	from	ADP
ajst-30194	28	20	this	this	DET
ajst-30194	28	21	state	state	NOUN
ajst-30194	28	22	error	error	NOUN
ajst-30194	28	23	estimate	estimate	NOUN
ajst-30194	28	24	,	,	PUNCT
ajst-30194	28	25	are	be	AUX
ajst-30194	28	26	then	then	ADV
ajst-30194	28	27	used	use	VERB
ajst-30194	28	28	as	as	ADP
ajst-30194	28	29	the	the	DET
ajst-30194	28	30	final	final	ADJ
ajst-30194	28	31	results	result	NOUN
ajst-30194	28	32	of	of	ADP
ajst-30194	28	33	the	the	DET
ajst-30194	28	34	tightly	tightly	ADV
ajst-30194	28	35	coupled	couple	VERB
ajst-30194	28	36	sins	sin	NOUN
ajst-30194	28	37	/	/	SYM
ajst-30194	28	38	gnss	gnss	NOUN
ajst-30194	28	39	navigation	navigation	NOUN
ajst-30194	28	40	system[6	system[6	NOUN
ajst-30194	28	41	]	]	X
ajst-30194	28	42	.	.	PUNCT
ajst-30194	29	1	the	the	DET
ajst-30194	29	2	architecture	architecture	NOUN
ajst-30194	29	3	of	of	ADP
ajst-30194	29	4	the	the	DET
ajst-30194	29	5	tightly	tightly	ADV
ajst-30194	29	6	coupled	couple	VERB
ajst-30194	29	7	system	system	NOUN
ajst-30194	29	8	is	be	AUX
ajst-30194	29	9	shown	show	VERB
ajst-30194	29	10	in	in	ADP
ajst-30194	29	11	figure	figure	NOUN
ajst-30194	29	12	1	1	NUM
ajst-30194	29	13	.	.	PUNCT
ajst-30194	29	14	imu	imu	NOUN
ajst-30194	29	15	sins	sin	NOUN
ajst-30194	29	16	computation	computation	NOUN
ajst-30194	29	17	satellite	satellite	NOUN
ajst-30194	29	18	signal	signal	NOUN
ajst-30194	29	19	preprocessing	preprocesse	VERB
ajst-30194	29	20	kalman	kalman	PROPN
ajst-30194	29	21	filter	filter	PROPN
ajst-30194	29	22	satellite	satellite	NOUN
ajst-30194	29	23	receiver	receiver	NOUN
ajst-30194	29	24	position	position	NOUN
ajst-30194	29	25	,	,	PUNCT
ajst-30194	29	26	velocity	velocity	NOUN
ajst-30194	29	27	,	,	PUNCT
ajst-30194	29	28	attitude	attitude	NOUN
ajst-30194	29	29	angle	angle	NOUN
ajst-30194	29	30	correction	correction	NOUN
ajst-30194	29	31	pseudorange	pseudorange	NOUN
ajst-30194	29	32	,	,	PUNCT
ajst-30194	29	33	pseudorange	pseudorange	NOUN
ajst-30194	29	34	rate	rate	NOUN
ajst-30194	29	35	ephemeris	ephemeris	NOUN
ajst-30194	29	36	+	+	CCONJ
ajst-30194	29	37	position	position	NOUN
ajst-30194	29	38	,	,	PUNCT
ajst-30194	29	39	velocity	velocity	NOUN
ajst-30194	29	40	,	,	PUNCT
ajst-30194	29	41	attitude	attitude	NOUN
ajst-30194	29	42	angle	angle	NOUN
ajst-30194	29	43	pseudorange	pseudorange	NOUN
ajst-30194	29	44	,	,	PUNCT
ajst-30194	29	45	pseudorange	pseudorange	NOUN
ajst-30194	29	46	rate	rate	NOUN
ajst-30194	29	47	figure	figure	NOUN
ajst-30194	29	48	1	1	NUM
ajst-30194	29	49	.	.	PUNCT
ajst-30194	30	1	the	the	DET
ajst-30194	30	2	architecture	architecture	NOUN
ajst-30194	30	3	of	of	ADP
ajst-30194	30	4	sins	sin	NOUN
ajst-30194	30	5	/	/	SYM
ajst-30194	30	6	gnss	gns	NOUN
ajst-30194	30	7	tightly	tightly	ADV
ajst-30194	30	8	coupled	couple	VERB
ajst-30194	30	9	system	system	NOUN
ajst-30194	30	10	(	(	PUNCT
ajst-30194	30	11	1	1	X
ajst-30194	30	12	)	)	PUNCT
ajst-30194	30	13	sins	sin	NOUN
ajst-30194	30	14	/	/	SYM
ajst-30194	30	15	gnss	gnss	NOUN
ajst-30194	30	16	error	error	NOUN
ajst-30194	30	17	update	update	NOUN
ajst-30194	30	18	equation	equation	NOUN
ajst-30194	30	19	the	the	DET
ajst-30194	30	20	sins	sin	NOUN
ajst-30194	30	21	error	error	NOUN
ajst-30194	30	22	state	state	NOUN
ajst-30194	30	23	consists	consist	VERB
ajst-30194	30	24	of	of	ADP
ajst-30194	30	25	the	the	DET
ajst-30194	30	26	position	position	NOUN
ajst-30194	30	27	error	error	NOUN
ajst-30194	30	28	𝜹𝒑	𝜹𝒑	NOUN
ajst-30194	30	29	,	,	PUNCT
ajst-30194	30	30	the	the	DET
ajst-30194	30	31	velocity	velocity	NOUN
ajst-30194	30	32	error	error	NOUN
ajst-30194	30	33	𝜹𝒗𝒏	𝜹𝒗𝒏	NOUN
ajst-30194	30	34	,	,	PUNCT
ajst-30194	30	35	the	the	DET
ajst-30194	30	36	attitude	attitude	NOUN
ajst-30194	30	37	error	error	NOUN
ajst-30194	30	38	angle	angle	NOUN
ajst-30194	30	39	𝝋𝒏	𝝋𝒏	NOUN
ajst-30194	30	40	,	,	PUNCT
ajst-30194	30	41	the	the	DET
ajst-30194	30	42	gyroscope	gyroscope	NOUN
ajst-30194	30	43	error	error	NOUN
ajst-30194	30	44	𝜺𝒃	𝜺𝒃	NOUN
ajst-30194	30	45	and	and	CCONJ
ajst-30194	30	46	the	the	DET
ajst-30194	30	47	accelerometer	accelerometer	NOUN
ajst-30194	30	48	error	error	NOUN
ajst-30194	30	49	𝜵𝒃.	𝜵𝒃.	NOUN
ajst-30194	30	50	the	the	DET
ajst-30194	30	51	error	error	NOUN
ajst-30194	30	52	state	state	NOUN
ajst-30194	30	53	vector[7	vector[7	SYM
ajst-30194	30	54	]	]	X
ajst-30194	30	55	is	be	AUX
ajst-30194	30	56	𝑿𝑰	𝑿𝑰	PROPN
ajst-30194	30	57	𝛿𝐿	𝛿𝐿	NOUN
ajst-30194	30	58	𝛿𝜆	𝛿𝜆	PROPN
ajst-30194	30	59	𝛿ℎ	𝛿ℎ	NOUN
ajst-30194	30	60	𝛿𝑣	𝛿𝑣	INTJ
ajst-30194	31	1	𝛿𝑣	𝛿𝑣	INTJ
ajst-30194	32	1	𝛿𝑣	𝛿𝑣	INTJ
ajst-30194	33	1	𝜑	𝜑	NOUN
ajst-30194	33	2	𝜑	𝜑	X
ajst-30194	33	3	𝜑	𝜑	NOUN
ajst-30194	33	4	𝜀	𝜀	PROPN
ajst-30194	33	5	𝜀	𝜀	X
ajst-30194	33	6	𝜀	𝜀	X
ajst-30194	33	7	𝛻	𝛻	PROPN
ajst-30194	33	8	𝛻	𝛻	PROPN
ajst-30194	33	9	𝛻	𝛻	PROPN
ajst-30194	33	10	.	.	PUNCT
ajst-30194	34	1	in	in	ADP
ajst-30194	34	2	the	the	DET
ajst-30194	34	3	equation	equation	NOUN
ajst-30194	34	4	,	,	PUNCT
ajst-30194	34	5	𝛿𝐿	𝛿𝐿	PROPN
ajst-30194	34	6	is	be	AUX
ajst-30194	34	7	the	the	DET
ajst-30194	34	8	latitude	latitude	NOUN
ajst-30194	34	9	error	error	NOUN
ajst-30194	34	10	,	,	PUNCT
ajst-30194	34	11	𝛿𝜆	𝛿𝜆	PROPN
ajst-30194	34	12	is	be	AUX
ajst-30194	34	13	the	the	DET
ajst-30194	34	14	longitude	longitude	ADJ
ajst-30194	34	15	error	error	NOUN
ajst-30194	34	16	,	,	PUNCT
ajst-30194	34	17	𝛿ℎ	𝛿ℎ	PROPN
ajst-30194	34	18	is	be	AUX
ajst-30194	34	19	the	the	DET
ajst-30194	34	20	altitude	altitude	NOUN
ajst-30194	34	21	error	error	NOUN
ajst-30194	34	22	.	.	PUNCT
ajst-30194	35	1	the	the	DET
ajst-30194	35	2	b	b	NOUN
ajst-30194	35	3	-	-	PUNCT
ajst-30194	35	4	frame	frame	NOUN
ajst-30194	35	5	is	be	AUX
ajst-30194	35	6	the	the	DET
ajst-30194	35	7	body	body	NOUN
ajst-30194	35	8	frame	frame	NOUN
ajst-30194	35	9	,	,	PUNCT
ajst-30194	35	10	and	and	CCONJ
ajst-30194	35	11	the	the	DET
ajst-30194	35	12	n	n	CCONJ
ajst-30194	35	13	-	-	PUNCT
ajst-30194	35	14	frame	frame	NOUN
ajst-30194	35	15	is	be	AUX
ajst-30194	35	16	the	the	DET
ajst-30194	35	17	navigation	navigation	NOUN
ajst-30194	35	18	frame	frame	NOUN
ajst-30194	35	19	.	.	PUNCT
ajst-30194	36	1	the	the	DET
ajst-30194	36	2	error	error	NOUN
ajst-30194	36	3	state	state	NOUN
ajst-30194	36	4	equation	equation	NOUN
ajst-30194	36	5	of	of	ADP
ajst-30194	36	6	the	the	DET
ajst-30194	36	7	sins	sin	NOUN
ajst-30194	36	8	is	be	AUX
ajst-30194	36	9	expressed	express	VERB
ajst-30194	36	10	as	as	ADP
ajst-30194	36	11	:	:	PUNCT
ajst-30194	36	12	𝑿𝑰	𝑿𝑰	PROPN
ajst-30194	36	13	𝑭𝑰𝑿𝑰	𝑭𝑰𝑿𝑰	VERB
ajst-30194	36	14	𝑮𝑰𝑾𝑰	𝑮𝑰𝑾𝑰	PROPN
ajst-30194	36	15	(	(	PUNCT
ajst-30194	36	16	1	1	NUM
ajst-30194	36	17	)	)	PUNCT
ajst-30194	36	18	in	in	ADP
ajst-30194	36	19	the	the	DET
ajst-30194	36	20	equation	equation	NOUN
ajst-30194	36	21	,	,	PUNCT
ajst-30194	36	22	the	the	DET
ajst-30194	36	23	system	system	NOUN
ajst-30194	36	24	noise	noise	NOUN
ajst-30194	36	25	𝑾𝑰	𝑾𝑰	PROPN
ajst-30194	36	26	𝑤	𝑤	ADP
ajst-30194	36	27	𝑤	𝑤	PART
ajst-30194	36	28	𝑤	𝑤	PART
ajst-30194	36	29	𝑤	𝑤	PART
ajst-30194	36	30	𝑤	𝑤	PART
ajst-30194	36	31	𝑤	𝑤	PRON
ajst-30194	36	32	,	,	PUNCT
ajst-30194	36	33	represents	represent	VERB
ajst-30194	36	34	the	the	DET
ajst-30194	36	35	components	component	NOUN
ajst-30194	36	36	of	of	ADP
ajst-30194	36	37	the	the	DET
ajst-30194	36	38	gyroscope	gyroscope	NOUN
ajst-30194	36	39	angular	angular	PROPN
ajst-30194	36	40	velocity	velocity	NOUN
ajst-30194	36	41	measurement	measurement	NOUN
ajst-30194	36	42	noise	noise	NOUN
ajst-30194	36	43	and	and	CCONJ
ajst-30194	36	44	the	the	DET
ajst-30194	36	45	accelerometer	accelerometer	ADJ
ajst-30194	36	46	specific	specific	ADJ
ajst-30194	36	47	force	force	NOUN
ajst-30194	36	48	measurement	measurement	NOUN
ajst-30194	36	49	noise	noise	NOUN
ajst-30194	36	50	in	in	ADP
ajst-30194	36	51	the	the	DET
ajst-30194	36	52	three	three	NUM
ajst-30194	36	53	coordinate	coordinate	NOUN
ajst-30194	36	54	directions	direction	NOUN
ajst-30194	36	55	of	of	ADP
ajst-30194	36	56	the	the	DET
ajst-30194	36	57	b	b	NOUN
ajst-30194	36	58	-	-	PUNCT
ajst-30194	36	59	frame[8	frame[8	NOUN
ajst-30194	36	60	]	]	PUNCT
ajst-30194	36	61	.	.	PUNCT
ajst-30194	37	1	𝑭𝑰	𝑭𝑰	PROPN
ajst-30194	37	2	is	be	AUX
ajst-30194	37	3	the	the	DET
ajst-30194	37	4	inertial	inertial	ADJ
ajst-30194	37	5	navigation	navigation	NOUN
ajst-30194	37	6	state	state	NOUN
ajst-30194	37	7	matrix	matrix	NOUN
ajst-30194	37	8	,	,	PUNCT
ajst-30194	37	9	and	and	CCONJ
ajst-30194	37	10	𝑮𝑰	𝑮𝑰	PROPN
ajst-30194	37	11	is	be	AUX
ajst-30194	37	12	the	the	DET
ajst-30194	37	13	inertial	inertial	ADJ
ajst-30194	37	14	navigation	navigation	NOUN
ajst-30194	37	15	noise	noise	NOUN
ajst-30194	37	16	matrix	matrix	NOUN
ajst-30194	37	17	.	.	PUNCT
ajst-30194	38	1	the	the	DET
ajst-30194	38	2	main	main	ADJ
ajst-30194	38	3	errors	error	NOUN
ajst-30194	38	4	in	in	ADP
ajst-30194	38	5	satellite	satellite	NOUN
ajst-30194	38	6	navigation	navigation	NOUN
ajst-30194	38	7	systems	system	NOUN
ajst-30194	38	8	are	be	AUX
ajst-30194	38	9	clock	clock	NOUN
ajst-30194	38	10	bias	bias	NOUN
ajst-30194	38	11	and	and	CCONJ
ajst-30194	38	12	clock	clock	NOUN
ajst-30194	38	13	drift	drift	NOUN
ajst-30194	38	14	.	.	PUNCT
ajst-30194	39	1	equivalent	equivalent	ADJ
ajst-30194	39	2	range	range	NOUN
ajst-30194	39	3	errors	error	NOUN
ajst-30194	39	4	and	and	CCONJ
ajst-30194	39	5	velocity	velocity	NOUN
ajst-30194	39	6	errors	error	NOUN
ajst-30194	39	7	are	be	AUX
ajst-30194	39	8	selected	select	VERB
ajst-30194	39	9	as	as	SCONJ
ajst-30194	39	10	the	the	DET
ajst-30194	39	11	error	error	NOUN
ajst-30194	39	12	states	state	NOUN
ajst-30194	39	13	of	of	ADP
ajst-30194	39	14	the	the	DET
ajst-30194	39	15	satellites	satellite	NOUN
ajst-30194	39	16	in	in	ADP
ajst-30194	39	17	the	the	DET
ajst-30194	39	18	tightly	tightly	ADV
ajst-30194	39	19	coupled	couple	VERB
ajst-30194	39	20	system.the	system.the	DET
ajst-30194	39	21	gnss	gnss	NOUN
ajst-30194	39	22	error	error	NOUN
ajst-30194	39	23	state	state	NOUN
ajst-30194	39	24	equation	equation	NOUN
ajst-30194	39	25	is	be	AUX
ajst-30194	39	26	expressed	express	VERB
ajst-30194	39	27	as	as	ADP
ajst-30194	39	28	:	:	PUNCT
ajst-30194	39	29	𝛿𝑡	𝛿𝑡	VERB
ajst-30194	39	30	𝛿𝑡	𝛿𝑡	PROPN
ajst-30194	39	31	𝑤	𝑤	PROPN
ajst-30194	39	32	(	(	PUNCT
ajst-30194	39	33	2	2	NUM
ajst-30194	39	34	)	)	PUNCT
ajst-30194	39	35	𝛿𝑡	𝛿𝑡	NOUN
ajst-30194	39	36	𝑤	𝑤	SYM
ajst-30194	39	37	(	(	PUNCT
ajst-30194	39	38	3	3	NUM
ajst-30194	39	39	)	)	PUNCT
ajst-30194	39	40	in	in	ADP
ajst-30194	39	41	the	the	DET
ajst-30194	39	42	equation	equation	NOUN
ajst-30194	39	43	,	,	PUNCT
ajst-30194	39	44	𝛿𝑡	𝛿𝑡	PROPN
ajst-30194	39	45	and	and	CCONJ
ajst-30194	39	46	𝛿𝑡	𝛿𝑡	PROPN
ajst-30194	39	47	represent	represent	VERB
ajst-30194	39	48	the	the	DET
ajst-30194	39	49	range	range	NOUN
ajst-30194	39	50	and	and	CCONJ
ajst-30194	39	51	range	range	NOUN
ajst-30194	39	52	rate	rate	NOUN
ajst-30194	39	53	corresponding	correspond	VERB
ajst-30194	39	54	to	to	ADP
ajst-30194	39	55	the	the	DET
ajst-30194	39	56	receiver	receiver	ADJ
ajst-30194	39	57	clock	clock	NOUN
ajst-30194	39	58	bias	bias	NOUN
ajst-30194	39	59	and	and	CCONJ
ajst-30194	39	60	clock	clock	NOUN
ajst-30194	39	61	drift	drift	NOUN
ajst-30194	39	62	,	,	PUNCT
ajst-30194	39	63	respectively[9	respectively[9	PROPN
ajst-30194	39	64	]	]	PUNCT
ajst-30194	39	65	.	.	PUNCT
ajst-30194	40	1	𝑤	𝑤	X
ajst-30194	40	2	and	and	CCONJ
ajst-30194	40	3	𝑤	𝑤	PROPN
ajst-30194	40	4	are	be	AUX
ajst-30194	40	5	white	white	ADJ
ajst-30194	40	6	nois	nois	NOUN
ajst-30194	40	7	.	.	PUNCT
ajst-30194	41	1	the	the	DET
ajst-30194	41	2	equation	equation	NOUN
ajst-30194	41	3	can	can	AUX
ajst-30194	41	4	be	be	AUX
ajst-30194	41	5	represented	represent	VERB
ajst-30194	41	6	in	in	ADP
ajst-30194	41	7	matrix	matrix	NOUN
ajst-30194	41	8	form	form	NOUN
ajst-30194	41	9	as	as	ADP
ajst-30194	41	10	:	:	PUNCT
ajst-30194	41	11	𝑿𝑩	𝑿𝑩	PROPN
ajst-30194	41	12	𝑭𝑩𝑿𝑩	𝑭𝑩𝑿𝑩	NOUN
ajst-30194	41	13	𝑮𝑩𝑾𝑩	𝑮𝑩𝑾𝑩	X
ajst-30194	41	14	(	(	PUNCT
ajst-30194	41	15	4	4	NUM
ajst-30194	41	16	)	)	PUNCT
ajst-30194	41	17	in	in	ADP
ajst-30194	41	18	the	the	DET
ajst-30194	41	19	equation	equation	NOUN
ajst-30194	41	20	,	,	PUNCT
ajst-30194	41	21	𝑿𝑩	𝑿𝑩	PROPN
ajst-30194	41	22	𝛿𝑡	𝛿𝑡	PROPN
ajst-30194	41	23	𝛿𝑡	𝛿𝑡	PROPN
ajst-30194	41	24	，	，	SCONJ
ajst-30194	41	25	𝑾𝑩	𝑾𝑩	VERB
ajst-30194	41	26	𝑤	𝑤	ADP
ajst-30194	41	27	𝑤	𝑤	X
ajst-30194	41	28	.	.	PUNCT
ajst-30194	42	1	by	by	ADP
ajst-30194	42	2	combining	combine	VERB
ajst-30194	42	3	the	the	DET
ajst-30194	42	4	sins	sin	NOUN
ajst-30194	42	5	error	error	NOUN
ajst-30194	42	6	state	state	NOUN
ajst-30194	42	7	equation	equation	NOUN
ajst-30194	42	8	(	(	PUNCT
ajst-30194	42	9	1	1	NUM
ajst-30194	42	10	)	)	PUNCT
ajst-30194	42	11	with	with	ADP
ajst-30194	42	12	the	the	DET
ajst-30194	42	13	gnss	gnss	NOUN
ajst-30194	42	14	error	error	NOUN
ajst-30194	42	15	state	state	NOUN
ajst-30194	42	16	equation	equation	NOUN
ajst-30194	42	17	(	(	PUNCT
ajst-30194	42	18	4	4	NUM
ajst-30194	42	19	)	)	PUNCT
ajst-30194	42	20	,	,	PUNCT
ajst-30194	42	21	the	the	DET
ajst-30194	42	22	tightly	tightly	ADV
ajst-30194	42	23	coupled	couple	VERB
ajst-30194	42	24	navigation	navigation	NOUN
ajst-30194	42	25	system	system	NOUN
ajst-30194	42	26	state	state	NOUN
ajst-30194	42	27	equation	equation	NOUN
ajst-30194	42	28	can	can	AUX
ajst-30194	42	29	be	be	AUX
ajst-30194	42	30	obtained[10	obtained[10	X
ajst-30194	42	31	]	]	PUNCT
ajst-30194	42	32	:	:	PUNCT
ajst-30194	43	1	𝑿𝑰	𝑿𝑰	PROPN
ajst-30194	43	2	𝑿𝑩	𝑿𝑩	PROPN
ajst-30194	43	3	𝑭𝑰	𝑭𝑰	NOUN
ajst-30194	43	4	𝑶	𝑶	NOUN
ajst-30194	43	5	𝑶	𝑶	NOUN
ajst-30194	43	6	𝑭𝑩	𝑭𝑩	NOUN
ajst-30194	43	7	𝑿𝑰	𝑿𝑰	PROPN
ajst-30194	43	8	𝑿𝑩	𝑿𝑩	PROPN
ajst-30194	43	9	𝑮𝑰	𝑮𝑰	NOUN
ajst-30194	43	10	𝑶	𝑶	NOUN
ajst-30194	43	11	𝑶	𝑶	NOUN
ajst-30194	43	12	𝑮𝑩	𝑮𝑩	PROPN
ajst-30194	43	13	𝑾𝑰	𝑾𝑰	PROPN
ajst-30194	43	14	𝑾𝑩	𝑾𝑩	PROPN
ajst-30194	43	15	(	(	PUNCT
ajst-30194	43	16	5	5	NUM
ajst-30194	43	17	)	)	PUNCT
ajst-30194	43	18	that	that	PRON
ajst-30194	43	19	is	be	AUX
ajst-30194	43	20	:	:	PUNCT
ajst-30194	43	21	𝑿𝒕	𝑿𝒕	PROPN
ajst-30194	43	22	𝑭𝒕𝑿𝒕	𝑭𝒕𝑿𝒕	PROPN
ajst-30194	43	23	𝑮𝒕𝑾𝒕	𝑮𝒕𝑾𝒕	PROPN
ajst-30194	43	24	(	(	PUNCT
ajst-30194	43	25	6	6	NUM
ajst-30194	43	26	)	)	PUNCT
ajst-30194	43	27	(	(	PUNCT
ajst-30194	43	28	2	2	X
ajst-30194	43	29	)	)	PUNCT
ajst-30194	43	30	system	system	NOUN
ajst-30194	43	31	measurement	measurement	NOUN
ajst-30194	43	32	equation	equation	NOUN
ajst-30194	43	33	in	in	ADP
ajst-30194	43	34	the	the	DET
ajst-30194	43	35	tightly	tightly	ADV
ajst-30194	43	36	coupled	couple	VERB
ajst-30194	43	37	navigation	navigation	NOUN
ajst-30194	43	38	system	system	NOUN
ajst-30194	43	39	,	,	PUNCT
ajst-30194	43	40	the	the	DET
ajst-30194	43	41	measurement	measurement	NOUN
ajst-30194	43	42	information	information	NOUN
ajst-30194	43	43	mainly	mainly	ADV
ajst-30194	43	44	consists	consist	VERB
ajst-30194	43	45	of	of	ADP
ajst-30194	43	46	the	the	DET
ajst-30194	43	47	differences	difference	NOUN
ajst-30194	43	48	in	in	ADP
ajst-30194	43	49	pseudorange	pseudorange	NOUN
ajst-30194	43	50	and	and	CCONJ
ajst-30194	43	51	pseudorange	pseudorange	NOUN
ajst-30194	43	52	rate	rate	NOUN
ajst-30194	43	53	.	.	PUNCT
ajst-30194	44	1	specifically	specifically	ADV
ajst-30194	44	2	,	,	PUNCT
ajst-30194	44	3	the	the	DET
ajst-30194	44	4	system	system	NOUN
ajst-30194	44	5	employs	employ	VERB
ajst-30194	44	6	the	the	DET
ajst-30194	44	7	differences	difference	NOUN
ajst-30194	44	8	between	between	ADP
ajst-30194	44	9	the	the	DET
ajst-30194	44	10	pseudoranges	pseudorange	NOUN
ajst-30194	44	11	and	and	CCONJ
ajst-30194	44	12	pseudorange	pseudorange	NOUN
ajst-30194	44	13	rates	rate	NOUN
ajst-30194	44	14	170	170	NUM
ajst-30194	44	15	calculated	calculate	VERB
ajst-30194	44	16	by	by	ADP
ajst-30194	44	17	the	the	DET
ajst-30194	44	18	sins	sin	NOUN
ajst-30194	44	19	and	and	CCONJ
ajst-30194	44	20	those	those	PRON
ajst-30194	44	21	measured	measure	VERB
ajst-30194	44	22	by	by	ADP
ajst-30194	44	23	the	the	DET
ajst-30194	44	24	gnss	gnss	NOUN
ajst-30194	44	25	as	as	ADP
ajst-30194	44	26	the	the	DET
ajst-30194	44	27	measurement	measurement	NOUN
ajst-30194	44	28	information[11	information[11	X
ajst-30194	44	29	]	]	X
ajst-30194	44	30	.	.	PUNCT
ajst-30194	45	1	this	this	DET
ajst-30194	45	2	measurement	measurement	NOUN
ajst-30194	45	3	approach	approach	NOUN
ajst-30194	45	4	enables	enable	VERB
ajst-30194	45	5	the	the	DET
ajst-30194	45	6	direct	direct	ADJ
ajst-30194	45	7	utilization	utilization	NOUN
ajst-30194	45	8	of	of	ADP
ajst-30194	45	9	raw	raw	ADJ
ajst-30194	45	10	gnss	gnss	NOUN
ajst-30194	45	11	observations	observation	NOUN
ajst-30194	45	12	,	,	PUNCT
ajst-30194	45	13	thereby	thereby	ADV
ajst-30194	45	14	facilitating	facilitate	VERB
ajst-30194	45	15	more	more	ADV
ajst-30194	45	16	precise	precise	ADJ
ajst-30194	45	17	error	error	NOUN
ajst-30194	45	18	modeling	modeling	NOUN
ajst-30194	45	19	and	and	CCONJ
ajst-30194	45	20	higher	high	ADJ
ajst-30194	45	21	navigation	navigation	NOUN
ajst-30194	45	22	accuracy	accuracy	NOUN
ajst-30194	45	23	.	.	PUNCT
ajst-30194	46	1	the	the	DET
ajst-30194	46	2	measurement	measurement	NOUN
ajst-30194	46	3	equation	equation	NOUN
ajst-30194	46	4	of	of	ADP
ajst-30194	46	5	the	the	DET
ajst-30194	46	6	tightly	tightly	ADV
ajst-30194	46	7	coupled	couple	VERB
ajst-30194	46	8	system	system	NOUN
ajst-30194	46	9	is	be	AUX
ajst-30194	46	10	given	give	VERB
ajst-30194	46	11	by	by	ADP
ajst-30194	46	12	:	:	PUNCT
ajst-30194	46	13	𝒁𝒕	𝒁𝒕	PROPN
ajst-30194	46	14	𝑯𝝆	𝑯𝝆	PROPN
ajst-30194	46	15	𝑯𝝆	𝑯𝝆	PROPN
ajst-30194	46	16	𝑿𝒕	𝑿𝒕	PROPN
ajst-30194	46	17	𝑽𝝆	𝑽𝝆	PROPN
ajst-30194	46	18	𝑽𝝆	𝑽𝝆	PROPN
ajst-30194	46	19	𝑯𝒕𝑿𝒕	𝑯𝒕𝑿𝒕	PROPN
ajst-30194	46	20	𝑽𝒕	𝑽𝒕	PROPN
ajst-30194	46	21	(	(	PUNCT
ajst-30194	46	22	7	7	X
ajst-30194	46	23	)	)	PUNCT
ajst-30194	46	24	the	the	DET
ajst-30194	46	25	pseudorange	pseudorange	NOUN
ajst-30194	46	26	and	and	CCONJ
ajst-30194	46	27	pseudorange	pseudorange	NOUN
ajst-30194	46	28	rate	rate	NOUN
ajst-30194	46	29	measurement	measurement	NOUN
ajst-30194	46	30	equations	equation	NOUN
ajst-30194	46	31	play	play	VERB
ajst-30194	46	32	a	a	DET
ajst-30194	46	33	significant	significant	ADJ
ajst-30194	46	34	role	role	NOUN
ajst-30194	46	35	in	in	ADP
ajst-30194	46	36	the	the	DET
ajst-30194	46	37	tightly	tightly	ADV
ajst-30194	46	38	coupled	couple	VERB
ajst-30194	46	39	inertial	inertial	NOUN
ajst-30194	46	40	and	and	CCONJ
ajst-30194	46	41	satellite	satellite	NOUN
ajst-30194	46	42	navigation	navigation	NOUN
ajst-30194	46	43	system	system	NOUN
ajst-30194	46	44	.	.	PUNCT
ajst-30194	47	1	by	by	ADP
ajst-30194	47	2	integrating	integrate	VERB
ajst-30194	47	3	data	datum	NOUN
ajst-30194	47	4	from	from	ADP
ajst-30194	47	5	the	the	DET
ajst-30194	47	6	inertial	inertial	ADJ
ajst-30194	47	7	navigation	navigation	NOUN
ajst-30194	47	8	system	system	NOUN
ajst-30194	47	9	,	,	PUNCT
ajst-30194	47	10	they	they	PRON
ajst-30194	47	11	notably	notably	ADV
ajst-30194	47	12	enhance	enhance	VERB
ajst-30194	47	13	navigation	navigation	NOUN
ajst-30194	47	14	accuracy	accuracy	NOUN
ajst-30194	47	15	and	and	CCONJ
ajst-30194	47	16	reliability	reliability	NOUN
ajst-30194	47	17	.	.	PUNCT
ajst-30194	48	1	3	3	X
ajst-30194	48	2	.	.	NUM
ajst-30194	48	3	extended	extend	VERB
ajst-30194	48	4	kalman	kalman	PROPN
ajst-30194	48	5	filter	filter	VERB
ajst-30194	48	6	the	the	DET
ajst-30194	48	7	core	core	ADJ
ajst-30194	48	8	idea	idea	NOUN
ajst-30194	48	9	of	of	ADP
ajst-30194	48	10	the	the	DET
ajst-30194	48	11	extended	extended	ADJ
ajst-30194	48	12	kalman	kalman	NOUN
ajst-30194	48	13	filter	filter	PROPN
ajst-30194	48	14	(	(	PUNCT
ajst-30194	48	15	ekf	ekf	PROPN
ajst-30194	48	16	)	)	PUNCT
ajst-30194	48	17	is	be	AUX
ajst-30194	48	18	to	to	PART
ajst-30194	48	19	linearize	linearize	VERB
ajst-30194	48	20	the	the	DET
ajst-30194	48	21	nonlinear	nonlinear	ADJ
ajst-30194	48	22	system	system	NOUN
ajst-30194	48	23	through	through	ADP
ajst-30194	48	24	a	a	DET
ajst-30194	48	25	taylor	taylor	PROPN
ajst-30194	48	26	series	series	PROPN
ajst-30194	48	27	expansion	expansion	NOUN
ajst-30194	48	28	,	,	PUNCT
ajst-30194	48	29	ignoring	ignore	VERB
ajst-30194	48	30	higher	high	ADJ
ajst-30194	48	31	-	-	PUNCT
ajst-30194	48	32	order	order	NOUN
ajst-30194	48	33	terms	term	NOUN
ajst-30194	48	34	.	.	PUNCT
ajst-30194	49	1	in	in	ADP
ajst-30194	49	2	this	this	DET
ajst-30194	49	3	paper	paper	NOUN
ajst-30194	49	4	,	,	PUNCT
ajst-30194	49	5	the	the	DET
ajst-30194	49	6	taylor	taylor	PROPN
ajst-30194	49	7	series	series	PROPN
ajst-30194	49	8	is	be	AUX
ajst-30194	49	9	expanded	expand	VERB
ajst-30194	49	10	to	to	ADP
ajst-30194	49	11	the	the	DET
ajst-30194	49	12	first	first	ADJ
ajst-30194	49	13	order	order	NOUN
ajst-30194	49	14	.	.	PUNCT
ajst-30194	50	1	assume	assume	VERB
ajst-30194	50	2	the	the	DET
ajst-30194	50	3	discrete	discrete	ADJ
ajst-30194	50	4	-	-	PUNCT
ajst-30194	50	5	time	time	NOUN
ajst-30194	50	6	state	state	NOUN
ajst-30194	50	7	-	-	PUNCT
ajst-30194	50	8	space	space	NOUN
ajst-30194	50	9	nonlinear	nonlinear	ADJ
ajst-30194	50	10	model	model	NOUN
ajst-30194	50	11	is	be	AUX
ajst-30194	50	12	given	give	VERB
ajst-30194	50	13	by	by	ADP
ajst-30194	50	14	:	:	PUNCT
ajst-30194	50	15	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	50	16	𝒇	𝒇	X
ajst-30194	50	17	𝑿𝒌	𝑿𝒌	ADV
ajst-30194	50	18	𝟏	𝟏	X
ajst-30194	51	1	𝜞𝒌	𝜞𝒌	NOUN
ajst-30194	51	2	𝟏𝑾𝒌	𝟏𝑾𝒌	X
ajst-30194	51	3	𝟏	𝟏	NUM
ajst-30194	52	1	𝒁𝒌	𝒁𝒌	NOUN
ajst-30194	52	2	𝒉	𝒉	VERB
ajst-30194	52	3	𝑿𝒌	𝑿𝒌	ADV
ajst-30194	52	4	𝑽𝒌	𝑽𝒌	PROPN
ajst-30194	52	5	(	(	PUNCT
ajst-30194	52	6	8)	8)	NUM
ajst-30194	52	7	in	in	ADP
ajst-30194	52	8	the	the	DET
ajst-30194	52	9	equations	equation	NOUN
ajst-30194	52	10	,	,	PUNCT
ajst-30194	52	11	𝐸	𝐸	PROPN
ajst-30194	52	12	𝑾𝒌	𝑾𝒌	PROPN
ajst-30194	52	13	0，𝐸	0，𝐸	NOUN
ajst-30194	52	14	𝑾𝒌𝑾𝒋	𝑾𝒌𝑾𝒋	PROPN
ajst-30194	52	15	𝑸𝒌𝛿	𝑸𝒌𝛿	PROPN
ajst-30194	52	16	𝐸	𝐸	PROPN
ajst-30194	52	17	𝑽𝒌	𝑽𝒌	PROPN
ajst-30194	52	18	0，𝐸	0，𝐸	PROPN
ajst-30194	53	1	𝑽𝒌𝑽𝒌	𝑽𝒌𝑽𝒌	PROPN
ajst-30194	53	2	𝑹𝒌𝛿	𝑹𝒌𝛿	VERB
ajst-30194	53	3	𝐸	𝐸	NOUN
ajst-30194	53	4	𝑾𝒌𝑽𝒋	𝑾𝒌𝑽𝒋	NOUN
ajst-30194	53	5	0	0	NUM
ajst-30194	53	6	,	,	PUNCT
ajst-30194	53	7	where	where	SCONJ
ajst-30194	53	8	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	53	9	is	be	AUX
ajst-30194	53	10	the	the	DET
ajst-30194	53	11	n	n	ADV
ajst-30194	53	12	-	-	PUNCT
ajst-30194	53	13	dimensional	dimensional	ADJ
ajst-30194	53	14	state	state	NOUN
ajst-30194	53	15	vector	vector	NOUN
ajst-30194	53	16	,	,	PUNCT
ajst-30194	53	17	𝒇	𝒇	X
ajst-30194	54	1	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	54	2	𝑓	𝑓	X
ajst-30194	55	1	𝑿𝒌	𝑿𝒌	INTJ
ajst-30194	55	2	𝑓	𝑓	INTJ
ajst-30194	55	3	𝑿𝒌	𝑿𝒌	INTJ
ajst-30194	55	4	…	…	PUNCT
ajst-30194	55	5	𝑓	𝑓	X
ajst-30194	56	1	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	56	2	is	be	AUX
ajst-30194	56	3	the	the	DET
ajst-30194	56	4	n	n	ADV
ajst-30194	56	5	-	-	PUNCT
ajst-30194	56	6	dimensional	dimensional	ADJ
ajst-30194	56	7	nonlinear	nonlinear	ADJ
ajst-30194	56	8	vector	vector	NOUN
ajst-30194	56	9	function	function	NOUN
ajst-30194	56	10	,	,	PUNCT
ajst-30194	56	11	𝒁𝒌	𝒁𝒌	PROPN
ajst-30194	56	12	is	be	AUX
ajst-30194	56	13	the	the	DET
ajst-30194	56	14	m	m	ADJ
ajst-30194	56	15	-	-	ADJ
ajst-30194	56	16	dimensional	dimensional	ADJ
ajst-30194	56	17	measurement	measurement	NOUN
ajst-30194	56	18	vector	vector	NOUN
ajst-30194	56	19	,	,	PUNCT
ajst-30194	56	20	𝒉	𝒉	VERB
ajst-30194	56	21	𝑿𝒌	𝑿𝒌	ADV
ajst-30194	56	22	ℎ	ℎ	X
ajst-30194	57	1	𝑿𝒌	𝑿𝒌	ADV
ajst-30194	57	2	ℎ	ℎ	ADP
ajst-30194	57	3	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	57	4	…	…	PUNCT
ajst-30194	57	5	ℎ	ℎ	X
ajst-30194	58	1	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	58	2	is	be	AUX
ajst-30194	58	3	the	the	DET
ajst-30194	58	4	mdimensional	mdimensional	ADJ
ajst-30194	58	5	nonlinear	nonlinear	ADJ
ajst-30194	58	6	vector	vector	NOUN
ajst-30194	58	7	function	function	NOUN
ajst-30194	58	8	,	,	PUNCT
ajst-30194	58	9	𝜞	𝜞	PROPN
ajst-30194	58	10	is	be	AUX
ajst-30194	58	11	the	the	DET
ajst-30194	58	12	system	system	NOUN
ajst-30194	58	13	noise	noise	NOUN
ajst-30194	58	14	distribution	distribution	NOUN
ajst-30194	58	15	matrix	matrix	NOUN
ajst-30194	58	16	,	,	PUNCT
ajst-30194	58	17	𝑾𝒌	𝑾𝒌	ADP
ajst-30194	58	18	𝟏	𝟏	NUM
ajst-30194	58	19	is	be	AUX
ajst-30194	58	20	the	the	DET
ajst-30194	58	21	system	system	NOUN
ajst-30194	58	22	noise	noise	NOUN
ajst-30194	58	23	vector	vector	NOUN
ajst-30194	58	24	,	,	PUNCT
ajst-30194	58	25	and	and	CCONJ
ajst-30194	58	26	𝑽𝒌	𝑽𝒌	PROPN
ajst-30194	58	27	is	be	AUX
ajst-30194	58	28	the	the	DET
ajst-30194	58	29	m	m	ADJ
ajst-30194	58	30	-	-	ADJ
ajst-30194	58	31	dimensional	dimensional	ADJ
ajst-30194	58	32	measurement	measurement	NOUN
ajst-30194	58	33	noise	noise	NOUN
ajst-30194	58	34	vector	vector	NOUN
ajst-30194	58	35	.	.	PUNCT
ajst-30194	59	1	the	the	DET
ajst-30194	59	2	ekf	ekf	NOUN
ajst-30194	59	3	filtering	filter	VERB
ajst-30194	59	4	equations	equation	NOUN
ajst-30194	59	5	for	for	ADP
ajst-30194	59	6	the	the	DET
ajst-30194	59	7	nonlinear	nonlinear	ADJ
ajst-30194	59	8	system	system	NOUN
ajst-30194	59	9	with	with	ADP
ajst-30194	59	10	state	state	NOUN
ajst-30194	59	11	𝑋	𝑋	PROPN
ajst-30194	59	12	are	be	AUX
ajst-30194	59	13	given	give	VERB
ajst-30194	59	14	by[12	by[12	ADP
ajst-30194	59	15	]	]	PUNCT
ajst-30194	59	16	:	:	PUNCT
ajst-30194	59	17	⎩	⎩	NUM
ajst-30194	59	18	⎪	⎪	NOUN
ajst-30194	59	19	⎨	⎨	ADJ
ajst-30194	59	20	⎪	⎪	NOUN
ajst-30194	59	21	⎧	⎧	PROPN
ajst-30194	59	22	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	59	23	𝒌⁄	𝒌⁄	NUM
ajst-30194	59	24	𝟏	𝟏	NUM
ajst-30194	59	25	𝒇	𝒇	X
ajst-30194	60	1	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	60	2	𝟏	𝟏	X
ajst-30194	60	3	𝑷𝒌	𝑷𝒌	ADP
ajst-30194	60	4	𝒌⁄	𝒌⁄	NUM
ajst-30194	60	5	𝟏	𝟏	NUM
ajst-30194	60	6	𝜱𝒌	𝜱𝒌	PROPN
ajst-30194	60	7	𝒌⁄	𝒌⁄	NUM
ajst-30194	60	8	𝟏𝑷𝒌	𝟏𝑷𝒌	PROPN
ajst-30194	60	9	𝟏𝜱𝒌	𝟏𝜱𝒌	NOUN
ajst-30194	60	10	𝒌⁄	𝒌⁄	NUM
ajst-30194	60	11	𝟏	𝟏	X
ajst-30194	61	1	𝜞𝒌	𝜞𝒌	PROPN
ajst-30194	61	2	𝟏𝑸𝒌	𝟏𝑸𝒌	PROPN
ajst-30194	61	3	𝟏𝜞𝒌	𝟏𝜞𝒌	X
ajst-30194	61	4	𝟏	𝟏	NUM
ajst-30194	62	1	𝑲𝒌	𝑲𝒌	NOUN
ajst-30194	62	2	𝑷𝒌	𝑷𝒌	ADP
ajst-30194	62	3	𝒌⁄	𝒌⁄	NUM
ajst-30194	62	4	𝟏𝑯𝒌	𝟏𝑯𝒌	PROPN
ajst-30194	62	5	𝑯𝒌𝑷𝒌	𝑯𝒌𝑷𝒌	PROPN
ajst-30194	62	6	𝒌⁄	𝒌⁄	NUM
ajst-30194	62	7	𝟏𝑯𝒌	𝟏𝑯𝒌	PROPN
ajst-30194	62	8	𝑹𝒌	𝑹𝒌	PROPN
ajst-30194	62	9	𝟏	𝟏	NUM
ajst-30194	63	1	𝑿𝒌	𝑿𝒌	NOUN
ajst-30194	63	2	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	63	3	𝒌⁄	𝒌⁄	NUM
ajst-30194	63	4	𝟏	𝟏	NUM
ajst-30194	64	1	𝑲𝒌	𝑲𝒌	NOUN
ajst-30194	64	2	𝒁𝒌	𝒁𝒌	NOUN
ajst-30194	64	3	𝒉	𝒉	VERB
ajst-30194	64	4	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	64	5	𝒌⁄	𝒌⁄	NUM
ajst-30194	64	6	𝟏	𝟏	X
ajst-30194	65	1	𝑷𝒌	𝑷𝒌	ADP
ajst-30194	65	2	𝑰	𝑰	PROPN
ajst-30194	65	3	𝑲𝒌𝑯𝒌	𝑲𝒌𝑯𝒌	PROPN
ajst-30194	65	4	𝑷𝒌	𝑷𝒌	ADP
ajst-30194	65	5	𝒌⁄	𝒌⁄	NUM
ajst-30194	65	6	𝟏	𝟏	NUM
ajst-30194	65	7	(	(	PUNCT
ajst-30194	65	8	9	9	NUM
ajst-30194	65	9	)	)	PUNCT
ajst-30194	65	10	in	in	ADP
ajst-30194	65	11	the	the	DET
ajst-30194	65	12	equations	equation	NOUN
ajst-30194	65	13	,	,	PUNCT
ajst-30194	65	14	𝜱𝒌	𝜱𝒌	PROPN
ajst-30194	65	15	𝒌⁄	𝒌⁄	NUM
ajst-30194	65	16	𝟏	𝟏	NUM
ajst-30194	65	17	is	be	AUX
ajst-30194	65	18	the	the	DET
ajst-30194	65	19	system	system	NOUN
ajst-30194	65	20	jacobian	jacobian	ADJ
ajst-30194	65	21	matrix	matrix	NOUN
ajst-30194	65	22	,	,	PUNCT
ajst-30194	65	23	𝜱𝒌	𝜱𝒌	PROPN
ajst-30194	65	24	𝒌⁄	𝒌⁄	NUM
ajst-30194	65	25	𝟏	𝟏	NUM
ajst-30194	65	26	𝑱	𝑱	NOUN
ajst-30194	65	27	𝒇	𝒇	X
ajst-30194	66	1	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	66	2	𝟏	𝟏	NUM
ajst-30194	66	3	,	,	PUNCT
ajst-30194	66	4	and	and	CCONJ
ajst-30194	66	5	𝑯𝒌	𝑯𝒌	PROPN
ajst-30194	66	6	is	be	AUX
ajst-30194	66	7	the	the	DET
ajst-30194	66	8	measurement	measurement	NOUN
ajst-30194	66	9	jacobian	jacobian	ADJ
ajst-30194	66	10	matrix	matrix	NOUN
ajst-30194	66	11	,	,	PUNCT
ajst-30194	66	12	𝑯𝒌	𝑯𝒌	PROPN
ajst-30194	66	13	𝑱	𝑱	NOUN
ajst-30194	66	14	𝒉	𝒉	VERB
ajst-30194	66	15	𝑿𝒌	𝑿𝒌	PROPN
ajst-30194	66	16	𝒌⁄	𝒌⁄	NUM
ajst-30194	66	17	𝟏	𝟏	NUM
ajst-30194	66	18	.	.	PUNCT
ajst-30194	67	1	if	if	SCONJ
ajst-30194	67	2	the	the	DET
ajst-30194	67	3	nonlinear	nonlinear	ADJ
ajst-30194	67	4	functions	function	NOUN
ajst-30194	67	5	are	be	AUX
ajst-30194	67	6	complex	complex	ADJ
ajst-30194	67	7	to	to	PART
ajst-30194	67	8	differentiate	differentiate	VERB
ajst-30194	67	9	or	or	CCONJ
ajst-30194	67	10	even	even	ADV
ajst-30194	67	11	non	non	ADJ
ajst-30194	67	12	-	-	ADJ
ajst-30194	67	13	differentiable	differentiable	ADJ
ajst-30194	67	14	,	,	PUNCT
ajst-30194	67	15	the	the	DET
ajst-30194	67	16	firstorder	firstorder	NOUN
ajst-30194	67	17	partial	partial	ADJ
ajst-30194	67	18	derivatives	derivative	NOUN
ajst-30194	67	19	can	can	AUX
ajst-30194	67	20	be	be	AUX
ajst-30194	67	21	approximated	approximate	VERB
ajst-30194	67	22	using	use	VERB
ajst-30194	67	23	the	the	DET
ajst-30194	67	24	central	central	ADJ
ajst-30194	67	25	difference	difference	NOUN
ajst-30194	67	26	method	method	NOUN
ajst-30194	67	27	.	.	PUNCT
ajst-30194	68	1	4	4	X
ajst-30194	68	2	.	.	X
ajst-30194	68	3	square	square	ADJ
ajst-30194	68	4	-	-	PUNCT
ajst-30194	68	5	root	root	NOUN
ajst-30194	68	6	information	information	NOUN
ajst-30194	68	7	kalman	kalman	NOUN
ajst-30194	68	8	filter	filter	NOUN
ajst-30194	68	9	algorithm	algorithm	NOUN
ajst-30194	68	10	(	(	PUNCT
ajst-30194	68	11	1	1	NUM
ajst-30194	68	12	)	)	PUNCT
ajst-30194	68	13	potter	potter	NOUN
ajst-30194	68	14	square	square	ADJ
ajst-30194	68	15	-	-	PUNCT
ajst-30194	68	16	root	root	NOUN
ajst-30194	68	17	filtering	filter	VERB
ajst-30194	68	18	the	the	DET
ajst-30194	68	19	potter	potter	NOUN
ajst-30194	68	20	square	square	ADJ
ajst-30194	68	21	-	-	PUNCT
ajst-30194	68	22	root	root	NOUN
ajst-30194	68	23	filtering	filtering	NOUN
ajst-30194	68	24	decomposes	decompose	NOUN
ajst-30194	68	25	the	the	DET
ajst-30194	68	26	mean	mean	ADJ
ajst-30194	68	27	square	square	ADJ
ajst-30194	68	28	error	error	NOUN
ajst-30194	68	29	matrix	matrix	NOUN
ajst-30194	68	30	𝑃	𝑃	NOUN
ajst-30194	68	31	into	into	ADP
ajst-30194	68	32	the	the	DET
ajst-30194	68	33	product	product	NOUN
ajst-30194	68	34	of	of	ADP
ajst-30194	68	35	a	a	DET
ajst-30194	68	36	lower	low	ADJ
ajst-30194	68	37	triangular	triangular	NOUN
ajst-30194	68	38	matrix	matrix	NOUN
ajst-30194	68	39	δ	δ	PROPN
ajst-30194	68	40	,	,	PUNCT
ajst-30194	68	41	that	that	ADV
ajst-30194	68	42	is	is	ADV
ajst-30194	68	43	,	,	PUNCT
ajst-30194	68	44	𝑃	𝑃	VERB
ajst-30194	68	45	δδ	δδ	NOUN
ajst-30194	68	46	,	,	PUNCT
ajst-30194	68	47	and	and	CCONJ
ajst-30194	68	48	operates	operate	VERB
ajst-30194	68	49	solely	solely	ADV
ajst-30194	68	50	on	on	ADP
ajst-30194	68	51	these	these	DET
ajst-30194	68	52	lower	low	ADJ
ajst-30194	68	53	triangular	triangular	NOUN
ajst-30194	68	54	matrices	matrix	NOUN
ajst-30194	68	55	during	during	ADP
ajst-30194	68	56	the	the	DET
ajst-30194	68	57	filtering	filtering	NOUN
ajst-30194	68	58	process	process	NOUN
ajst-30194	68	59	.	.	PUNCT
ajst-30194	69	1	this	this	DET
ajst-30194	69	2	approach	approach	NOUN
ajst-30194	69	3	reduces	reduce	VERB
ajst-30194	69	4	numerical	numerical	ADJ
ajst-30194	69	5	errors	error	NOUN
ajst-30194	69	6	caused	cause	VERB
ajst-30194	69	7	by	by	ADP
ajst-30194	69	8	the	the	DET
ajst-30194	69	9	illconditioning	illconditioning	NOUN
ajst-30194	69	10	of	of	ADP
ajst-30194	69	11	the	the	DET
ajst-30194	69	12	mean	mean	ADJ
ajst-30194	69	13	square	square	ADJ
ajst-30194	69	14	error	error	NOUN
ajst-30194	69	15	matrix	matrix	NOUN
ajst-30194	69	16	.	.	PUNCT
ajst-30194	70	1	assume	assume	VERB
ajst-30194	70	2	the	the	DET
ajst-30194	70	3	square	square	ADJ
ajst-30194	70	4	-	-	PUNCT
ajst-30194	70	5	roots	root	NOUN
ajst-30194	70	6	of	of	ADP
ajst-30194	70	7	the	the	DET
ajst-30194	70	8	mean	mean	ADJ
ajst-30194	70	9	square	square	ADJ
ajst-30194	70	10	error	error	NOUN
ajst-30194	70	11	matrices	matrix	NOUN
ajst-30194	70	12	𝑷𝒌	𝑷𝒌	ADP
ajst-30194	70	13	𝟏，𝑷𝒌/	𝟏，𝑷𝒌/	PROPN
ajst-30194	70	14	𝒌	𝒌	PRON
ajst-30194	70	15	𝟏	𝟏	NUM
ajst-30194	70	16	,	,	PUNCT
ajst-30194	70	17	and	and	CCONJ
ajst-30194	70	18	𝑷𝒌	𝑷𝒌	PROPN
ajst-30194	70	19	are	be	AUX
ajst-30194	70	20	∆𝒌	∆𝒌	PROPN
ajst-30194	70	21	𝟏，∆𝒌/	𝟏，∆𝒌/	NUM
ajst-30194	70	22	𝒌	𝒌	PROPN
ajst-30194	70	23	𝟏	𝟏	PROPN
ajst-30194	70	24	,	,	PUNCT
ajst-30194	70	25	and	and	CCONJ
ajst-30194	70	26	∆𝒌	∆𝒌	PROPN
ajst-30194	70	27	,	,	PUNCT
ajst-30194	70	28	respectively	respectively	ADV
ajst-30194	70	29	.	.	PUNCT
ajst-30194	71	1	the	the	DET
ajst-30194	71	2	measurement	measurement	NOUN
ajst-30194	71	3	update	update	NOUN
ajst-30194	71	4	of	of	ADP
ajst-30194	71	5	the	the	DET
ajst-30194	71	6	state	state	NOUN
ajst-30194	71	7	estimation	estimation	NOUN
ajst-30194	71	8	mean	mean	VERB
ajst-30194	71	9	square	square	ADJ
ajst-30194	71	10	error	error	NOUN
ajst-30194	71	11	matrix	matrix	NOUN
ajst-30194	71	12	and	and	CCONJ
ajst-30194	71	13	its	its	PRON
ajst-30194	71	14	corresponding	corresponding	ADJ
ajst-30194	71	15	square	square	ADJ
ajst-30194	71	16	-	-	PUNCT
ajst-30194	71	17	root	root	NOUN
ajst-30194	71	18	filtering	filter	VERB
ajst-30194	71	19	equations	equation	NOUN
ajst-30194	71	20	are	be	AUX
ajst-30194	71	21	given	give	VERB
ajst-30194	71	22	by	by	ADP
ajst-30194	71	23	:	:	PUNCT
ajst-30194	72	1	𝑷𝒌	𝑷𝒌	SCONJ
ajst-30194	72	2	𝑷𝒌/	𝑷𝒌/	PROPN
ajst-30194	72	3	𝒌	𝒌	INTJ
ajst-30194	72	4	𝟏	𝟏	X
ajst-30194	72	5	𝑷𝒌/	𝑷𝒌/	PROPN
ajst-30194	72	6	𝒌	𝒌	PROPN
ajst-30194	72	7	𝟏	𝟏	NUM
ajst-30194	72	8	𝑯𝒌	𝑯𝒌	PROPN
ajst-30194	72	9	𝑯𝒌𝑷𝒌/	𝑯𝒌𝑷𝒌/	PROPN
ajst-30194	72	10	𝒌	𝒌	PRON
ajst-30194	72	11	𝟏	𝟏	PROPN
ajst-30194	72	12	𝑯𝒌	𝑯𝒌	NOUN
ajst-30194	72	13	𝑹𝒌	𝑹𝒌	PROPN
ajst-30194	72	14	𝟏𝑯𝒌𝑷𝒌/	𝟏𝑯𝒌𝑷𝒌/	PROPN
ajst-30194	72	15	𝒌	𝒌	PRON
ajst-30194	72	16	𝟏	𝟏	X
ajst-30194	72	17	(	(	PUNCT
ajst-30194	72	18	10	10	NUM
ajst-30194	72	19	)	)	PUNCT
ajst-30194	72	20	𝚫𝒌	𝚫𝒌	VERB
ajst-30194	72	21	𝚫𝒌/	𝚫𝒌/	NOUN
ajst-30194	72	22	𝒌	𝒌	ADJ
ajst-30194	72	23	𝟏	𝟏	PUNCT
ajst-30194	72	24	𝑰	𝑰	NOUN
ajst-30194	72	25	𝚫𝒌/	𝚫𝒌/	NOUN
ajst-30194	72	26	𝒌	𝒌	ADJ
ajst-30194	72	27	𝟏	𝟏	PROPN
ajst-30194	73	1	𝑯𝒌	𝑯𝒌	NOUN
ajst-30194	73	2	𝝆𝒌𝝆𝒌	𝝆𝒌𝝆𝒌	ADJ
ajst-30194	73	3	𝑹𝒌𝝆𝒌	𝑹𝒌𝝆𝒌	PROPN
ajst-30194	73	4	𝑻	𝑻	PROPN
ajst-30194	73	5	𝟏𝑯𝒌𝚫𝒌/	𝟏𝑯𝒌𝚫𝒌/	NOUN
ajst-30194	73	6	𝒌	𝒌	PRON
ajst-30194	73	7	𝟏	𝟏	PROPN
ajst-30194	73	8	(	(	PUNCT
ajst-30194	73	9	11	11	NUM
ajst-30194	73	10	)	)	PUNCT
ajst-30194	73	11	in	in	ADP
ajst-30194	73	12	the	the	DET
ajst-30194	73	13	equations	equation	NOUN
ajst-30194	73	14	,	,	PUNCT
ajst-30194	73	15	𝑹𝒌	𝑹𝒌	PROPN
ajst-30194	73	16	denotes	denote	VERB
ajst-30194	73	17	the	the	DET
ajst-30194	73	18	square	square	ADJ
ajst-30194	73	19	-	-	PUNCT
ajst-30194	73	20	root	root	NOUN
ajst-30194	73	21	matrix	matrix	NOUN
ajst-30194	73	22	of	of	ADP
ajst-30194	73	23	𝑹𝒌	𝑹𝒌	PROPN
ajst-30194	73	24	.	.	PUNCT
ajst-30194	74	1	the	the	DET
ajst-30194	74	2	matrix	matrix	NOUN
ajst-30194	74	3	𝝆𝒌	𝝆𝒌	NOUN
ajst-30194	74	4	satisfies𝝆𝒌𝝆𝒌	satisfies𝝆𝒌𝝆𝒌	NOUN
ajst-30194	74	5	𝑯𝒌𝑷𝒌/	𝑯𝒌𝑷𝒌/	X
ajst-30194	74	6	𝒌	𝒌	PRON
ajst-30194	74	7	𝟏	𝟏	PROPN
ajst-30194	74	8	𝑯𝒌	𝑯𝒌	NOUN
ajst-30194	74	9	𝑹𝒌	𝑹𝒌	PROPN
ajst-30194	74	10	𝑯𝒌𝚫𝒌/	𝑯𝒌𝚫𝒌/	ADP
ajst-30194	74	11	𝒌	𝒌	PRON
ajst-30194	74	12	𝟏	𝟏	X
ajst-30194	74	13	𝑹𝒌	𝑹𝒌	VERB
ajst-30194	74	14	𝚫𝒌/	𝚫𝒌/	NOUN
ajst-30194	74	15	𝒌	𝒌	PRON
ajst-30194	74	16	𝟏	𝟏	PROPN
ajst-30194	74	17	𝑯𝒌	𝑯𝒌	PROPN
ajst-30194	74	18	𝑹𝒌	𝑹𝒌	PROPN
ajst-30194	74	19	.	.	PUNCT
ajst-30194	75	1	the	the	DET
ajst-30194	75	2	square	square	ADJ
ajst-30194	75	3	-	-	PUNCT
ajst-30194	75	4	root	root	NOUN
ajst-30194	75	5	matrix	matrix	NOUN
ajst-30194	75	6	𝜌	𝜌	X
ajst-30194	75	7	is	be	AUX
ajst-30194	75	8	obtained	obtain	VERB
ajst-30194	75	9	using	use	VERB
ajst-30194	75	10	the	the	DET
ajst-30194	75	11	𝑄𝑅	𝑄𝑅	PROPN
ajst-30194	75	12	decomposition	decomposition	NOUN
ajst-30194	75	13	method	method	NOUN
ajst-30194	75	14	.	.	PUNCT
ajst-30194	76	1	(	(	PUNCT
ajst-30194	76	2	2	2	X
ajst-30194	76	3	)	)	PUNCT
ajst-30194	76	4	information	information	NOUN
ajst-30194	76	5	filtering	filtering	NOUN
ajst-30194	76	6	and	and	CCONJ
ajst-30194	76	7	information	information	NOUN
ajst-30194	76	8	fusion	fusion	NOUN
ajst-30194	76	9	the	the	DET
ajst-30194	76	10	information	information	NOUN
ajst-30194	76	11	matrix	matrix	NOUN
ajst-30194	76	12	is	be	AUX
ajst-30194	76	13	the	the	DET
ajst-30194	76	14	inverse	inverse	NOUN
ajst-30194	76	15	of	of	ADP
ajst-30194	76	16	the	the	DET
ajst-30194	76	17	mean	mean	ADJ
ajst-30194	76	18	square	square	ADJ
ajst-30194	76	19	error	error	NOUN
ajst-30194	76	20	matrix[13	matrix[13	NOUN
ajst-30194	76	21	]	]	PUNCT
ajst-30194	76	22	,	,	PUNCT
ajst-30194	76	23	while	while	SCONJ
ajst-30194	76	24	the	the	DET
ajst-30194	76	25	information	information	NOUN
ajst-30194	76	26	vector	vector	NOUN
ajst-30194	76	27	is	be	AUX
ajst-30194	76	28	the	the	DET
ajst-30194	76	29	product	product	NOUN
ajst-30194	76	30	of	of	ADP
ajst-30194	76	31	the	the	DET
ajst-30194	76	32	state	state	NOUN
ajst-30194	76	33	estimate	estimate	NOUN
ajst-30194	76	34	and	and	CCONJ
ajst-30194	76	35	the	the	DET
ajst-30194	76	36	information	information	NOUN
ajst-30194	76	37	matrix	matrix	NOUN
ajst-30194	76	38	.	.	PUNCT
ajst-30194	77	1	this	this	DET
ajst-30194	77	2	representation	representation	NOUN
ajst-30194	77	3	makes	make	VERB
ajst-30194	77	4	information	information	NOUN
ajst-30194	77	5	filtering	filter	VERB
ajst-30194	77	6	more	more	ADV
ajst-30194	77	7	efficient	efficient	ADJ
ajst-30194	77	8	and	and	CCONJ
ajst-30194	77	9	intuitive	intuitive	ADJ
ajst-30194	77	10	when	when	SCONJ
ajst-30194	77	11	dealing	deal	VERB
ajst-30194	77	12	with	with	ADP
ajst-30194	77	13	multi	multi	ADJ
ajst-30194	77	14	-	-	ADJ
ajst-30194	77	15	sensor	sensor	ADJ
ajst-30194	77	16	data	datum	NOUN
ajst-30194	77	17	fusion	fusion	NOUN
ajst-30194	77	18	and	and	CCONJ
ajst-30194	77	19	distributed	distribute	VERB
ajst-30194	77	20	systems	system	NOUN
ajst-30194	77	21	.	.	PUNCT
ajst-30194	78	1	let	let	VERB
ajst-30194	79	1	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	79	2	𝑷𝒌	𝑷𝒌	ADP
ajst-30194	79	3	𝟏	𝟏	NUM
ajst-30194	80	1	[	[	X
ajst-30194	80	2	14	14	NUM
ajst-30194	80	3	]	]	PUNCT
ajst-30194	80	4	.	.	PUNCT
ajst-30194	81	1	then	then	ADV
ajst-30194	81	2	,	,	PUNCT
ajst-30194	81	3	the	the	DET
ajst-30194	81	4	so	so	ADV
ajst-30194	81	5	-	-	PUNCT
ajst-30194	81	6	called	call	VERB
ajst-30194	81	7	information	information	NOUN
ajst-30194	81	8	filtering	filtering	NOUN
ajst-30194	81	9	equations	equation	NOUN
ajst-30194	81	10	expressed	express	VERB
ajst-30194	81	11	in	in	ADP
ajst-30194	81	12	terms	term	NOUN
ajst-30194	81	13	of	of	ADP
ajst-30194	81	14	the	the	DET
ajst-30194	81	15	information	information	NOUN
ajst-30194	81	16	matrix	matrix	NOUN
ajst-30194	81	17	are	be	AUX
ajst-30194	81	18	given	give	VERB
ajst-30194	81	19	by	by	ADP
ajst-30194	81	20	:	:	PUNCT
ajst-30194	81	21	⎩	⎩	PROPN
ajst-30194	81	22	⎪⎪	⎪⎪	PROPN
ajst-30194	81	23	⎨	⎨	PROPN
ajst-30194	81	24	⎪⎪	⎪⎪	PROPN
ajst-30194	81	25	⎧𝕀𝒌/	⎧𝕀𝒌/	NOUN
ajst-30194	82	1	𝒌	𝒌	ADV
ajst-30194	82	2	𝟏	𝟏	PUNCT
ajst-30194	82	3	𝚽𝒌/	𝚽𝒌/	NOUN
ajst-30194	82	4	𝒌	𝒌	PRON
ajst-30194	82	5	𝟏	𝟏	PUNCT
ajst-30194	83	1	𝕀𝒌	𝕀𝒌	NOUN
ajst-30194	83	2	𝟏	𝟏	NUM
ajst-30194	83	3	𝟏	𝟏	NUM
ajst-30194	83	4	𝚽𝒌/	𝚽𝒌/	NOUN
ajst-30194	83	5	𝒌	𝒌	ADV
ajst-30194	83	6	𝟏	𝟏	PUNCT
ajst-30194	84	1	𝚪𝒌	𝚪𝒌	PROPN
ajst-30194	84	2	𝟏𝑸𝒌	𝟏𝑸𝒌	PROPN
ajst-30194	84	3	𝟏𝚪𝒌	𝟏𝚪𝒌	NUM
ajst-30194	84	4	𝟏	𝟏	NUM
ajst-30194	84	5	𝟏	𝟏	X
ajst-30194	84	6	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	84	7	𝕀𝒌/	𝕀𝒌/	PROPN
ajst-30194	84	8	𝒌	𝒌	PRON
ajst-30194	84	9	𝟏	𝟏	NUM
ajst-30194	84	10	𝑯𝒌𝑹𝒌	𝑯𝒌𝑹𝒌	X
ajst-30194	84	11	𝟏𝑯𝒌	𝟏𝑯𝒌	PROPN
ajst-30194	84	12	𝑲𝒌	𝑲𝒌	PROPN
ajst-30194	84	13	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	84	14	𝟏𝑯𝒌𝑹𝒌	𝟏𝑯𝒌𝑹𝒌	ADJ
ajst-30194	84	15	𝟏	𝟏	NUM
ajst-30194	84	16	𝑿𝒌/	𝑿𝒌/	NOUN
ajst-30194	84	17	𝒌	𝒌	PRON
ajst-30194	84	18	𝟏	𝟏	PROPN
ajst-30194	84	19	𝚽𝒌/	𝚽𝒌/	NOUN
ajst-30194	84	20	𝒌	𝒌	ADV
ajst-30194	84	21	𝟏	𝟏	X
ajst-30194	85	1	𝑿𝒌	𝑿𝒌	ADV
ajst-30194	85	2	𝟏	𝟏	X
ajst-30194	86	1	𝑿𝒌	𝑿𝒌	INTJ
ajst-30194	86	2	𝑿𝒌/	𝑿𝒌/	NOUN
ajst-30194	86	3	𝒌	𝒌	PRON
ajst-30194	86	4	𝟏	𝟏	PUNCT
ajst-30194	87	1	𝑲𝒌	𝑲𝒌	NOUN
ajst-30194	87	2	𝒁𝒌	𝒁𝒌	NOUN
ajst-30194	87	3	𝑯𝒌𝑿𝒌/	𝑯𝒌𝑿𝒌/	PRON
ajst-30194	87	4	𝒌	𝒌	X
ajst-30194	87	5	𝟏	𝟏	PROPN
ajst-30194	87	6	(	(	PUNCT
ajst-30194	87	7	12	12	NUM
ajst-30194	87	8	)	)	PUNCT
ajst-30194	87	9	(	(	PUNCT
ajst-30194	87	10	3	3	X
ajst-30194	87	11	)	)	PUNCT
ajst-30194	87	12	square	square	ADJ
ajst-30194	87	13	-	-	PUNCT
ajst-30194	87	14	root	root	NOUN
ajst-30194	87	15	information	information	NOUN
ajst-30194	87	16	extended	extend	VERB
ajst-30194	87	17	kalman	kalman	NOUN
ajst-30194	87	18	filter	filter	NOUN
ajst-30194	87	19	let	let	VERB
ajst-30194	87	20	the	the	DET
ajst-30194	87	21	square	square	ADJ
ajst-30194	87	22	-	-	PUNCT
ajst-30194	87	23	roots	root	NOUN
ajst-30194	87	24	of	of	ADP
ajst-30194	87	25	the	the	DET
ajst-30194	87	26	information	information	NOUN
ajst-30194	87	27	matrices	matrice	VERB
ajst-30194	87	28	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	87	29	and	and	CCONJ
ajst-30194	87	30	𝕀𝒌/	𝕀𝒌/	PROPN
ajst-30194	87	31	𝒌	𝒌	PRON
ajst-30194	87	32	𝟏	𝟏	PROPN
ajst-30194	87	33	be	be	AUX
ajst-30194	87	34	denoted	denote	VERB
ajst-30194	87	35	as	as	ADP
ajst-30194	87	36	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	87	37	𝝃𝒌𝝃𝒌	𝝃𝒌𝝃𝒌	NOUN
ajst-30194	87	38	and	and	CCONJ
ajst-30194	87	39	𝕀𝒌/	𝕀𝒌/	PROPN
ajst-30194	87	40	𝒌	𝒌	PRON
ajst-30194	87	41	𝟏	𝟏	PROPN
ajst-30194	87	42	𝝃𝒌/	𝝃𝒌/	NOUN
ajst-30194	87	43	𝒌	𝒌	PRON
ajst-30194	87	44	𝟏	𝟏	PUNCT
ajst-30194	87	45	𝝃𝒌/	𝝃𝒌/	NOUN
ajst-30194	87	46	𝒌	𝒌	PRON
ajst-30194	87	47	𝟏	𝟏	PROPN
ajst-30194	87	48	,	,	PUNCT
ajst-30194	87	49	respectively	respectively	ADV
ajst-30194	87	50	.	.	PUNCT
ajst-30194	88	1	the	the	DET
ajst-30194	88	2	information	information	NOUN
ajst-30194	88	3	prediction	prediction	NOUN
ajst-30194	88	4	equation	equation	NOUN
ajst-30194	88	5	is	be	AUX
ajst-30194	88	6	given	give	VERB
ajst-30194	88	7	by	by	ADP
ajst-30194	88	8	:	:	PUNCT
ajst-30194	88	9	𝕀𝒌/	𝕀𝒌/	PROPN
ajst-30194	88	10	𝒌	𝒌	PROPN
ajst-30194	88	11	𝟏	𝟏	PROPN
ajst-30194	88	12	𝚽𝒌/	𝚽𝒌/	NOUN
ajst-30194	88	13	𝒌	𝒌	PRON
ajst-30194	88	14	𝟏	𝟏	PUNCT
ajst-30194	88	15	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	88	16	𝟏𝚽𝒌/	𝟏𝚽𝒌/	X
ajst-30194	88	17	𝒌	𝒌	INTJ
ajst-30194	88	18	𝟏	𝟏	NUM
ajst-30194	88	19	𝟏	𝟏	NUM
ajst-30194	88	20	𝚽𝒌/	𝚽𝒌/	NOUN
ajst-30194	88	21	𝒌	𝒌	PRON
ajst-30194	88	22	𝟏	𝟏	PUNCT
ajst-30194	89	1	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	89	2	𝟏𝚽𝒌/	𝟏𝚽𝒌/	X
ajst-30194	89	3	𝒌	𝒌	INTJ
ajst-30194	89	4	𝟏	𝟏	NUM
ajst-30194	89	5	𝟏	𝟏	X
ajst-30194	89	6	𝚪𝒌	𝚪𝒌	ADP
ajst-30194	89	7	𝟏	𝟏	NUM
ajst-30194	89	8	𝚪𝒌	𝚪𝒌	ADP
ajst-30194	89	9	𝟏𝚽𝒌/	𝟏𝚽𝒌/	X
ajst-30194	89	10	𝒌	𝒌	PRON
ajst-30194	89	11	𝟏	𝟏	X
ajst-30194	90	1	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	90	2	𝟏𝚽𝒌/	𝟏𝚽𝒌/	X
ajst-30194	90	3	𝒌	𝒌	INTJ
ajst-30194	90	4	𝟏	𝟏	NUM
ajst-30194	90	5	𝟏	𝟏	X
ajst-30194	90	6	𝚪𝒌	𝚪𝒌	NOUN
ajst-30194	90	7	𝟏	𝟏	NUM
ajst-30194	90	8	𝑸𝒌	𝑸𝒌	PROPN
ajst-30194	90	9	𝟏	𝟏	NUM
ajst-30194	90	10	𝟏	𝟏	NUM
ajst-30194	90	11	𝟏	𝟏	NUM
ajst-30194	90	12	𝚪𝒌	𝚪𝒌	ADP
ajst-30194	90	13	𝟏𝚽𝒌/	𝟏𝚽𝒌/	X
ajst-30194	90	14	𝒌	𝒌	PRON
ajst-30194	90	15	𝟏	𝟏	X
ajst-30194	90	16	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	90	17	𝟏𝚽𝒌/	𝟏𝚽𝒌/	X
ajst-30194	90	18	𝒌	𝒌	INTJ
ajst-30194	90	19	𝟏	𝟏	NUM
ajst-30194	90	20	𝟏	𝟏	NUM
ajst-30194	90	21	(	(	PUNCT
ajst-30194	90	22	13	13	NUM
ajst-30194	90	23	)	)	PUNCT
ajst-30194	90	24	analogous	analogous	ADJ
ajst-30194	90	25	to	to	ADP
ajst-30194	90	26	the	the	DET
ajst-30194	90	27	mean	mean	ADJ
ajst-30194	90	28	square	square	ADJ
ajst-30194	90	29	error	error	NOUN
ajst-30194	90	30	matrix	matrix	NOUN
ajst-30194	90	31	update	update	NOUN
ajst-30194	90	32	in	in	ADP
ajst-30194	90	33	the	the	DET
ajst-30194	90	34	standard	standard	ADJ
ajst-30194	90	35	kalman	kalman	PROPN
ajst-30194	90	36	filter	filter	PROPN
ajst-30194	90	37	,	,	PUNCT
ajst-30194	90	38	the	the	DET
ajst-30194	90	39	square	square	ADJ
ajst-30194	90	40	-	-	PUNCT
ajst-30194	90	41	root	root	NOUN
ajst-30194	90	42	information	information	NOUN
ajst-30194	90	43	kalman	kalman	NOUN
ajst-30194	90	44	171	171	NUM
ajst-30194	90	45	filter	filter	NOUN
ajst-30194	90	46	time	time	NOUN
ajst-30194	90	47	update	update	NOUN
ajst-30194	90	48	algorithm	algorithm	NOUN
ajst-30194	90	49	can	can	AUX
ajst-30194	90	50	be	be	AUX
ajst-30194	90	51	obtained	obtain	VERB
ajst-30194	90	52	by	by	ADP
ajst-30194	90	53	replacing	replace	VERB
ajst-30194	90	54	the	the	DET
ajst-30194	90	55	symbols	symbol	NOUN
ajst-30194	90	56	𝚫𝒌	𝚫𝒌	PROPN
ajst-30194	90	57	→	→	SYM
ajst-30194	90	58	𝝃𝒌/	𝝃𝒌/	NOUN
ajst-30194	90	59	𝒌	𝒌	X
ajst-30194	90	60	𝟏	𝟏	X
ajst-30194	91	1	，	，	ADV
ajst-30194	91	2	𝚫𝒌/	𝚫𝒌/	NOUN
ajst-30194	91	3	𝒌	𝒌	ADJ
ajst-30194	91	4	𝟏	𝟏	PROPN
ajst-30194	91	5	→	→	SYM
ajst-30194	91	6	𝚽𝒌/	𝚽𝒌/	PROPN
ajst-30194	91	7	𝒌	𝒌	ADP
ajst-30194	91	8	𝟏	𝟏	PROPN
ajst-30194	91	9	𝝃𝒌	𝝃𝒌	ADP
ajst-30194	91	10	𝟏，𝑯𝒌	𝟏，𝑯𝒌	PROPN
ajst-30194	91	11	→	→	PUNCT
ajst-30194	91	12	𝚪𝒌	𝚪𝒌	PROPN
ajst-30194	91	13	𝟏及𝑹𝒌	𝟏及𝑹𝒌	NOUN
ajst-30194	91	14	→	→	PUNCT
ajst-30194	91	15	𝑸𝒌	𝑸𝒌	PROPN
ajst-30194	91	16	𝟏	𝟏	NUM
ajst-30194	91	17	.	.	PUNCT
ajst-30194	92	1	𝝃𝒌/	𝝃𝒌/	PROPN
ajst-30194	93	1	𝒌	𝒌	PRON
ajst-30194	93	2	𝟏	𝟏	PUNCT
ajst-30194	93	3	𝚽𝒌/	𝚽𝒌/	NOUN
ajst-30194	93	4	𝒌	𝒌	ADV
ajst-30194	93	5	𝟏	𝟏	PROPN
ajst-30194	93	6	𝝃𝒌	𝝃𝒌	ADP
ajst-30194	93	7	𝟏	𝟏	NUM
ajst-30194	93	8	𝑰	𝑰	NOUN
ajst-30194	93	9	𝝃𝒌	𝝃𝒌	ADP
ajst-30194	93	10	𝟏𝚽𝒌/	𝟏𝚽𝒌/	PROPN
ajst-30194	93	11	𝒌	𝒌	INTJ
ajst-30194	93	12	𝟏	𝟏	X
ajst-30194	93	13	𝟏	𝟏	X
ajst-30194	94	1	𝚪𝒌	𝚪𝒌	NOUN
ajst-30194	94	2	𝟏	𝟏	NUM
ajst-30194	94	3	𝝆𝒌𝝆𝒌	𝝆𝒌𝝆𝒌	NOUN
ajst-30194	94	4	𝑻	𝑻	PROPN
ajst-30194	94	5	𝑸𝒌	𝑸𝒌	PROPN
ajst-30194	94	6	𝟏	𝟏	NUM
ajst-30194	94	7	𝝆𝒌	𝝆𝒌	NOUN
ajst-30194	94	8	𝟏	𝟏	NUM
ajst-30194	95	1	𝚪𝒌	𝚪𝒌	NOUN
ajst-30194	95	2	𝟏𝚽𝒌/	𝟏𝚽𝒌/	X
ajst-30194	95	3	𝒌	𝒌	INTJ
ajst-30194	95	4	𝟏	𝟏	PROPN
ajst-30194	95	5	𝝃𝒌	𝝃𝒌	ADP
ajst-30194	95	6	𝟏	𝟏	NUM
ajst-30194	95	7	(	(	PUNCT
ajst-30194	95	8	14	14	NUM
ajst-30194	95	9	)	)	PUNCT
ajst-30194	95	10	in	in	ADP
ajst-30194	95	11	the	the	DET
ajst-30194	95	12	equation	equation	NOUN
ajst-30194	95	13	,	,	PUNCT
ajst-30194	95	14	𝝆𝒌	𝝆𝒌	NOUN
ajst-30194	95	15	is	be	AUX
ajst-30194	95	16	obtained	obtain	VERB
ajst-30194	95	17	by	by	ADP
ajst-30194	95	18	performing	perform	VERB
ajst-30194	95	19	𝑄𝑅	𝑄𝑅	PROPN
ajst-30194	95	20	decomposition	decomposition	NOUN
ajst-30194	95	21	on	on	ADP
ajst-30194	95	22	𝝃𝒌	𝝃𝒌	ADP
ajst-30194	95	23	𝟏𝚽𝒌/	𝟏𝚽𝒌/	PROPN
ajst-30194	95	24	𝒌	𝒌	INTJ
ajst-30194	95	25	𝟏	𝟏	X
ajst-30194	95	26	𝟏	𝟏	X
ajst-30194	96	1	𝚪𝒌	𝚪𝒌	NOUN
ajst-30194	96	2	𝟏	𝟏	NUM
ajst-30194	96	3	𝑸𝒌	𝑸𝒌	PROPN
ajst-30194	96	4	𝟏	𝟏	NUM
ajst-30194	96	5	.	.	PUNCT
ajst-30194	97	1	the	the	DET
ajst-30194	97	2	measurement	measurement	NOUN
ajst-30194	97	3	update	update	NOUN
ajst-30194	97	4	algorithm	algorithm	NOUN
ajst-30194	97	5	for	for	ADP
ajst-30194	97	6	the	the	DET
ajst-30194	97	7	square	square	ADJ
ajst-30194	97	8	-	-	PUNCT
ajst-30194	97	9	root	root	NOUN
ajst-30194	97	10	information	information	NOUN
ajst-30194	97	11	kalman	kalman	NOUN
ajst-30194	97	12	filter	filter	NOUN
ajst-30194	97	13	can	can	AUX
ajst-30194	97	14	be	be	AUX
ajst-30194	97	15	derived	derive	VERB
ajst-30194	97	16	from	from	ADP
ajst-30194	97	17	the	the	DET
ajst-30194	97	18	equation	equation	NOUN
ajst-30194	97	19	𝕀𝒌	𝕀𝒌	PROPN
ajst-30194	97	20	𝕀𝒌/	𝕀𝒌/	PROPN
ajst-30194	97	21	𝒌	𝒌	PRON
ajst-30194	97	22	𝟏	𝟏	NUM
ajst-30194	97	23	𝑯𝒌𝑹𝒌	𝑯𝒌𝑹𝒌	X
ajst-30194	97	24	𝟏𝑯𝒌	𝟏𝑯𝒌	PROPN
ajst-30194	97	25	.	.	PUNCT
ajst-30194	98	1	performing	perform	VERB
ajst-30194	98	2	qr	qr	ADJ
ajst-30194	98	3	decomposition	decomposition	NOUN
ajst-30194	98	4	on	on	ADP
ajst-30194	98	5	𝝃𝒌/	𝝃𝒌/	NOUN
ajst-30194	98	6	𝒌	𝒌	PRON
ajst-30194	98	7	𝟏	𝟏	PUNCT
ajst-30194	99	1	𝑹𝒌	𝑹𝒌	PROPN
ajst-30194	99	2	𝑯𝒌	𝑯𝒌	PROPN
ajst-30194	99	3	yields	yield	NOUN
ajst-30194	99	4	𝝃𝒌.	𝝃𝒌.	VERB
ajst-30194	99	5	in	in	ADP
ajst-30194	99	6	the	the	DET
ajst-30194	99	7	square	square	ADJ
ajst-30194	99	8	-	-	PUNCT
ajst-30194	99	9	root	root	NOUN
ajst-30194	99	10	information	information	NOUN
ajst-30194	99	11	kalman	kalman	PROPN
ajst-30194	99	12	filter	filter	PROPN
ajst-30194	99	13	,	,	PUNCT
ajst-30194	99	14	the	the	DET
ajst-30194	99	15	initial	initial	ADJ
ajst-30194	99	16	state	state	NOUN
ajst-30194	99	17	estimation	estimation	NOUN
ajst-30194	99	18	mean	mean	VERB
ajst-30194	99	19	square	square	ADJ
ajst-30194	99	20	error	error	NOUN
ajst-30194	99	21	matrix	matrix	NOUN
ajst-30194	99	22	can	can	AUX
ajst-30194	99	23	be	be	AUX
ajst-30194	99	24	set	set	VERB
ajst-30194	99	25	to	to	PART
ajst-30194	99	26	infinity	infinity	NOUN
ajst-30194	99	27	,	,	PUNCT
ajst-30194	99	28	corresponding	correspond	VERB
ajst-30194	99	29	to	to	ADP
ajst-30194	99	30	the	the	DET
ajst-30194	99	31	information	information	NOUN
ajst-30194	99	32	matrix	matrix	NOUN
ajst-30194	99	33	being	be	AUX
ajst-30194	99	34	a	a	DET
ajst-30194	99	35	zero	zero	NUM
ajst-30194	99	36	matrix	matrix	NOUN
ajst-30194	99	37	.	.	PUNCT
ajst-30194	100	1	consequently	consequently	ADV
ajst-30194	100	2	,	,	PUNCT
ajst-30194	100	3	the	the	DET
ajst-30194	100	4	initial	initial	ADJ
ajst-30194	100	5	square	square	ADJ
ajst-30194	100	6	-	-	PUNCT
ajst-30194	100	7	root	root	NOUN
ajst-30194	100	8	matrix	matrix	NOUN
ajst-30194	100	9	𝝃𝟎	𝝃𝟎	PROPN
ajst-30194	100	10	can	can	AUX
ajst-30194	100	11	also	also	ADV
ajst-30194	100	12	be	be	AUX
ajst-30194	100	13	set	set	VERB
ajst-30194	100	14	to	to	ADP
ajst-30194	100	15	the	the	DET
ajst-30194	100	16	zero	zero	NUM
ajst-30194	100	17	matrix	matrix	NOUN
ajst-30194	100	18	,	,	PUNCT
ajst-30194	100	19	indicating	indicate	VERB
ajst-30194	100	20	a	a	DET
ajst-30194	100	21	lack	lack	NOUN
ajst-30194	100	22	of	of	ADP
ajst-30194	100	23	initial	initial	ADJ
ajst-30194	100	24	information	information	NOUN
ajst-30194	100	25	about	about	ADP
ajst-30194	100	26	the	the	DET
ajst-30194	100	27	state	state	NOUN
ajst-30194	100	28	.	.	PUNCT
ajst-30194	101	1	5	5	X
ajst-30194	101	2	.	.	X
ajst-30194	101	3	simulation	simulation	NOUN
ajst-30194	101	4	analysis	analysis	NOUN
ajst-30194	101	5	to	to	PART
ajst-30194	101	6	verify	verify	VERB
ajst-30194	101	7	the	the	DET
ajst-30194	101	8	effectiveness	effectiveness	NOUN
ajst-30194	101	9	of	of	ADP
ajst-30194	101	10	the	the	DET
ajst-30194	101	11	square	square	ADJ
ajst-30194	101	12	-	-	PUNCT
ajst-30194	101	13	root	root	NOUN
ajst-30194	101	14	information	information	NOUN
ajst-30194	101	15	kalman	kalman	NOUN
ajst-30194	101	16	filter	filter	PROPN
ajst-30194	101	17	in	in	ADP
ajst-30194	101	18	the	the	DET
ajst-30194	101	19	sins	sin	NOUN
ajst-30194	101	20	/	/	SYM
ajst-30194	101	21	gnss	gnss	NOUN
ajst-30194	101	22	integrated	integrate	VERB
ajst-30194	101	23	navigation	navigation	NOUN
ajst-30194	101	24	system	system	NOUN
ajst-30194	101	25	,	,	PUNCT
ajst-30194	101	26	a	a	DET
ajst-30194	101	27	set	set	NOUN
ajst-30194	101	28	of	of	ADP
ajst-30194	101	29	experimental	experimental	ADJ
ajst-30194	101	30	data	datum	NOUN
ajst-30194	101	31	,	,	PUNCT
ajst-30194	101	32	including	include	VERB
ajst-30194	101	33	approximately	approximately	ADV
ajst-30194	101	34	15	15	NUM
ajst-30194	101	35	minutes	minute	NOUN
ajst-30194	101	36	of	of	ADP
ajst-30194	101	37	imu	imu	NOUN
ajst-30194	101	38	and	and	CCONJ
ajst-30194	101	39	satellite	satellite	NOUN
ajst-30194	101	40	receiver	receiver	NOUN
ajst-30194	101	41	data	datum	NOUN
ajst-30194	101	42	,	,	PUNCT
ajst-30194	101	43	was	be	AUX
ajst-30194	101	44	selected	select	VERB
ajst-30194	101	45	for	for	ADP
ajst-30194	101	46	matlab	matlab	PROPN
ajst-30194	101	47	simulation	simulation	PROPN
ajst-30194	101	48	.	.	PUNCT
ajst-30194	102	1	the	the	DET
ajst-30194	102	2	imu	imu	NOUN
ajst-30194	102	3	data	datum	NOUN
ajst-30194	102	4	includes	include	VERB
ajst-30194	102	5	timestamps	timestamp	NOUN
ajst-30194	102	6	,	,	PUNCT
ajst-30194	102	7	three	three	NUM
ajst-30194	102	8	-	-	PUNCT
ajst-30194	102	9	axis	axis	NOUN
ajst-30194	102	10	gyroscope	gyroscope	NOUN
ajst-30194	102	11	measurements	measurement	NOUN
ajst-30194	102	12	,	,	PUNCT
ajst-30194	102	13	and	and	CCONJ
ajst-30194	102	14	three	three	NUM
ajst-30194	102	15	-	-	PUNCT
ajst-30194	102	16	axis	axis	NOUN
ajst-30194	102	17	accelerometer	accelerometer	NOUN
ajst-30194	102	18	measurements	measurement	NOUN
ajst-30194	102	19	.	.	PUNCT
ajst-30194	103	1	the	the	DET
ajst-30194	103	2	satellite	satellite	NOUN
ajst-30194	103	3	receiver	receiver	NOUN
ajst-30194	103	4	data	datum	NOUN
ajst-30194	103	5	includes	include	VERB
ajst-30194	103	6	timestamps	timestamp	NOUN
ajst-30194	103	7	,	,	PUNCT
ajst-30194	103	8	pseudorandom	pseudorandom	PROPN
ajst-30194	103	9	noise	noise	NOUN
ajst-30194	103	10	codes	code	NOUN
ajst-30194	103	11	,	,	PUNCT
ajst-30194	103	12	ionosphere	ionosphere	NOUN
ajst-30194	103	13	-	-	PUNCT
ajst-30194	103	14	free	free	ADJ
ajst-30194	103	15	pseudorange	pseudorange	NOUN
ajst-30194	103	16	linear	linear	NOUN
ajst-30194	103	17	combinations	combination	NOUN
ajst-30194	103	18	,	,	PUNCT
ajst-30194	103	19	tropospheric	tropospheric	ADJ
ajst-30194	103	20	delay	delay	NOUN
ajst-30194	103	21	,	,	PUNCT
ajst-30194	103	22	ionospheric	ionospheric	ADJ
ajst-30194	103	23	delay	delay	NOUN
ajst-30194	103	24	,	,	PUNCT
ajst-30194	103	25	relativistic	relativistic	ADJ
ajst-30194	103	26	corrections	correction	NOUN
ajst-30194	103	27	,	,	PUNCT
ajst-30194	103	28	satellite	satellite	NOUN
ajst-30194	103	29	clock	clock	NOUN
ajst-30194	103	30	bias	bias	NOUN
ajst-30194	103	31	and	and	CCONJ
ajst-30194	103	32	drift	drift	NOUN
ajst-30194	103	33	,	,	PUNCT
ajst-30194	103	34	satellite	satellite	NOUN
ajst-30194	103	35	position	position	NOUN
ajst-30194	103	36	and	and	CCONJ
ajst-30194	103	37	velocity	velocity	NOUN
ajst-30194	103	38	in	in	ADP
ajst-30194	103	39	the	the	DET
ajst-30194	103	40	earth	earth	NOUN
ajst-30194	103	41	-	-	PUNCT
ajst-30194	103	42	centered	center	VERB
ajst-30194	103	43	earth	earth	NOUN
ajst-30194	103	44	-	-	PUNCT
ajst-30194	103	45	fixed	fix	VERB
ajst-30194	103	46	(	(	PUNCT
ajst-30194	103	47	ecef	ecef	PROPN
ajst-30194	103	48	)	)	PUNCT
ajst-30194	103	49	frame	frame	NOUN
ajst-30194	103	50	,	,	PUNCT
ajst-30194	103	51	elevation	elevation	NOUN
ajst-30194	103	52	angle	angle	NOUN
ajst-30194	103	53	,	,	PUNCT
ajst-30194	103	54	azimuth	azimuth	NOUN
ajst-30194	103	55	angle	angle	NOUN
ajst-30194	103	56	,	,	PUNCT
ajst-30194	103	57	and	and	CCONJ
ajst-30194	103	58	user	user	NOUN
ajst-30194	103	59	range	range	NOUN
ajst-30194	103	60	error	error	NOUN
ajst-30194	103	61	.	.	PUNCT
ajst-30194	104	1	satellite	satellite	NOUN
ajst-30194	104	2	positioning	positioning	NOUN
ajst-30194	104	3	systems	system	NOUN
ajst-30194	104	4	employ	employ	VERB
ajst-30194	104	5	the	the	DET
ajst-30194	104	6	pseudorangebased	pseudorangebase	VERB
ajst-30194	104	7	single	single	ADJ
ajst-30194	104	8	-	-	PUNCT
ajst-30194	104	9	point	point	NOUN
ajst-30194	104	10	positioning	positioning	NOUN
ajst-30194	104	11	method	method	NOUN
ajst-30194	104	12	,	,	PUNCT
ajst-30194	104	13	which	which	PRON
ajst-30194	104	14	utilizes	utilize	VERB
ajst-30194	104	15	ionosphere	ionosphere	NOUN
ajst-30194	104	16	-	-	PUNCT
ajst-30194	104	17	corrected	correct	VERB
ajst-30194	104	18	pseudorange	pseudorange	NOUN
ajst-30194	104	19	measurements	measurement	NOUN
ajst-30194	104	20	and	and	CCONJ
ajst-30194	104	21	satellite	satellite	NOUN
ajst-30194	104	22	clock	clock	NOUN
ajst-30194	104	23	bias	bias	NOUN
ajst-30194	104	24	corrections	correction	NOUN
ajst-30194	104	25	.	.	PUNCT
ajst-30194	105	1	by	by	ADP
ajst-30194	105	2	applying	apply	VERB
ajst-30194	105	3	the	the	DET
ajst-30194	105	4	least	least	ADJ
ajst-30194	105	5	squares	square	NOUN
ajst-30194	105	6	method	method	NOUN
ajst-30194	105	7	,	,	PUNCT
ajst-30194	105	8	the	the	DET
ajst-30194	105	9	three	three	NUM
ajst-30194	105	10	-	-	PUNCT
ajst-30194	105	11	dimensional	dimensional	ADJ
ajst-30194	105	12	position	position	NOUN
ajst-30194	105	13	of	of	ADP
ajst-30194	105	14	the	the	DET
ajst-30194	105	15	receiver	receiver	NOUN
ajst-30194	105	16	is	be	AUX
ajst-30194	105	17	computed	compute	VERB
ajst-30194	105	18	.	.	PUNCT
ajst-30194	106	1	additionally	additionally	ADV
ajst-30194	106	2	,	,	PUNCT
ajst-30194	106	3	the	the	DET
ajst-30194	106	4	residuals	residual	NOUN
ajst-30194	106	5	from	from	ADP
ajst-30194	106	6	the	the	DET
ajst-30194	106	7	single	single	ADJ
ajst-30194	106	8	-	-	PUNCT
ajst-30194	106	9	point	point	NOUN
ajst-30194	106	10	positioning	positioning	NOUN
ajst-30194	106	11	are	be	AUX
ajst-30194	106	12	used	use	VERB
ajst-30194	106	13	to	to	PART
ajst-30194	106	14	evaluate	evaluate	VERB
ajst-30194	106	15	the	the	DET
ajst-30194	106	16	accuracy	accuracy	NOUN
ajst-30194	106	17	of	of	ADP
ajst-30194	106	18	the	the	DET
ajst-30194	106	19	solution	solution	NOUN
ajst-30194	106	20	,	,	PUNCT
ajst-30194	106	21	enabling	enable	VERB
ajst-30194	106	22	rapid	rapid	ADJ
ajst-30194	106	23	and	and	CCONJ
ajst-30194	106	24	effective	effective	ADJ
ajst-30194	106	25	real	real	ADJ
ajst-30194	106	26	-	-	PUNCT
ajst-30194	106	27	time	time	NOUN
ajst-30194	106	28	positioning	positioning	NOUN
ajst-30194	106	29	.	.	PUNCT
ajst-30194	107	1	the	the	DET
ajst-30194	107	2	system	system	NOUN
ajst-30194	107	3	initial	initial	ADJ
ajst-30194	107	4	state	state	NOUN
ajst-30194	107	5	is	be	AUX
ajst-30194	107	6	configured	configure	VERB
ajst-30194	107	7	as	as	SCONJ
ajst-30194	107	8	follows	follow	VERB
ajst-30194	107	9	:	:	PUNCT
ajst-30194	107	10	the	the	DET
ajst-30194	107	11	initial	initial	ADJ
ajst-30194	107	12	attitude	attitude	NOUN
ajst-30194	107	13	uncertainty	uncertainty	NOUN
ajst-30194	107	14	is	be	AUX
ajst-30194	107	15	set	set	VERB
ajst-30194	107	16	to	to	ADP
ajst-30194	107	17	20	20	NUM
ajst-30194	107	18	°	°	NOUN
ajst-30194	107	19	,	,	PUNCT
ajst-30194	107	20	the	the	DET
ajst-30194	107	21	initial	initial	ADJ
ajst-30194	107	22	velocity	velocity	NOUN
ajst-30194	107	23	uncertainty	uncertainty	NOUN
ajst-30194	107	24	is	be	AUX
ajst-30194	107	25	set	set	VERB
ajst-30194	107	26	to	to	ADP
ajst-30194	107	27	0.1	0.1	NUM
ajst-30194	107	28	m	m	NOUN
ajst-30194	107	29	/	/	SYM
ajst-30194	107	30	s	s	PROPN
ajst-30194	107	31	,	,	PUNCT
ajst-30194	107	32	and	and	CCONJ
ajst-30194	107	33	the	the	DET
ajst-30194	107	34	initial	initial	ADJ
ajst-30194	107	35	position	position	NOUN
ajst-30194	107	36	uncertainty	uncertainty	NOUN
ajst-30194	107	37	is	be	AUX
ajst-30194	107	38	set	set	VERB
ajst-30194	107	39	to	to	ADP
ajst-30194	107	40	10	10	NUM
ajst-30194	107	41	m.	m.	NOUN
ajst-30194	107	42	the	the	DET
ajst-30194	107	43	initial	initial	ADJ
ajst-30194	107	44	accelerometer	accelerometer	NOUN
ajst-30194	107	45	bias	bias	NOUN
ajst-30194	107	46	uncertainty	uncertainty	NOUN
ajst-30194	107	47	of	of	ADP
ajst-30194	107	48	the	the	DET
ajst-30194	107	49	imu	imu	NOUN
ajst-30194	107	50	is	be	AUX
ajst-30194	107	51	set	set	VERB
ajst-30194	107	52	to	to	ADP
ajst-30194	107	53	10,000	10,000	NUM
ajst-30194	107	54	μm	μm	NUM
ajst-30194	107	55	/	/	SYM
ajst-30194	107	56	s²	s²	NOUN
ajst-30194	107	57	,	,	PUNCT
ajst-30194	107	58	and	and	CCONJ
ajst-30194	107	59	the	the	DET
ajst-30194	107	60	initial	initial	ADJ
ajst-30194	107	61	gyroscope	gyroscope	NOUN
ajst-30194	107	62	bias	bias	NOUN
ajst-30194	107	63	uncertainty	uncertainty	NOUN
ajst-30194	107	64	of	of	ADP
ajst-30194	107	65	the	the	DET
ajst-30194	107	66	imu	imu	NOUN
ajst-30194	107	67	is	be	AUX
ajst-30194	107	68	set	set	VERB
ajst-30194	107	69	to	to	ADP
ajst-30194	107	70	10	10	NUM
ajst-30194	107	71	°	°	NOUN
ajst-30194	107	72	/h	/h	NOUN
ajst-30194	107	73	.	.	PUNCT
ajst-30194	108	1	the	the	DET
ajst-30194	108	2	initial	initial	ADJ
ajst-30194	108	3	clock	clock	NOUN
ajst-30194	108	4	bias	bias	NOUN
ajst-30194	108	5	is	be	AUX
ajst-30194	108	6	set	set	VERB
ajst-30194	108	7	to	to	ADP
ajst-30194	108	8	10	10	NUM
ajst-30194	108	9	m	m	NOUN
ajst-30194	108	10	,	,	PUNCT
ajst-30194	108	11	and	and	CCONJ
ajst-30194	108	12	the	the	DET
ajst-30194	108	13	initial	initial	ADJ
ajst-30194	108	14	clock	clock	NOUN
ajst-30194	108	15	drift	drift	NOUN
ajst-30194	108	16	is	be	AUX
ajst-30194	108	17	set	set	VERB
ajst-30194	108	18	to	to	ADP
ajst-30194	108	19	0.1	0.1	NUM
ajst-30194	108	20	m	m	NOUN
ajst-30194	108	21	/	/	SYM
ajst-30194	108	22	s.	s.	PROPN
ajst-30194	109	1	the	the	DET
ajst-30194	109	2	experimental	experimental	ADJ
ajst-30194	109	3	parameters	parameter	NOUN
ajst-30194	109	4	are	be	AUX
ajst-30194	109	5	configured	configure	VERB
ajst-30194	109	6	as	as	SCONJ
ajst-30194	109	7	shown	show	VERB
ajst-30194	109	8	in	in	ADP
ajst-30194	109	9	table	table	NOUN
ajst-30194	109	10	1	1	NUM
ajst-30194	109	11	and	and	CCONJ
ajst-30194	109	12	table	table	NOUN
ajst-30194	109	13	2	2	NUM
ajst-30194	109	14	.	.	PUNCT
ajst-30194	109	15	table	table	NOUN
ajst-30194	109	16	1	1	NUM
ajst-30194	109	17	.	.	PUNCT
ajst-30194	109	18	imu	imu	NOUN
ajst-30194	109	19	module	module	NOUN
ajst-30194	109	20	parameter	parameter	NOUN
ajst-30194	109	21	configuration	configuration	NOUN
ajst-30194	109	22	parameter	parameter	NOUN
ajst-30194	109	23	names	name	NOUN
ajst-30194	109	24	value	value	NOUN
ajst-30194	109	25	unit	unit	NOUN
ajst-30194	109	26	gyroscope	gyroscope	NOUN
ajst-30194	109	27	noise	noise	NOUN
ajst-30194	109	28	power	power	NOUN
ajst-30194	109	29	spectral	spectral	ADJ
ajst-30194	109	30	density	density	NOUN
ajst-30194	109	31	0.01	0.01	NUM
ajst-30194	109	32	(	(	PUNCT
ajst-30194	109	33	°	°	PROPN
ajst-30194	109	34	/h)2	/h)2	NOUN
ajst-30194	109	35	/	/	SYM
ajst-30194	109	36	hz	hz	VERB
ajst-30194	109	37	accelerometer	accelerometer	NOUN
ajst-30194	109	38	noise	noise	NOUN
ajst-30194	109	39	power	power	NOUN
ajst-30194	109	40	spectral	spectral	ADJ
ajst-30194	109	41	density	density	NOUN
ajst-30194	109	42	0.1	0.1	NUM
ajst-30194	109	43	(	(	PUNCT
ajst-30194	109	44	μg)2	μg)2	PROPN
ajst-30194	109	45	/	/	SYM
ajst-30194	109	46	hz	hz	VERB
ajst-30194	109	47	gyroscope	gyroscope	NOUN
ajst-30194	109	48	bias	bias	NOUN
ajst-30194	109	49	random	random	ADJ
ajst-30194	109	50	walk	walk	NOUN
ajst-30194	109	51	power	power	NOUN
ajst-30194	109	52	spectral	spectral	ADJ
ajst-30194	109	53	density	density	NOUN
ajst-30194	109	54	4.0×10	4.0×10	NUM
ajst-30194	109	55	-	-	SYM
ajst-30194	109	56	11	11	NUM
ajst-30194	109	57	rad2	rad2	ADJ
ajst-30194	109	58	/	/	SYM
ajst-30194	109	59	s3	s3	PROPN
ajst-30194	109	60	accelerometer	accelerometer	NOUN
ajst-30194	109	61	bias	bias	NOUN
ajst-30194	109	62	random	random	ADJ
ajst-30194	109	63	walk	walk	NOUN
ajst-30194	109	64	power	power	NOUN
ajst-30194	109	65	spectral	spectral	ADJ
ajst-30194	109	66	density	density	NOUN
ajst-30194	109	67	1×10	1×10	NUM
ajst-30194	109	68	-	-	SYM
ajst-30194	109	69	5	5	NUM
ajst-30194	109	70	m2	m2	PROPN
ajst-30194	109	71	/	/	SYM
ajst-30194	109	72	s5	s5	PROPN
ajst-30194	109	73	table	table	NOUN
ajst-30194	110	1	2	2	NUM
ajst-30194	110	2	.	.	PUNCT
ajst-30194	110	3	gnss	gnss	NOUN
ajst-30194	110	4	receiver	receiver	NOUN
ajst-30194	110	5	parameter	parameter	NOUN
ajst-30194	110	6	configuration	configuration	NOUN
ajst-30194	110	7	parameter	parameter	NOUN
ajst-30194	110	8	names	name	NOUN
ajst-30194	110	9	value	value	NOUN
ajst-30194	110	10	unit	unit	NOUN
ajst-30194	110	11	observation	observation	NOUN
ajst-30194	110	12	time	time	NOUN
ajst-30194	110	13	interval	interval	NOUN
ajst-30194	110	14	1	1	NUM
ajst-30194	110	15	s	s	NOUN
ajst-30194	110	16	number	number	NOUN
ajst-30194	110	17	of	of	ADP
ajst-30194	110	18	satellites	satellite	NOUN
ajst-30194	110	19	30	30	NUM
ajst-30194	110	20	/	/	SYM
ajst-30194	110	21	mask	mask	NOUN
ajst-30194	110	22	angle	angle	NOUN
ajst-30194	110	23	10	10	NUM
ajst-30194	110	24	°	°	NOUN
ajst-30194	110	25	receiver	receiver	ADJ
ajst-30194	110	26	clock	clock	NOUN
ajst-30194	110	27	frequency	frequency	NOUN
ajst-30194	110	28	drift	drift	NOUN
ajst-30194	110	29	power	power	NOUN
ajst-30194	110	30	spectral	spectral	ADJ
ajst-30194	110	31	density	density	NOUN
ajst-30194	110	32	1	1	NUM
ajst-30194	110	33	m2	m2	PROPN
ajst-30194	110	34	/	/	SYM
ajst-30194	110	35	s3	s3	PROPN
ajst-30194	110	36	receiver	receiver	NOUN
ajst-30194	110	37	clock	clock	NOUN
ajst-30194	110	38	phase	phase	NOUN
ajst-30194	110	39	drift	drift	NOUN
ajst-30194	110	40	power	power	NOUN
ajst-30194	110	41	spectral	spectral	ADJ
ajst-30194	110	42	density	density	NOUN
ajst-30194	110	43	1	1	NUM
ajst-30194	110	44	m2	m2	PROPN
ajst-30194	110	45	/	/	SYM
ajst-30194	110	46	s	s	PART
ajst-30194	110	47	pseudorange	pseudorange	NOUN
ajst-30194	110	48	measurement	measurement	NOUN
ajst-30194	110	49	noise	noise	NOUN
ajst-30194	110	50	standard	standard	ADJ
ajst-30194	110	51	deviation	deviation	NOUN
ajst-30194	110	52	2.5	2.5	NUM
ajst-30194	110	53	m	m	NOUN
ajst-30194	110	54	pseudorange	pseudorange	NOUN
ajst-30194	110	55	rate	rate	NOUN
ajst-30194	110	56	measurement	measurement	NOUN
ajst-30194	110	57	noise	noise	NOUN
ajst-30194	110	58	standard	standard	ADJ
ajst-30194	110	59	deviation	deviation	NOUN
ajst-30194	110	60	0.1	0.1	NUM
ajst-30194	110	61	m	m	NOUN
ajst-30194	110	62	/	/	SYM
ajst-30194	110	63	s	s	VERB
ajst-30194	110	64	the	the	DET
ajst-30194	110	65	system	system	NOUN
ajst-30194	110	66	simulation	simulation	NOUN
ajst-30194	110	67	error	error	NOUN
ajst-30194	110	68	results	result	NOUN
ajst-30194	110	69	of	of	ADP
ajst-30194	110	70	the	the	DET
ajst-30194	110	71	square	square	ADJ
ajst-30194	110	72	-	-	PUNCT
ajst-30194	110	73	root	root	NOUN
ajst-30194	110	74	information	information	NOUN
ajst-30194	110	75	extended	extend	VERB
ajst-30194	110	76	kalman	kalman	NOUN
ajst-30194	110	77	filter	filter	NOUN
ajst-30194	110	78	algorithm	algorithm	NOUN
ajst-30194	110	79	are	be	AUX
ajst-30194	110	80	shown	show	VERB
ajst-30194	110	81	in	in	ADP
ajst-30194	110	82	figure	figure	NOUN
ajst-30194	110	83	2	2	NUM
ajst-30194	110	84	.	.	PUNCT
ajst-30194	111	1	(	(	PUNCT
ajst-30194	111	2	a	a	X
ajst-30194	111	3	)	)	PUNCT
ajst-30194	111	4	simulation	simulation	NOUN
ajst-30194	111	5	angle	angle	NOUN
ajst-30194	111	6	error	error	NOUN
ajst-30194	111	7	plot	plot	NOUN
ajst-30194	111	8	of	of	ADP
ajst-30194	111	9	tightly	tightly	ADV
ajst-30194	111	10	-	-	PUNCT
ajst-30194	111	11	coupled	couple	VERB
ajst-30194	111	12	navigation	navigation	NOUN
ajst-30194	111	13	system	system	NOUN
ajst-30194	111	14	under	under	ADP
ajst-30194	111	15	square	square	ADJ
ajst-30194	111	16	-	-	PUNCT
ajst-30194	111	17	root	root	NOUN
ajst-30194	111	18	information	information	NOUN
ajst-30194	111	19	kalman	kalman	NOUN
ajst-30194	111	20	filter	filter	PROPN
ajst-30194	111	21	(	(	PUNCT
ajst-30194	111	22	b	b	NOUN
ajst-30194	111	23	)	)	PUNCT
ajst-30194	111	24	simulation	simulation	NOUN
ajst-30194	111	25	velocity	velocity	NOUN
ajst-30194	111	26	error	error	NOUN
ajst-30194	111	27	plot	plot	NOUN
ajst-30194	111	28	of	of	ADP
ajst-30194	111	29	tightly	tightly	ADV
ajst-30194	111	30	-	-	PUNCT
ajst-30194	111	31	coupled	couple	VERB
ajst-30194	111	32	navigation	navigation	NOUN
ajst-30194	111	33	system	system	NOUN
ajst-30194	111	34	under	under	ADP
ajst-30194	111	35	square	square	ADJ
ajst-30194	111	36	-	-	PUNCT
ajst-30194	111	37	root	root	NOUN
ajst-30194	111	38	information	information	NOUN
ajst-30194	111	39	kalman	kalman	PROPN
ajst-30194	111	40	filter	filter	PROPN
ajst-30194	111	41	172	172	NUM
ajst-30194	111	42	(	(	PUNCT
ajst-30194	111	43	c	c	NOUN
ajst-30194	111	44	)	)	PUNCT
ajst-30194	111	45	simulation	simulation	NOUN
ajst-30194	111	46	position	position	NOUN
ajst-30194	111	47	error	error	NOUN
ajst-30194	111	48	plot	plot	NOUN
ajst-30194	111	49	of	of	ADP
ajst-30194	111	50	tightly	tightly	ADV
ajst-30194	111	51	-	-	PUNCT
ajst-30194	111	52	coupled	couple	VERB
ajst-30194	111	53	navigation	navigation	NOUN
ajst-30194	111	54	system	system	NOUN
ajst-30194	111	55	under	under	ADP
ajst-30194	111	56	square	square	ADJ
ajst-30194	111	57	-	-	PUNCT
ajst-30194	111	58	root	root	NOUN
ajst-30194	111	59	information	information	NOUN
ajst-30194	111	60	kalman	kalman	NOUN
ajst-30194	111	61	filter	filter	NOUN
ajst-30194	111	62	figure	figure	NOUN
ajst-30194	111	63	2	2	NUM
ajst-30194	111	64	.	.	PUNCT
ajst-30194	111	65	simulation	simulation	NOUN
ajst-30194	111	66	error	error	NOUN
ajst-30194	111	67	plots	plot	NOUN
ajst-30194	111	68	of	of	ADP
ajst-30194	111	69	the	the	DET
ajst-30194	111	70	tightly	tightly	ADV
ajst-30194	111	71	-	-	PUNCT
ajst-30194	111	72	coupled	couple	VERB
ajst-30194	111	73	navigation	navigation	NOUN
ajst-30194	111	74	system	system	NOUN
ajst-30194	111	75	under	under	ADP
ajst-30194	111	76	square	square	ADJ
ajst-30194	111	77	-	-	PUNCT
ajst-30194	111	78	root	root	NOUN
ajst-30194	111	79	information	information	NOUN
ajst-30194	111	80	kalman	kalman	NOUN
ajst-30194	111	81	filter	filter	PROPN
ajst-30194	111	82	from	from	ADP
ajst-30194	111	83	the	the	DET
ajst-30194	111	84	angle	angle	NOUN
ajst-30194	111	85	error	error	NOUN
ajst-30194	111	86	plot	plot	NOUN
ajst-30194	111	87	,	,	PUNCT
ajst-30194	111	88	it	it	PRON
ajst-30194	111	89	can	can	AUX
ajst-30194	111	90	be	be	AUX
ajst-30194	111	91	observed	observe	VERB
ajst-30194	111	92	that	that	SCONJ
ajst-30194	111	93	the	the	DET
ajst-30194	111	94	angle	angle	NOUN
ajst-30194	111	95	errors	error	NOUN
ajst-30194	111	96	of	of	ADP
ajst-30194	111	97	the	the	DET
ajst-30194	111	98	system	system	NOUN
ajst-30194	111	99	in	in	ADP
ajst-30194	111	100	all	all	DET
ajst-30194	111	101	three	three	NUM
ajst-30194	111	102	directions	direction	NOUN
ajst-30194	111	103	are	be	AUX
ajst-30194	111	104	generally	generally	ADV
ajst-30194	111	105	within	within	ADP
ajst-30194	111	106	the	the	DET
ajst-30194	111	107	range	range	NOUN
ajst-30194	111	108	of	of	ADP
ajst-30194	111	109	±0.8	±0.8	PROPN
ajst-30194	111	110	rad	rad	PROPN
ajst-30194	111	111	.	.	PROPN
ajst-30194	111	112	similarly	similarly	ADV
ajst-30194	111	113	,	,	PUNCT
ajst-30194	111	114	the	the	DET
ajst-30194	111	115	velocity	velocity	NOUN
ajst-30194	111	116	errors	error	NOUN
ajst-30194	111	117	in	in	ADP
ajst-30194	111	118	all	all	DET
ajst-30194	111	119	three	three	NUM
ajst-30194	111	120	directions	direction	NOUN
ajst-30194	111	121	are	be	AUX
ajst-30194	111	122	within	within	ADP
ajst-30194	111	123	the	the	DET
ajst-30194	111	124	range	range	NOUN
ajst-30194	111	125	of	of	ADP
ajst-30194	111	126	±1	±1	PROPN
ajst-30194	111	127	m	m	PROPN
ajst-30194	111	128	/	/	SYM
ajst-30194	111	129	s.	s.	PROPN
ajst-30194	111	130	nevertheless	nevertheless	ADV
ajst-30194	111	131	,	,	PUNCT
ajst-30194	111	132	the	the	DET
ajst-30194	111	133	position	position	NOUN
ajst-30194	111	134	error	error	NOUN
ajst-30194	111	135	plot	plot	NOUN
ajst-30194	111	136	reveals	reveal	VERB
ajst-30194	111	137	that	that	SCONJ
ajst-30194	111	138	the	the	DET
ajst-30194	111	139	z	z	NOUN
ajst-30194	111	140	-	-	PUNCT
ajst-30194	111	141	direction	direction	NOUN
ajst-30194	111	142	error	error	NOUN
ajst-30194	111	143	surpasses	surpasse	NOUN
ajst-30194	111	144	±10	±10	NOUN
ajst-30194	111	145	meters	meter	NOUN
ajst-30194	111	146	.	.	PUNCT
ajst-30194	112	1	this	this	PRON
ajst-30194	112	2	can	can	AUX
ajst-30194	112	3	be	be	AUX
ajst-30194	112	4	addressed	address	VERB
ajst-30194	112	5	by	by	ADP
ajst-30194	112	6	integrating	integrate	VERB
ajst-30194	112	7	supplementary	supplementary	ADJ
ajst-30194	112	8	sensors	sensor	NOUN
ajst-30194	112	9	,	,	PUNCT
ajst-30194	112	10	such	such	ADJ
ajst-30194	112	11	as	as	ADP
ajst-30194	112	12	altimeters	altimeter	NOUN
ajst-30194	112	13	or	or	CCONJ
ajst-30194	112	14	barometers	barometer	NOUN
ajst-30194	112	15	,	,	PUNCT
ajst-30194	112	16	to	to	PART
ajst-30194	112	17	enhance	enhance	VERB
ajst-30194	112	18	altitude	altitude	NOUN
ajst-30194	112	19	accuracy	accuracy	NOUN
ajst-30194	112	20	.	.	PUNCT
ajst-30194	113	1	meanwhile	meanwhile	ADV
ajst-30194	113	2	,	,	PUNCT
ajst-30194	113	3	the	the	DET
ajst-30194	113	4	errors	error	NOUN
ajst-30194	113	5	in	in	ADP
ajst-30194	113	6	the	the	DET
ajst-30194	113	7	x	x	NOUN
ajst-30194	113	8	and	and	CCONJ
ajst-30194	113	9	y	y	PROPN
ajst-30194	113	10	directions	direction	NOUN
ajst-30194	113	11	are	be	AUX
ajst-30194	113	12	maintained	maintain	VERB
ajst-30194	113	13	within	within	ADP
ajst-30194	113	14	±5	±5	NOUN
ajst-30194	113	15	meters	meter	NOUN
ajst-30194	113	16	,	,	PUNCT
ajst-30194	113	17	well	well	ADV
ajst-30194	113	18	within	within	ADP
ajst-30194	113	19	the	the	DET
ajst-30194	113	20	permissible	permissible	ADJ
ajst-30194	113	21	limits	limit	NOUN
ajst-30194	113	22	of	of	ADP
ajst-30194	113	23	the	the	DET
ajst-30194	113	24	navigation	navigation	NOUN
ajst-30194	113	25	system	system	NOUN
ajst-30194	113	26	.	.	PUNCT
ajst-30194	114	1	the	the	DET
ajst-30194	114	2	system	system	NOUN
ajst-30194	114	3	calculations	calculation	NOUN
ajst-30194	114	4	indicate	indicate	VERB
ajst-30194	114	5	that	that	SCONJ
ajst-30194	114	6	the	the	DET
ajst-30194	114	7	standard	standard	ADJ
ajst-30194	114	8	deviations	deviation	NOUN
ajst-30194	114	9	of	of	ADP
ajst-30194	114	10	the	the	DET
ajst-30194	114	11	pitch	pitch	NOUN
ajst-30194	114	12	,	,	PUNCT
ajst-30194	114	13	roll	roll	NOUN
ajst-30194	114	14	,	,	PUNCT
ajst-30194	114	15	and	and	CCONJ
ajst-30194	114	16	heading	head	VERB
ajst-30194	114	17	angle	angle	NOUN
ajst-30194	114	18	errors	error	NOUN
ajst-30194	114	19	for	for	ADP
ajst-30194	114	20	the	the	DET
ajst-30194	114	21	square	square	ADJ
ajst-30194	114	22	-	-	PUNCT
ajst-30194	114	23	root	root	NOUN
ajst-30194	114	24	information	information	NOUN
ajst-30194	114	25	extended	extend	VERB
ajst-30194	114	26	kalman	kalman	NOUN
ajst-30194	114	27	filter	filter	NOUN
ajst-30194	114	28	algorithm	algorithm	NOUN
ajst-30194	114	29	in	in	ADP
ajst-30194	114	30	the	the	DET
ajst-30194	114	31	tightly	tightly	ADV
ajst-30194	114	32	-	-	PUNCT
ajst-30194	114	33	coupled	couple	VERB
ajst-30194	114	34	navigation	navigation	NOUN
ajst-30194	114	35	system	system	NOUN
ajst-30194	114	36	simulation	simulation	NOUN
ajst-30194	114	37	are	be	AUX
ajst-30194	114	38	0.0093	0.0093	NUM
ajst-30194	114	39	rad	rad	PROPN
ajst-30194	114	40	,	,	PUNCT
ajst-30194	114	41	0.0091	0.0091	NUM
ajst-30194	114	42	rad	rad	NOUN
ajst-30194	114	43	,	,	PUNCT
ajst-30194	114	44	and	and	CCONJ
ajst-30194	114	45	0.0082	0.0082	NUM
ajst-30194	114	46	rad	rad	NOUN
ajst-30194	114	47	,	,	PUNCT
ajst-30194	114	48	respectively	respectively	ADV
ajst-30194	114	49	.	.	PUNCT
ajst-30194	115	1	furthermore	furthermore	ADV
ajst-30194	115	2	,	,	PUNCT
ajst-30194	115	3	the	the	DET
ajst-30194	115	4	standard	standard	ADJ
ajst-30194	115	5	deviations	deviation	NOUN
ajst-30194	115	6	of	of	ADP
ajst-30194	115	7	the	the	DET
ajst-30194	115	8	velocity	velocity	NOUN
ajst-30194	115	9	errors	error	NOUN
ajst-30194	115	10	in	in	ADP
ajst-30194	115	11	the	the	DET
ajst-30194	115	12	x	x	PROPN
ajst-30194	115	13	,	,	PUNCT
ajst-30194	115	14	y	y	PROPN
ajst-30194	115	15	,	,	PUNCT
ajst-30194	115	16	and	and	CCONJ
ajst-30194	115	17	z	z	NOUN
ajst-30194	115	18	directions	direction	NOUN
ajst-30194	115	19	are	be	AUX
ajst-30194	115	20	0.1536	0.1536	NUM
ajst-30194	115	21	m	m	NOUN
ajst-30194	115	22	/	/	SYM
ajst-30194	115	23	s	s	PROPN
ajst-30194	115	24	,	,	PUNCT
ajst-30194	115	25	0.1592	0.1592	NUM
ajst-30194	115	26	m	m	NOUN
ajst-30194	115	27	/	/	SYM
ajst-30194	115	28	s	s	PROPN
ajst-30194	115	29	,	,	PUNCT
ajst-30194	115	30	and	and	CCONJ
ajst-30194	115	31	0.1435	0.1435	NUM
ajst-30194	115	32	m	m	NOUN
ajst-30194	115	33	/	/	SYM
ajst-30194	115	34	s	s	PROPN
ajst-30194	115	35	,	,	PUNCT
ajst-30194	115	36	respectively	respectively	ADV
ajst-30194	115	37	,	,	PUNCT
ajst-30194	115	38	while	while	SCONJ
ajst-30194	115	39	the	the	DET
ajst-30194	115	40	standard	standard	ADJ
ajst-30194	115	41	deviations	deviation	NOUN
ajst-30194	115	42	of	of	ADP
ajst-30194	115	43	the	the	DET
ajst-30194	115	44	position	position	NOUN
ajst-30194	115	45	errors	error	NOUN
ajst-30194	115	46	in	in	ADP
ajst-30194	115	47	the	the	DET
ajst-30194	115	48	x	x	PROPN
ajst-30194	115	49	,	,	PUNCT
ajst-30194	115	50	y	y	PROPN
ajst-30194	115	51	,	,	PUNCT
ajst-30194	115	52	and	and	CCONJ
ajst-30194	115	53	z	z	NOUN
ajst-30194	115	54	directions	direction	NOUN
ajst-30194	115	55	are	be	AUX
ajst-30194	115	56	0.8569	0.8569	NUM
ajst-30194	115	57	m	m	NOUN
ajst-30194	115	58	,	,	PUNCT
ajst-30194	115	59	0.9711	0.9711	NUM
ajst-30194	115	60	m	m	NOUN
ajst-30194	115	61	,	,	PUNCT
ajst-30194	115	62	and	and	CCONJ
ajst-30194	115	63	1.0618	1.0618	NUM
ajst-30194	115	64	m	m	NOUN
ajst-30194	115	65	,	,	PUNCT
ajst-30194	115	66	respectively	respectively	ADV
ajst-30194	115	67	.	.	PUNCT
ajst-30194	116	1	the	the	DET
ajst-30194	116	2	navigation	navigation	NOUN
ajst-30194	116	3	accuracy	accuracy	NOUN
ajst-30194	116	4	achieved	achieve	VERB
ajst-30194	116	5	by	by	ADP
ajst-30194	116	6	the	the	DET
ajst-30194	116	7	square	square	ADJ
ajst-30194	116	8	-	-	PUNCT
ajst-30194	116	9	root	root	NOUN
ajst-30194	116	10	information	information	NOUN
ajst-30194	116	11	extended	extend	VERB
ajst-30194	116	12	kalman	kalman	NOUN
ajst-30194	116	13	filter	filter	NOUN
ajst-30194	116	14	algorithm	algorithm	PROPN
ajst-30194	116	15	falls	fall	VERB
ajst-30194	116	16	within	within	ADP
ajst-30194	116	17	the	the	DET
ajst-30194	116	18	acceptable	acceptable	ADJ
ajst-30194	116	19	range	range	NOUN
ajst-30194	116	20	.	.	PUNCT
ajst-30194	117	1	the	the	DET
ajst-30194	117	2	use	use	NOUN
ajst-30194	117	3	of	of	ADP
ajst-30194	117	4	the	the	DET
ajst-30194	117	5	square	square	ADJ
ajst-30194	117	6	root	root	NOUN
ajst-30194	117	7	of	of	ADP
ajst-30194	117	8	the	the	DET
ajst-30194	117	9	information	information	NOUN
ajst-30194	117	10	matrix	matrix	NOUN
ajst-30194	117	11	for	for	ADP
ajst-30194	117	12	filter	filter	NOUN
ajst-30194	117	13	propagation	propagation	NOUN
ajst-30194	117	14	enhances	enhance	VERB
ajst-30194	117	15	computational	computational	ADJ
ajst-30194	117	16	efficiency	efficiency	NOUN
ajst-30194	117	17	and	and	CCONJ
ajst-30194	117	18	ensures	ensure	VERB
ajst-30194	117	19	numerical	numerical	ADJ
ajst-30194	117	20	stability	stability	NOUN
ajst-30194	117	21	.	.	PUNCT
ajst-30194	118	1	the	the	DET
ajst-30194	118	2	simulation	simulation	NOUN
ajst-30194	118	3	results	result	VERB
ajst-30194	118	4	validate	validate	VERB
ajst-30194	118	5	that	that	SCONJ
ajst-30194	118	6	the	the	DET
ajst-30194	118	7	tightly	tightly	ADV
ajst-30194	118	8	-	-	PUNCT
ajst-30194	118	9	coupled	couple	VERB
ajst-30194	118	10	navigation	navigation	NOUN
ajst-30194	118	11	system	system	NOUN
ajst-30194	118	12	employing	employ	VERB
ajst-30194	118	13	the	the	DET
ajst-30194	118	14	square	square	ADJ
ajst-30194	118	15	-	-	PUNCT
ajst-30194	118	16	root	root	NOUN
ajst-30194	118	17	information	information	NOUN
ajst-30194	118	18	extended	extend	VERB
ajst-30194	118	19	kalman	kalman	NOUN
ajst-30194	118	20	filter	filter	NOUN
ajst-30194	118	21	algorithm	algorithm	NOUN
ajst-30194	118	22	delivers	deliver	VERB
ajst-30194	118	23	superior	superior	ADJ
ajst-30194	118	24	estimation	estimation	NOUN
ajst-30194	118	25	accuracy	accuracy	NOUN
ajst-30194	118	26	and	and	CCONJ
ajst-30194	118	27	reduced	reduce	VERB
ajst-30194	118	28	mean	mean	ADJ
ajst-30194	118	29	square	square	ADJ
ajst-30194	118	30	error	error	NOUN
ajst-30194	118	31	in	in	ADP
ajst-30194	118	32	nonlinear	nonlinear	ADJ
ajst-30194	118	33	environments	environment	NOUN
ajst-30194	118	34	,	,	PUNCT
ajst-30194	118	35	highlighting	highlight	VERB
ajst-30194	118	36	its	its	PRON
ajst-30194	118	37	significant	significant	ADJ
ajst-30194	118	38	potential	potential	NOUN
ajst-30194	118	39	for	for	ADP
ajst-30194	118	40	nonlinear	nonlinear	ADJ
ajst-30194	118	41	system	system	NOUN
ajst-30194	118	42	applications	application	NOUN
ajst-30194	118	43	.	.	PUNCT
ajst-30194	119	1	consequently	consequently	ADV
ajst-30194	119	2	,	,	PUNCT
ajst-30194	119	3	integrating	integrate	VERB
ajst-30194	119	4	square	square	ADJ
ajst-30194	119	5	-	-	PUNCT
ajst-30194	119	6	root	root	NOUN
ajst-30194	119	7	information	information	NOUN
ajst-30194	119	8	filtering	filter	VERB
ajst-30194	119	9	into	into	ADP
ajst-30194	119	10	tightly	tightly	ADV
ajst-30194	119	11	-	-	PUNCT
ajst-30194	119	12	coupled	couple	VERB
ajst-30194	119	13	navigation	navigation	NOUN
ajst-30194	119	14	systems	system	NOUN
ajst-30194	119	15	maximizes	maximize	VERB
ajst-30194	119	16	its	its	PRON
ajst-30194	119	17	strengths	strength	NOUN
ajst-30194	119	18	in	in	ADP
ajst-30194	119	19	managing	manage	VERB
ajst-30194	119	20	nonlinearities	nonlinearitie	NOUN
ajst-30194	119	21	,	,	PUNCT
ajst-30194	119	22	thereby	thereby	ADV
ajst-30194	119	23	boosting	boost	VERB
ajst-30194	119	24	the	the	DET
ajst-30194	119	25	system	system	NOUN
ajst-30194	119	26	's	's	PART
ajst-30194	119	27	capability	capability	NOUN
ajst-30194	119	28	to	to	PART
ajst-30194	119	29	adapt	adapt	VERB
ajst-30194	119	30	to	to	ADP
ajst-30194	119	31	dynamic	dynamic	ADJ
ajst-30194	119	32	variations	variation	NOUN
ajst-30194	119	33	.	.	PUNCT
ajst-30194	120	1	6	6	X
ajst-30194	120	2	.	.	X
ajst-30194	120	3	conclusion	conclusion	NOUN
ajst-30194	120	4	this	this	DET
ajst-30194	120	5	paper	paper	NOUN
ajst-30194	120	6	thoroughly	thoroughly	ADV
ajst-30194	120	7	investigates	investigate	VERB
ajst-30194	120	8	the	the	DET
ajst-30194	120	9	integrated	integrate	VERB
ajst-30194	120	10	navigation	navigation	NOUN
ajst-30194	120	11	approach	approach	NOUN
ajst-30194	120	12	of	of	ADP
ajst-30194	120	13	the	the	DET
ajst-30194	120	14	sins	sin	NOUN
ajst-30194	120	15	/	/	SYM
ajst-30194	120	16	gnss	gnss	NOUN
ajst-30194	120	17	tightly	tightly	ADV
ajst-30194	120	18	-	-	PUNCT
ajst-30194	120	19	coupled	couple	VERB
ajst-30194	120	20	navigation	navigation	NOUN
ajst-30194	120	21	system	system	NOUN
ajst-30194	120	22	and	and	CCONJ
ajst-30194	120	23	introduces	introduce	VERB
ajst-30194	120	24	the	the	DET
ajst-30194	120	25	square	square	ADJ
ajst-30194	120	26	-	-	PUNCT
ajst-30194	120	27	root	root	NOUN
ajst-30194	120	28	information	information	NOUN
ajst-30194	120	29	kalman	kalman	NOUN
ajst-30194	120	30	filter	filter	NOUN
ajst-30194	120	31	algorithm	algorithm	NOUN
ajst-30194	120	32	to	to	PART
ajst-30194	120	33	enhance	enhance	VERB
ajst-30194	120	34	the	the	DET
ajst-30194	120	35	system	system	NOUN
ajst-30194	120	36	's	's	PART
ajst-30194	120	37	accuracy	accuracy	NOUN
ajst-30194	120	38	and	and	CCONJ
ajst-30194	120	39	reliability	reliability	NOUN
ajst-30194	120	40	.	.	PUNCT
ajst-30194	121	1	in	in	ADP
ajst-30194	121	2	summary	summary	NOUN
ajst-30194	121	3	,	,	PUNCT
ajst-30194	121	4	the	the	DET
ajst-30194	121	5	proposed	propose	VERB
ajst-30194	121	6	sins	sin	NOUN
ajst-30194	121	7	/	/	SYM
ajst-30194	121	8	gnss	gnss	NOUN
ajst-30194	121	9	tightlycoupled	tightlycouple	VERB
ajst-30194	121	10	navigation	navigation	NOUN
ajst-30194	121	11	system	system	NOUN
ajst-30194	121	12	based	base	VERB
ajst-30194	121	13	on	on	ADP
ajst-30194	121	14	the	the	DET
ajst-30194	121	15	square	square	ADJ
ajst-30194	121	16	-	-	PUNCT
ajst-30194	121	17	root	root	NOUN
ajst-30194	121	18	information	information	NOUN
ajst-30194	121	19	kalman	kalman	NOUN
ajst-30194	121	20	filter	filter	NOUN
ajst-30194	121	21	algorithm	algorithm	PROPN
ajst-30194	121	22	demonstrates	demonstrate	VERB
ajst-30194	121	23	significant	significant	ADJ
ajst-30194	121	24	advantages	advantage	NOUN
ajst-30194	121	25	in	in	ADP
ajst-30194	121	26	improving	improve	VERB
ajst-30194	121	27	navigation	navigation	NOUN
ajst-30194	121	28	accuracy	accuracy	NOUN
ajst-30194	121	29	,	,	PUNCT
ajst-30194	121	30	suppressing	suppress	VERB
ajst-30194	121	31	error	error	NOUN
ajst-30194	121	32	divergence	divergence	NOUN
ajst-30194	121	33	,	,	PUNCT
ajst-30194	121	34	and	and	CCONJ
ajst-30194	121	35	enhancing	enhance	VERB
ajst-30194	121	36	anti	anti	ADJ
ajst-30194	121	37	-	-	ADJ
ajst-30194	121	38	interference	interference	ADJ
ajst-30194	121	39	capabilities	capability	NOUN
ajst-30194	121	40	,	,	PUNCT
ajst-30194	121	41	highlighting	highlight	VERB
ajst-30194	121	42	its	its	PRON
ajst-30194	121	43	important	important	ADJ
ajst-30194	121	44	theoretical	theoretical	ADJ
ajst-30194	121	45	and	and	CCONJ
ajst-30194	121	46	practical	practical	ADJ
ajst-30194	121	47	application	application	NOUN
ajst-30194	121	48	value	value	NOUN
ajst-30194	121	49	.	.	PUNCT
ajst-30194	122	1	references	reference	NOUN
ajst-30194	122	2	[	[	X
ajst-30194	122	3	1	1	NUM
ajst-30194	122	4	]	]	SYM
ajst-30194	122	5	yang	yang	PROPN
ajst-30194	122	6	,	,	PUNCT
ajst-30194	122	7	s.	s.	PROPN
ajst-30194	122	8	,	,	PUNCT
ajst-30194	122	9	han	han	PROPN
ajst-30194	122	10	,	,	PUNCT
ajst-30194	122	11	y.	y.	PROPN
ajst-30194	122	12	k.	k.	PROPN
ajst-30194	122	13	,	,	PUNCT
ajst-30194	122	14	&	&	CCONJ
ajst-30194	122	15	jia	jia	PROPN
ajst-30194	122	16	,	,	PUNCT
ajst-30194	122	17	s.	s.	PROPN
ajst-30194	122	18	(	(	PUNCT
ajst-30194	122	19	2025	2025	NUM
ajst-30194	122	20	)	)	PUNCT
ajst-30194	122	21	.	.	PUNCT
ajst-30194	123	1	application	application	NOUN
ajst-30194	123	2	of	of	ADP
ajst-30194	123	3	gnss	gnss	PROPN
ajst-30194	123	4	/	/	SYM
ajst-30194	123	5	ins	in	NOUN
ajst-30194	123	6	integrated	integrate	VERB
ajst-30194	123	7	navigation	navigation	NOUN
ajst-30194	123	8	in	in	ADP
ajst-30194	123	9	flight	flight	NOUN
ajst-30194	123	10	approach	approach	NOUN
ajst-30194	123	11	and	and	CCONJ
ajst-30194	123	12	landing	landing	NOUN
ajst-30194	123	13	.	.	PUNCT
ajst-30194	124	1	aeronautical	aeronautical	NOUN
ajst-30194	124	2	computing	computing	NOUN
ajst-30194	124	3	technique	technique	NOUN
ajst-30194	124	4	,	,	PUNCT
ajst-30194	124	5	55(1	55(1	NOUN
ajst-30194	124	6	)	)	PUNCT
ajst-30194	124	7	,	,	PUNCT
ajst-30194	124	8	114	114	NUM
ajst-30194	124	9	-	-	SYM
ajst-30194	124	10	118	118	NUM
ajst-30194	124	11	.	.	PUNCT
ajst-30194	125	1	[	[	X
ajst-30194	125	2	2	2	NUM
ajst-30194	125	3	]	]	X
ajst-30194	125	4	zhou	zhou	X
ajst-30194	125	5	,	,	PUNCT
ajst-30194	125	6	y.	y.	PROPN
ajst-30194	125	7	,	,	PUNCT
ajst-30194	125	8	wang	wang	PROPN
ajst-30194	125	9	,	,	PUNCT
ajst-30194	125	10	h.	h.	PROPN
ajst-30194	125	11	,	,	PUNCT
ajst-30194	125	12	&	&	CCONJ
ajst-30194	125	13	wang	wang	PROPN
ajst-30194	125	14	,	,	PUNCT
ajst-30194	125	15	j.	j.	PROPN
ajst-30194	125	16	(	(	PUNCT
ajst-30194	125	17	2025	2025	NUM
ajst-30194	125	18	)	)	PUNCT
ajst-30194	125	19	.	.	PUNCT
ajst-30194	126	1	gnss	gnss	PROPN
ajst-30194	126	2	/	/	SYM
ajst-30194	126	3	ins	ins	PROPN
ajst-30194	126	4	integrated	integrate	VERB
ajst-30194	126	5	positioning	positioning	NOUN
ajst-30194	126	6	method	method	NOUN
ajst-30194	126	7	in	in	ADP
ajst-30194	126	8	urban	urban	ADJ
ajst-30194	126	9	occlusion	occlusion	NOUN
ajst-30194	126	10	and	and	CCONJ
ajst-30194	126	11	multipath	multipath	NOUN
ajst-30194	126	12	environments	environment	NOUN
ajst-30194	126	13	.	.	PUNCT
ajst-30194	127	1	journal	journal	NOUN
ajst-30194	127	2	of	of	ADP
ajst-30194	127	3	navigation	navigation	NOUN
ajst-30194	127	4	and	and	CCONJ
ajst-30194	127	5	positioning	positioning	NOUN
ajst-30194	127	6	,	,	PUNCT
ajst-30194	127	7	13(1	13(1	NUM
ajst-30194	127	8	)	)	PUNCT
ajst-30194	127	9	,	,	PUNCT
ajst-30194	127	10	113	113	NUM
ajst-30194	127	11	-	-	SYM
ajst-30194	127	12	118	118	NUM
ajst-30194	127	13	.	.	PUNCT
ajst-30194	128	1	[	[	X
ajst-30194	128	2	3	3	NUM
ajst-30194	128	3	]	]	X
ajst-30194	128	4	sun	sun	NOUN
ajst-30194	128	5	,	,	PUNCT
ajst-30194	128	6	s.	s.	PROPN
ajst-30194	128	7	g.	g.	PROPN
ajst-30194	128	8	,	,	PUNCT
ajst-30194	128	9	xu	xu	PROPN
ajst-30194	128	10	,	,	PUNCT
ajst-30194	128	11	y.	y.	PROPN
ajst-30194	128	12	z.	z.	PROPN
ajst-30194	128	13	,	,	PUNCT
ajst-30194	128	14	&	&	CCONJ
ajst-30194	128	15	wang	wang	PROPN
ajst-30194	128	16	,	,	PUNCT
ajst-30194	128	17	h.	h.	PROPN
ajst-30194	128	18	l.	l.	PROPN
ajst-30194	128	19	(	(	PUNCT
ajst-30194	128	20	2025	2025	NUM
ajst-30194	128	21	)	)	PUNCT
ajst-30194	128	22	.	.	PUNCT
ajst-30194	129	1	research	research	NOUN
ajst-30194	129	2	on	on	ADP
ajst-30194	129	3	ins	in	NOUN
ajst-30194	129	4	/	/	SYM
ajst-30194	129	5	gnss	gnss	NOUN
ajst-30194	129	6	tightly	tightly	ADV
ajst-30194	129	7	coupled	couple	VERB
ajst-30194	129	8	positioning	positioning	NOUN
ajst-30194	129	9	algorithm	algorithm	NOUN
ajst-30194	129	10	for	for	ADP
ajst-30194	129	11	uavs	uavs	NOUN
ajst-30194	129	12	in	in	ADP
ajst-30194	129	13	gnss	gnss	NOUN
ajst-30194	129	14	-	-	PUNCT
ajst-30194	129	15	denied	deny	VERB
ajst-30194	129	16	environments	environment	NOUN
ajst-30194	129	17	.	.	PUNCT
ajst-30194	130	1	internet	internet	NOUN
ajst-30194	130	2	of	of	ADP
ajst-30194	130	3	things	thing	NOUN
ajst-30194	130	4	technologies	technology	NOUN
ajst-30194	130	5	,	,	PUNCT
ajst-30194	130	6	15(1	15(1	NUM
ajst-30194	130	7	)	)	PUNCT
ajst-30194	130	8	,	,	PUNCT
ajst-30194	130	9	44	44	NUM
ajst-30194	130	10	-	-	SYM
ajst-30194	130	11	48	48	NUM
ajst-30194	130	12	.	.	PUNCT
ajst-30194	131	1	[	[	X
ajst-30194	131	2	4	4	NUM
ajst-30194	131	3	]	]	X
ajst-30194	131	4	sun	sun	NOUN
ajst-30194	131	5	,	,	PUNCT
ajst-30194	131	6	j.	j.	PROPN
ajst-30194	131	7	r.	r.	PROPN
ajst-30194	131	8	,	,	PUNCT
ajst-30194	131	9	meng	meng	PROPN
ajst-30194	131	10	,	,	PUNCT
ajst-30194	131	11	f.	f.	PROPN
ajst-30194	131	12	c.	c.	PROPN
ajst-30194	131	13	,	,	PUNCT
ajst-30194	131	14	&	&	CCONJ
ajst-30194	131	15	wang	wang	PROPN
ajst-30194	131	16	,	,	PUNCT
ajst-30194	131	17	d.	d.	PROPN
ajst-30194	131	18	y.	y.	PROPN
ajst-30194	131	19	(	(	PUNCT
ajst-30194	131	20	2023	2023	NUM
ajst-30194	131	21	)	)	PUNCT
ajst-30194	131	22	.	.	PUNCT
ajst-30194	131	23	code	code	NOUN
ajst-30194	131	24	phase	phase	NOUN
ajst-30194	131	25	fault	fault	NOUN
ajst-30194	131	26	diagnosis	diagnosis	NOUN
ajst-30194	131	27	and	and	CCONJ
ajst-30194	131	28	reconstruction	reconstruction	NOUN
ajst-30194	131	29	algorithm	algorithm	NOUN
ajst-30194	131	30	for	for	ADP
ajst-30194	131	31	sins	sin	NOUN
ajst-30194	131	32	/	/	SYM
ajst-30194	131	33	gnss	gns	NOUN
ajst-30194	131	34	deeply	deeply	ADV
ajst-30194	131	35	integrated	integrate	VERB
ajst-30194	131	36	navigation	navigation	NOUN
ajst-30194	131	37	.	.	PUNCT
ajst-30194	132	1	journal	journal	PROPN
ajst-30194	132	2	of	of	ADP
ajst-30194	132	3	chinese	chinese	ADJ
ajst-30194	132	4	inertial	inertial	ADJ
ajst-30194	132	5	technology	technology	NOUN
ajst-30194	132	6	,	,	PUNCT
ajst-30194	132	7	31(6	31(6	NUM
ajst-30194	132	8	)	)	PUNCT
ajst-30194	132	9	,	,	PUNCT
ajst-30194	132	10	563	563	NUM
ajst-30194	132	11	-	-	SYM
ajst-30194	132	12	568	568	NUM
ajst-30194	132	13	.	.	PUNCT
ajst-30194	133	1	[	[	X
ajst-30194	133	2	5	5	NUM
ajst-30194	133	3	]	]	PUNCT
ajst-30194	133	4	cao	cao	PROPN
ajst-30194	133	5	,	,	PUNCT
ajst-30194	133	6	c.	c.	PROPN
ajst-30194	133	7	y.	y.	PROPN
ajst-30194	133	8	(	(	PUNCT
ajst-30194	133	9	2023	2023	NUM
ajst-30194	133	10	)	)	PUNCT
ajst-30194	133	11	.	.	PUNCT
ajst-30194	134	1	research	research	NOUN
ajst-30194	134	2	on	on	ADP
ajst-30194	134	3	gps	gps	PROPN
ajst-30194	134	4	/	/	SYM
ajst-30194	134	5	ins	in	NOUN
ajst-30194	134	6	integrated	integrate	VERB
ajst-30194	134	7	navigation	navigation	NOUN
ajst-30194	134	8	information	information	NOUN
ajst-30194	134	9	fusion	fusion	NOUN
ajst-30194	134	10	based	base	VERB
ajst-30194	134	11	on	on	ADP
ajst-30194	134	12	broad	broad	ADJ
ajst-30194	134	13	learning	learning	NOUN
ajst-30194	134	14	method	method	NOUN
ajst-30194	134	15	(	(	PUNCT
ajst-30194	134	16	doctoral	doctoral	ADJ
ajst-30194	134	17	dissertation	dissertation	NOUN
ajst-30194	134	18	,	,	PUNCT
ajst-30194	134	19	dalian	dalian	PROPN
ajst-30194	134	20	maritime	maritime	ADJ
ajst-30194	134	21	university	university	NOUN
ajst-30194	134	22	)	)	PUNCT
ajst-30194	134	23	.	.	PUNCT
ajst-30194	135	1	[	[	X
ajst-30194	135	2	6	6	NUM
ajst-30194	135	3	]	]	X
ajst-30194	135	4	jeong	jeong	PROPN
ajst-30194	135	5	,	,	PUNCT
ajst-30194	135	6	k.	k.	PROPN
ajst-30194	135	7	y.	y.	PROPN
ajst-30194	135	8	,	,	PUNCT
ajst-30194	135	9	park	park	PROPN
ajst-30194	135	10	,	,	PUNCT
ajst-30194	135	11	d.	d.	PROPN
ajst-30194	135	12	y.	y.	PROPN
ajst-30194	135	13	,	,	PUNCT
ajst-30194	135	14	kim	kim	PROPN
ajst-30194	135	15	,	,	PUNCT
ajst-30194	135	16	s.	s.	PROPN
ajst-30194	135	17	m.	m.	PROPN
ajst-30194	135	18	,	,	PUNCT
ajst-30194	135	19	et	et	PROPN
ajst-30194	135	20	al	al	PROPN
ajst-30194	135	21	.	.	PROPN
ajst-30194	135	22	(	(	PUNCT
ajst-30194	135	23	2021	2021	NUM
ajst-30194	135	24	)	)	PUNCT
ajst-30194	135	25	.	.	PUNCT
ajst-30194	136	1	design	design	NOUN
ajst-30194	136	2	of	of	ADP
ajst-30194	136	3	a	a	DET
ajst-30194	136	4	compact	compact	ADJ
ajst-30194	136	5	gps	gps	NOUN
ajst-30194	136	6	/	/	SYM
ajst-30194	136	7	mems	mem	NOUN
ajst-30194	136	8	imu	imu	NOUN
ajst-30194	136	9	integrated	integrate	VERB
ajst-30194	136	10	navigation	navigation	NOUN
ajst-30194	136	11	receiver	receiver	NOUN
ajst-30194	136	12	module	module	NOUN
ajst-30194	136	13	for	for	ADP
ajst-30194	136	14	high	high	ADJ
ajst-30194	136	15	dynamic	dynamic	ADJ
ajst-30194	136	16	environment	environment	NOUN
ajst-30194	136	17	.	.	PUNCT
ajst-30194	137	1	the	the	DET
ajst-30194	137	2	korean	korean	PROPN
ajst-30194	137	3	navigation	navigation	PROPN
ajst-30194	137	4	institute	institute	PROPN
ajst-30194	137	5	,	,	PUNCT
ajst-30194	137	6	25(1	25(1	NUM
ajst-30194	137	7	)	)	PUNCT
ajst-30194	137	8	.	.	PUNCT
ajst-30194	138	1	[	[	X
ajst-30194	138	2	7	7	X
ajst-30194	138	3	]	]	X
ajst-30194	138	4	chang	chang	PROPN
ajst-30194	138	5	,	,	PUNCT
ajst-30194	138	6	g.	g.	PROPN
ajst-30194	138	7	,	,	PUNCT
ajst-30194	138	8	xu	xu	PROPN
ajst-30194	138	9	,	,	PUNCT
ajst-30194	138	10	j.	j.	PROPN
ajst-30194	138	11	,	,	PUNCT
ajst-30194	138	12	li	li	PROPN
ajst-30194	138	13	,	,	PUNCT
ajst-30194	138	14	a.	a.	PROPN
ajst-30194	138	15	,	,	PUNCT
ajst-30194	138	16	et	et	PROPN
ajst-30194	138	17	al	al	PROPN
ajst-30194	138	18	.	.	PUNCT
ajst-30194	138	19	(	(	PUNCT
ajst-30194	138	20	2010	2010	NUM
ajst-30194	138	21	)	)	PUNCT
ajst-30194	138	22	.	.	PUNCT
ajst-30194	139	1	error	error	NOUN
ajst-30194	139	2	analysis	analysis	NOUN
ajst-30194	139	3	and	and	CCONJ
ajst-30194	139	4	simulation	simulation	NOUN
ajst-30194	139	5	of	of	ADP
ajst-30194	139	6	the	the	DET
ajst-30194	139	7	dual	dual	ADJ
ajst-30194	139	8	-	-	PUNCT
ajst-30194	139	9	axis	axis	NOUN
ajst-30194	139	10	rotation	rotation	NOUN
ajst-30194	139	11	-	-	PUNCT
ajst-30194	139	12	dwell	dwell	NOUN
ajst-30194	139	13	autocompensating	autocompensate	VERB
ajst-30194	139	14	strapdown	strapdown	ADJ
ajst-30194	139	15	inertial	inertial	ADJ
ajst-30194	139	16	navigation	navigation	NOUN
ajst-30194	139	17	system	system	NOUN
ajst-30194	139	18	.	.	PUNCT
ajst-30194	140	1	ieee	ieee	NOUN
ajst-30194	140	2	.	.	PUNCT
ajst-30194	141	1	[	[	X
ajst-30194	141	2	8	8	NUM
ajst-30194	141	3	]	]	X
ajst-30194	141	4	wang	wang	PROPN
ajst-30194	141	5	,	,	PUNCT
ajst-30194	141	6	n.	n.	PROPN
ajst-30194	141	7	,	,	PUNCT
ajst-30194	141	8	&	&	CCONJ
ajst-30194	141	9	liu	liu	PROPN
ajst-30194	141	10	,	,	PUNCT
ajst-30194	141	11	f.	f.	PROPN
ajst-30194	141	12	m.	m.	PROPN
ajst-30194	141	13	(	(	PUNCT
ajst-30194	141	14	2024	2024	NUM
ajst-30194	141	15	)	)	PUNCT
ajst-30194	141	16	.	.	PUNCT
ajst-30194	142	1	application	application	NOUN
ajst-30194	142	2	of	of	ADP
ajst-30194	142	3	adaptive	adaptive	ADJ
ajst-30194	142	4	fading	fading	NOUN
ajst-30194	142	5	memory	memory	NOUN
ajst-30194	142	6	square	square	PROPN
ajst-30194	142	7	root	root	NOUN
ajst-30194	142	8	mixed	mixed	ADJ
ajst-30194	142	9	-	-	PUNCT
ajst-30194	142	10	order	order	NOUN
ajst-30194	142	11	cubature	cubature	ADJ
ajst-30194	142	12	particle	particle	NOUN
ajst-30194	142	13	filter	filter	NOUN
ajst-30194	142	14	based	base	VERB
ajst-30194	142	15	on	on	ADP
ajst-30194	142	16	constrained	constrained	ADJ
ajst-30194	142	17	optimization	optimization	NOUN
ajst-30194	142	18	in	in	ADP
ajst-30194	142	19	inertial	inertial	NOUN
ajst-30194	142	20	/	/	SYM
ajst-30194	142	21	satellite	satellite	NOUN
ajst-30194	142	22	integrated	integrate	VERB
ajst-30194	142	23	navigation	navigation	NOUN
ajst-30194	142	24	.	.	PUNCT
ajst-30194	143	1	journal	journal	PROPN
ajst-30194	143	2	of	of	ADP
ajst-30194	143	3	jilin	jilin	PROPN
ajst-30194	143	4	university	university	PROPN
ajst-30194	143	5	(	(	PUNCT
ajst-30194	143	6	engineering	engineering	NOUN
ajst-30194	143	7	and	and	CCONJ
ajst-30194	143	8	technology	technology	NOUN
ajst-30194	143	9	edition	edition	NOUN
ajst-30194	143	10	)	)	PUNCT
ajst-30194	143	11	,	,	PUNCT
ajst-30194	143	12	54(12	54(12	NUM
ajst-30194	143	13	)	)	PUNCT
ajst-30194	143	14	,	,	PUNCT
ajst-30194	143	15	3660	3660	NUM
ajst-30194	143	16	-	-	SYM
ajst-30194	143	17	3672	3672	NUM
ajst-30194	143	18	.	.	PUNCT
ajst-30194	144	1	[	[	X
ajst-30194	144	2	9	9	NUM
ajst-30194	144	3	]	]	SYM
ajst-30194	144	4	tu	tu	PROPN
ajst-30194	144	5	,	,	PUNCT
ajst-30194	144	6	k.	k.	PROPN
ajst-30194	144	7	p.	p.	PROPN
ajst-30194	144	8	,	,	PUNCT
ajst-30194	144	9	&	&	CCONJ
ajst-30194	144	10	feng	feng	PROPN
ajst-30194	144	11	,	,	PUNCT
ajst-30194	144	12	s.	s.	PROPN
ajst-30194	144	13	j.	j.	PROPN
ajst-30194	144	14	(	(	PUNCT
ajst-30194	144	15	2023	2023	NUM
ajst-30194	144	16	)	)	PUNCT
ajst-30194	144	17	.	.	PUNCT
ajst-30194	145	1	a	a	DET
ajst-30194	145	2	tightly	tightly	ADV
ajst-30194	145	3	coupled	couple	VERB
ajst-30194	145	4	bds	bds	NOUN
ajst-30194	145	5	/	/	SYM
ajst-30194	145	6	ins	in	NOUN
ajst-30194	145	7	filtering	filtering	NOUN
ajst-30194	145	8	method	method	NOUN
ajst-30194	145	9	based	base	VERB
ajst-30194	145	10	on	on	ADP
ajst-30194	145	11	sequential	sequential	ADJ
ajst-30194	145	12	processing	processing	NOUN
ajst-30194	145	13	.	.	PUNCT
ajst-30194	146	1	optics	optic	NOUN
ajst-30194	146	2	&	&	CCONJ
ajst-30194	146	3	optoelectronic	optoelectronic	ADJ
ajst-30194	146	4	technology	technology	NOUN
ajst-30194	146	5	,	,	PUNCT
ajst-30194	146	6	21(4	21(4	NUM
ajst-30194	146	7	)	)	PUNCT
ajst-30194	146	8	,	,	PUNCT
ajst-30194	146	9	130	130	NUM
ajst-30194	146	10	-	-	SYM
ajst-30194	146	11	137	137	NUM
ajst-30194	146	12	.	.	PUNCT
ajst-30194	147	1	[	[	X
ajst-30194	147	2	10	10	NUM
ajst-30194	147	3	]	]	X
ajst-30194	147	4	christophersen	christophersen	NOUN
ajst-30194	147	5	,	,	PUNCT
ajst-30194	147	6	h.	h.	PROPN
ajst-30194	147	7	b.	b.	PROPN
ajst-30194	147	8	,	,	PUNCT
ajst-30194	147	9	pickell	pickell	PROPN
ajst-30194	147	10	,	,	PUNCT
ajst-30194	147	11	r.	r.	PROPN
ajst-30194	147	12	w.	w.	PROPN
ajst-30194	147	13	,	,	PUNCT
ajst-30194	147	14	neidhoefer	neidhoefer	VERB
ajst-30194	147	15	,	,	PUNCT
ajst-30194	147	16	j.	j.	PROPN
ajst-30194	147	17	c.	c.	PROPN
ajst-30194	147	18	,	,	PUNCT
ajst-30194	147	19	et	et	PROPN
ajst-30194	147	20	al	al	PROPN
ajst-30194	147	21	.	.	PUNCT
ajst-30194	148	1	(	(	PUNCT
ajst-30194	148	2	2006	2006	NUM
ajst-30194	148	3	)	)	PUNCT
ajst-30194	148	4	.	.	PUNCT
ajst-30194	149	1	a	a	DET
ajst-30194	149	2	compact	compact	ADJ
ajst-30194	149	3	guidance	guidance	NOUN
ajst-30194	149	4	,	,	PUNCT
ajst-30194	149	5	navigation	navigation	NOUN
ajst-30194	149	6	,	,	PUNCT
ajst-30194	149	7	and	and	CCONJ
ajst-30194	149	8	control	control	NOUN
ajst-30194	149	9	system	system	NOUN
ajst-30194	149	10	for	for	ADP
ajst-30194	149	11	unmanned	unmanned	ADJ
ajst-30194	149	12	aerial	aerial	ADJ
ajst-30194	149	13	vehicles	vehicle	NOUN
ajst-30194	149	14	.	.	PUNCT
ajst-30194	150	1	journal	journal	NOUN
ajst-30194	150	2	of	of	ADP
ajst-30194	150	3	aerospace	aerospace	PROPN
ajst-30194	150	4	computing	computing	NOUN
ajst-30194	150	5	,	,	PUNCT
ajst-30194	150	6	information	information	NOUN
ajst-30194	150	7	,	,	PUNCT
ajst-30194	150	8	and	and	CCONJ
ajst-30194	150	9	communication	communication	NOUN
ajst-30194	150	10	,	,	PUNCT
ajst-30194	150	11	3(5	3(5	NUM
ajst-30194	150	12	)	)	PUNCT
ajst-30194	150	13	.	.	PUNCT
ajst-30194	151	1	[	[	X
ajst-30194	151	2	11	11	NUM
ajst-30194	151	3	]	]	X
ajst-30194	151	4	wang	wang	PROPN
ajst-30194	151	5	,	,	PUNCT
ajst-30194	151	6	j.	j.	PROPN
ajst-30194	151	7	s.	s.	PROPN
ajst-30194	151	8	,	,	PUNCT
ajst-30194	151	9	&	&	CCONJ
ajst-30194	151	10	wang	wang	PROPN
ajst-30194	151	11	,	,	PUNCT
ajst-30194	151	12	x.	x.	PROPN
ajst-30194	151	13	l.	l.	PROPN
ajst-30194	151	14	(	(	PUNCT
ajst-30194	151	15	2013	2013	NUM
ajst-30194	151	16	)	)	PUNCT
ajst-30194	151	17	.	.	PUNCT
ajst-30194	152	1	performance	performance	NOUN
ajst-30194	152	2	simulation	simulation	NOUN
ajst-30194	152	3	analysis	analysis	NOUN
ajst-30194	152	4	of	of	ADP
ajst-30194	152	5	sins	sin	NOUN
ajst-30194	152	6	/	/	SYM
ajst-30194	152	7	gps	gps	PROPN
ajst-30194	152	8	tightly	tightly	ADV
ajst-30194	152	9	coupled	couple	VERB
ajst-30194	152	10	and	and	CCONJ
ajst-30194	152	11	loosely	loosely	ADV
ajst-30194	152	12	coupled	couple	VERB
ajst-30194	152	13	navigation	navigation	NOUN
ajst-30194	152	14	systems	system	NOUN
ajst-30194	152	15	.	.	PUNCT
ajst-30194	153	1	aero	aero	PROPN
ajst-30194	153	2	weaponry	weaponry	PROPN
ajst-30194	153	3	,	,	PUNCT
ajst-30194	153	4	(	(	PUNCT
ajst-30194	153	5	2	2	NUM
ajst-30194	153	6	)	)	PUNCT
ajst-30194	153	7	,	,	PUNCT
ajst-30194	153	8	14	14	NUM
ajst-30194	153	9	-	-	SYM
ajst-30194	153	10	19	19	NUM
ajst-30194	153	11	.	.	PUNCT
ajst-30194	154	1	[	[	X
ajst-30194	154	2	12	12	NUM
ajst-30194	154	3	]	]	X
ajst-30194	154	4	yildiz	yildiz	PROPN
ajst-30194	154	5	,	,	PUNCT
ajst-30194	154	6	r.	r.	PROPN
ajst-30194	154	7	,	,	PUNCT
ajst-30194	154	8	barut	barut	NOUN
ajst-30194	154	9	,	,	PUNCT
ajst-30194	154	10	m.	m.	NOUN
ajst-30194	154	11	,	,	PUNCT
ajst-30194	154	12	&	&	CCONJ
ajst-30194	154	13	demir	demir	PROPN
ajst-30194	154	14	,	,	PUNCT
ajst-30194	154	15	r.	r.	PROPN
ajst-30194	154	16	(	(	PUNCT
ajst-30194	154	17	2020	2020	NUM
ajst-30194	154	18	)	)	PUNCT
ajst-30194	154	19	.	.	PUNCT
ajst-30194	155	1	extended	extend	VERB
ajst-30194	155	2	kalman	kalman	PROPN
ajst-30194	155	3	filter	filter	NOUN
ajst-30194	155	4	based	base	VERB
ajst-30194	155	5	estimations	estimation	NOUN
ajst-30194	155	6	for	for	ADP
ajst-30194	155	7	improving	improve	VERB
ajst-30194	155	8	speed	speed	NOUN
ajst-30194	155	9	-	-	PUNCT
ajst-30194	155	10	sensored	sensore	VERB
ajst-30194	155	11	control	control	NOUN
ajst-30194	155	12	performance	performance	NOUN
ajst-30194	155	13	of	of	ADP
ajst-30194	155	14	induction	induction	NOUN
ajst-30194	155	15	motors	motor	NOUN
ajst-30194	155	16	.	.	PUNCT
ajst-30194	156	1	iet	iet	PROPN
ajst-30194	156	2	electric	electric	PROPN
ajst-30194	156	3	power	power	PROPN
ajst-30194	156	4	applications	application	NOUN
ajst-30194	156	5	,	,	PUNCT
ajst-30194	156	6	14(12	14(12	NUM
ajst-30194	156	7	)	)	PUNCT
ajst-30194	156	8	,	,	PUNCT
ajst-30194	156	9	2471	2471	NUM
ajst-30194	156	10	-	-	SYM
ajst-30194	156	11	2479	2479	NUM
ajst-30194	156	12	.	.	PUNCT
ajst-30194	157	1	[	[	X
ajst-30194	157	2	13	13	NUM
ajst-30194	157	3	]	]	X
ajst-30194	157	4	wang	wang	PROPN
ajst-30194	157	5	,	,	PUNCT
ajst-30194	157	6	t.	t.	PROPN
ajst-30194	157	7	,	,	PUNCT
ajst-30194	157	8	chen	chen	PROPN
ajst-30194	157	9	,	,	PUNCT
ajst-30194	157	10	q.	q.	PROPN
ajst-30194	157	11	,	,	PUNCT
ajst-30194	157	12	&	&	CCONJ
ajst-30194	157	13	gao	gao	PROPN
ajst-30194	157	14	,	,	PUNCT
ajst-30194	157	15	p.	p.	NOUN
ajst-30194	157	16	(	(	PUNCT
ajst-30194	157	17	2024	2024	NUM
ajst-30194	157	18	)	)	PUNCT
ajst-30194	157	19	.	.	PUNCT
ajst-30194	158	1	information	information	NOUN
ajst-30194	158	2	filtering	filter	VERB
ajst-30194	158	3	algorithm	algorithm	NOUN
ajst-30194	158	4	for	for	ADP
ajst-30194	158	5	maneuvering	maneuver	VERB
ajst-30194	158	6	target	target	NOUN
ajst-30194	158	7	tracking	tracking	NOUN
ajst-30194	158	8	based	base	VERB
ajst-30194	158	9	on	on	ADP
ajst-30194	158	10	unbiased	unbiased	ADJ
ajst-30194	158	11	measurement	measurement	NOUN
ajst-30194	158	12	conversion	conversion	NOUN
ajst-30194	158	13	.	.	PUNCT
ajst-30194	159	1	journal	journal	NOUN
ajst-30194	159	2	of	of	ADP
ajst-30194	159	3	ordnance	ordnance	NOUN
ajst-30194	159	4	equipment	equipment	NOUN
ajst-30194	159	5	engineering	engineering	NOUN
ajst-30194	159	6	,	,	PUNCT
ajst-30194	159	7	45(11	45(11	NOUN
ajst-30194	159	8	)	)	PUNCT
ajst-30194	159	9	,	,	PUNCT
ajst-30194	159	10	19	19	NUM
ajst-30194	159	11	-	-	SYM
ajst-30194	159	12	24	24	NUM
ajst-30194	159	13	.	.	PUNCT
ajst-30194	160	1	[	[	X
ajst-30194	160	2	14	14	NUM
ajst-30194	160	3	]	]	X
ajst-30194	160	4	gao	gao	PROPN
ajst-30194	160	5	,	,	PUNCT
ajst-30194	160	6	y.	y.	PROPN
ajst-30194	160	7	d.	d.	PROPN
ajst-30194	160	8	,	,	PUNCT
ajst-30194	160	9	zheng	zheng	PROPN
ajst-30194	160	10	,	,	PUNCT
ajst-30194	160	11	n.	n.	PROPN
ajst-30194	160	12	s.	s.	PROPN
ajst-30194	160	13	,	,	PUNCT
ajst-30194	160	14	zhang	zhang	PROPN
ajst-30194	160	15	,	,	PUNCT
ajst-30194	160	16	y.	y.	PROPN
ajst-30194	160	17	s.	s.	PROPN
ajst-30194	160	18	,	,	PUNCT
ajst-30194	160	19	et	et	PROPN
ajst-30194	160	20	al	al	PROPN
ajst-30194	160	21	.	.	PUNCT
ajst-30194	160	22	(	(	PUNCT
ajst-30194	160	23	2024	2024	NUM
ajst-30194	160	24	)	)	PUNCT
ajst-30194	160	25	.	.	PUNCT
ajst-30194	161	1	phase	phase	NOUN
ajst-30194	161	2	unwrapping	unwrapping	NOUN
ajst-30194	161	3	method	method	NOUN
ajst-30194	161	4	based	base	VERB
ajst-30194	161	5	on	on	ADP
ajst-30194	161	6	phase	phase	NOUN
ajst-30194	161	7	quality	quality	NOUN
ajst-30194	161	8	fusion	fusion	NOUN
ajst-30194	161	9	estimation	estimation	NOUN
ajst-30194	161	10	and	and	CCONJ
ajst-30194	161	11	information	information	NOUN
ajst-30194	161	12	filtering	filtering	NOUN
ajst-30194	161	13	.	.	PUNCT
ajst-30194	162	1	acta	acta	PROPN
ajst-30194	162	2	geodaetica	geodaetica	PROPN
ajst-30194	162	3	et	et	PROPN
ajst-30194	162	4	cartographica	cartographica	PROPN
ajst-30194	162	5	sinica	sinica	PROPN
ajst-30194	162	6	,	,	PUNCT
ajst-30194	162	7	53(10	53(10	NUM
ajst-30194	162	8	)	)	PUNCT
ajst-30194	162	9	,	,	PUNCT
ajst-30194	162	10	1910	1910	NUM
ajst-30194	162	11	-	-	SYM
ajst-30194	162	12	1919	1919	NUM
ajst-30194	162	13	.	.	PUNCT