id	sid	tid	token	lemma	pos
ajst-30221	1	1	academic	academic	ADJ
ajst-30221	1	2	journal	journal	NOUN
ajst-30221	1	3	of	of	ADP
ajst-30221	1	4	science	science	NOUN
ajst-30221	1	5	and	and	CCONJ
ajst-30221	1	6	technology	technology	NOUN
ajst-30221	1	7	issn	issn	NOUN
ajst-30221	1	8	:	:	PUNCT
ajst-30221	1	9	2771	2771	NUM
ajst-30221	1	10	-	-	SYM
ajst-30221	1	11	3032	3032	NUM
ajst-30221	1	12	|	|	NOUN
ajst-30221	1	13	vol	vol	NOUN
ajst-30221	1	14	.	.	PUNCT
ajst-30221	2	1	14	14	NUM
ajst-30221	2	2	,	,	PUNCT
ajst-30221	2	3	no	no	INTJ
ajst-30221	2	4	.	.	NOUN
ajst-30221	2	5	3	3	NUM
ajst-30221	2	6	,	,	PUNCT
ajst-30221	2	7	2025	2025	NUM
ajst-30221	2	8	279	279	NUM
ajst-30221	2	9	optimization	optimization	NOUN
ajst-30221	2	10	of	of	ADP
ajst-30221	2	11	sins	sin	NOUN
ajst-30221	2	12	/	/	SYM
ajst-30221	2	13	gnss	gnss	NOUN
ajst-30221	2	14	integrated	integrate	VERB
ajst-30221	2	15	navigation	navigation	NOUN
ajst-30221	2	16	model	model	NOUN
ajst-30221	2	17	based	base	VERB
ajst-30221	2	18	on	on	ADP
ajst-30221	2	19	prior	prior	ADJ
ajst-30221	2	20	information	information	PROPN
ajst-30221	2	21	yu	yu	PROPN
ajst-30221	2	22	sun1	sun1	PROPN
ajst-30221	2	23	,	,	PUNCT
ajst-30221	2	24	a	a	DET
ajst-30221	2	25	1school	1school	NUM
ajst-30221	2	26	of	of	ADP
ajst-30221	2	27	geomatics	geomatics	PROPN
ajst-30221	2	28	and	and	CCONJ
ajst-30221	2	29	urban	urban	ADJ
ajst-30221	2	30	spatial	spatial	ADJ
ajst-30221	2	31	informatics	informatics	PROPN
ajst-30221	2	32	,	,	PUNCT
ajst-30221	2	33	beijing	beijing	PROPN
ajst-30221	2	34	university	university	PROPN
ajst-30221	2	35	of	of	ADP
ajst-30221	2	36	civil	civil	ADJ
ajst-30221	2	37	engineering	engineering	NOUN
ajst-30221	2	38	and	and	CCONJ
ajst-30221	2	39	architecture	architecture	NOUN
ajst-30221	2	40	,	,	PUNCT
ajst-30221	2	41	beijing	beijing	PROPN
ajst-30221	2	42	102616	102616	NUM
ajst-30221	2	43	,	,	PUNCT
ajst-30221	2	44	china	china	PROPN
ajst-30221	2	45	a2108160122007@stu.bucea.edu.cn	a2108160122007@stu.bucea.edu.cn	PROPN
ajst-30221	2	46	highlights:1	highlights:1	VERB
ajst-30221	2	47	.	.	PUNCT
ajst-30221	3	1	extraction	extraction	NOUN
ajst-30221	3	2	of	of	ADP
ajst-30221	3	3	information	information	NOUN
ajst-30221	3	4	from	from	ADP
ajst-30221	3	5	inertial	inertial	ADJ
ajst-30221	3	6	navigation	navigation	NOUN
ajst-30221	3	7	data	datum	NOUN
ajst-30221	3	8	with	with	ADP
ajst-30221	3	9	a	a	DET
ajst-30221	3	10	second	second	ADJ
ajst-30221	3	11	-	-	PUNCT
ajst-30221	3	12	order	order	NOUN
ajst-30221	3	13	butterworth	butterworth	ADJ
ajst-30221	3	14	low	low	ADJ
ajst-30221	3	15	-	-	PUNCT
ajst-30221	3	16	pass	pass	NOUN
ajst-30221	3	17	filter	filter	NOUN
ajst-30221	3	18	.	.	PUNCT
ajst-30221	4	1	2	2	X
ajst-30221	4	2	.	.	X
ajst-30221	4	3	employing	employ	VERB
ajst-30221	4	4	a	a	DET
ajst-30221	4	5	priori	priori	ADJ
ajst-30221	4	6	information	information	NOUN
ajst-30221	4	7	to	to	PART
ajst-30221	4	8	enhance	enhance	VERB
ajst-30221	4	9	the	the	DET
ajst-30221	4	10	reliability	reliability	NOUN
ajst-30221	4	11	of	of	ADP
ajst-30221	4	12	results	result	NOUN
ajst-30221	4	13	in	in	ADP
ajst-30221	4	14	combinatorial	combinatorial	ADJ
ajst-30221	4	15	navigation	navigation	NOUN
ajst-30221	4	16	through	through	ADP
ajst-30221	4	17	the	the	DET
ajst-30221	4	18	process	process	NOUN
ajst-30221	4	19	of	of	ADP
ajst-30221	4	20	combinatorial	combinatorial	ADJ
ajst-30221	4	21	solving	solving	NOUN
ajst-30221	4	22	.	.	PUNCT
ajst-30221	5	1	3	3	X
ajst-30221	5	2	.	.	X
ajst-30221	5	3	estimation	estimation	NOUN
ajst-30221	5	4	of	of	ADP
ajst-30221	5	5	integrated	integrate	VERB
ajst-30221	5	6	navigation	navigation	NOUN
ajst-30221	5	7	parameters	parameter	NOUN
ajst-30221	5	8	utilizing	utilize	VERB
ajst-30221	5	9	kalman	kalman	PROPN
ajst-30221	5	10	filtering	filtering	PROPN
ajst-30221	5	11	.	.	PUNCT
ajst-30221	6	1	abstract	abstract	ADJ
ajst-30221	6	2	:	:	PUNCT
ajst-30221	7	1	inertial	inertial	ADJ
ajst-30221	7	2	navigation	navigation	NOUN
ajst-30221	7	3	systems	system	NOUN
ajst-30221	7	4	(	(	PUNCT
ajst-30221	7	5	ins	in	NOUN
ajst-30221	7	6	)	)	PUNCT
ajst-30221	7	7	are	be	AUX
ajst-30221	7	8	extensively	extensively	ADV
ajst-30221	7	9	utilized	utilize	VERB
ajst-30221	7	10	across	across	ADP
ajst-30221	7	11	various	various	ADJ
ajst-30221	7	12	domains	domain	NOUN
ajst-30221	7	13	due	due	ADP
ajst-30221	7	14	to	to	ADP
ajst-30221	7	15	their	their	PRON
ajst-30221	7	16	independence	independence	NOUN
ajst-30221	7	17	from	from	ADP
ajst-30221	7	18	external	external	ADJ
ajst-30221	7	19	information	information	NOUN
ajst-30221	7	20	during	during	ADP
ajst-30221	7	21	operation	operation	NOUN
ajst-30221	7	22	,	,	PUNCT
ajst-30221	7	23	commendable	commendable	ADJ
ajst-30221	7	24	autonomy	autonomy	NOUN
ajst-30221	7	25	and	and	CCONJ
ajst-30221	7	26	stealth	stealth	NOUN
ajst-30221	7	27	,	,	PUNCT
ajst-30221	7	28	and	and	CCONJ
ajst-30221	7	29	capability	capability	NOUN
ajst-30221	7	30	to	to	PART
ajst-30221	7	31	deliver	deliver	VERB
ajst-30221	7	32	comprehensive	comprehensive	ADJ
ajst-30221	7	33	data	datum	NOUN
ajst-30221	7	34	output	output	NOUN
ajst-30221	7	35	.	.	PUNCT
ajst-30221	8	1	the	the	DET
ajst-30221	8	2	loose	loose	ADJ
ajst-30221	8	3	combination	combination	NOUN
ajst-30221	8	4	navigation	navigation	NOUN
ajst-30221	8	5	of	of	ADP
ajst-30221	8	6	sins	sin	NOUN
ajst-30221	8	7	/	/	SYM
ajst-30221	8	8	gnss	gnss	NOUN
ajst-30221	8	9	benefits	benefit	NOUN
ajst-30221	8	10	from	from	ADP
ajst-30221	8	11	the	the	DET
ajst-30221	8	12	complementing	complement	VERB
ajst-30221	8	13	function	function	NOUN
ajst-30221	8	14	of	of	ADP
ajst-30221	8	15	the	the	DET
ajst-30221	8	16	global	global	ADJ
ajst-30221	8	17	navigation	navigation	NOUN
ajst-30221	8	18	satellite	satellite	NOUN
ajst-30221	8	19	system	system	NOUN
ajst-30221	8	20	(	(	PUNCT
ajst-30221	8	21	gnss	gnss	NOUN
ajst-30221	8	22	)	)	PUNCT
ajst-30221	8	23	,	,	PUNCT
ajst-30221	8	24	characterized	characterize	VERB
ajst-30221	8	25	by	by	ADP
ajst-30221	8	26	its	its	PRON
ajst-30221	8	27	straightforward	straightforward	ADJ
ajst-30221	8	28	principle	principle	NOUN
ajst-30221	8	29	and	and	CCONJ
ajst-30221	8	30	ease	ease	NOUN
ajst-30221	8	31	of	of	ADP
ajst-30221	8	32	implementation	implementation	NOUN
ajst-30221	8	33	through	through	ADP
ajst-30221	8	34	the	the	DET
ajst-30221	8	35	integration	integration	NOUN
ajst-30221	8	36	of	of	ADP
ajst-30221	8	37	gnss	gnss	NOUN
ajst-30221	8	38	data	datum	NOUN
ajst-30221	8	39	with	with	ADP
ajst-30221	8	40	the	the	DET
ajst-30221	8	41	auxiliary	auxiliary	ADJ
ajst-30221	8	42	correction	correction	NOUN
ajst-30221	8	43	provided	provide	VERB
ajst-30221	8	44	by	by	ADP
ajst-30221	8	45	ins	in	NOUN
ajst-30221	8	46	data	datum	NOUN
ajst-30221	8	47	.	.	PUNCT
ajst-30221	9	1	this	this	DET
ajst-30221	9	2	work	work	NOUN
ajst-30221	9	3	addresses	address	VERB
ajst-30221	9	4	the	the	DET
ajst-30221	9	5	error	error	NOUN
ajst-30221	9	6	issue	issue	NOUN
ajst-30221	9	7	in	in	ADP
ajst-30221	9	8	inertial	inertial	ADJ
ajst-30221	9	9	navigation	navigation	NOUN
ajst-30221	9	10	by	by	ADP
ajst-30221	9	11	proposing	propose	VERB
ajst-30221	9	12	a	a	DET
ajst-30221	9	13	filtering	filter	VERB
ajst-30221	9	14	method	method	NOUN
ajst-30221	9	15	utilizing	utilize	VERB
ajst-30221	9	16	a	a	DET
ajst-30221	9	17	second	second	ADJ
ajst-30221	9	18	-	-	PUNCT
ajst-30221	9	19	order	order	NOUN
ajst-30221	9	20	butterworth	butterworth	ADJ
ajst-30221	9	21	low	low	ADJ
ajst-30221	9	22	-	-	PUNCT
ajst-30221	9	23	pass	pass	NOUN
ajst-30221	9	24	filter	filter	NOUN
ajst-30221	9	25	to	to	PART
ajst-30221	9	26	extract	extract	VERB
ajst-30221	9	27	a	a	DET
ajst-30221	9	28	priori	priori	ADJ
ajst-30221	9	29	information	information	NOUN
ajst-30221	9	30	from	from	ADP
ajst-30221	9	31	the	the	DET
ajst-30221	9	32	inertial	inertial	ADJ
ajst-30221	9	33	navigation	navigation	NOUN
ajst-30221	9	34	data	datum	NOUN
ajst-30221	9	35	.	.	PUNCT
ajst-30221	10	1	subsequently	subsequently	ADV
ajst-30221	10	2	,	,	PUNCT
ajst-30221	10	3	it	it	PRON
ajst-30221	10	4	examines	examine	VERB
ajst-30221	10	5	the	the	DET
ajst-30221	10	6	impact	impact	NOUN
ajst-30221	10	7	of	of	ADP
ajst-30221	10	8	including	include	VERB
ajst-30221	10	9	a	a	DET
ajst-30221	10	10	priori	priori	ADJ
ajst-30221	10	11	information	information	NOUN
ajst-30221	10	12	on	on	ADP
ajst-30221	10	13	the	the	DET
ajst-30221	10	14	efficacy	efficacy	NOUN
ajst-30221	10	15	of	of	ADP
ajst-30221	10	16	the	the	DET
ajst-30221	10	17	sins	sin	NOUN
ajst-30221	10	18	/	/	SYM
ajst-30221	10	19	gnss	gnss	NOUN
ajst-30221	10	20	loose	loose	ADJ
ajst-30221	10	21	-	-	PUNCT
ajst-30221	10	22	combination	combination	NOUN
ajst-30221	10	23	navigation	navigation	NOUN
ajst-30221	10	24	.	.	PUNCT
ajst-30221	11	1	the	the	DET
ajst-30221	11	2	findings	finding	NOUN
ajst-30221	11	3	indicate	indicate	VERB
ajst-30221	11	4	that	that	SCONJ
ajst-30221	11	5	incorporating	incorporate	VERB
ajst-30221	11	6	a	a	DET
ajst-30221	11	7	priori	priori	ADJ
ajst-30221	11	8	information	information	NOUN
ajst-30221	11	9	can	can	AUX
ajst-30221	11	10	effectively	effectively	ADV
ajst-30221	11	11	rectify	rectify	VERB
ajst-30221	11	12	navigation	navigation	NOUN
ajst-30221	11	13	trajectory	trajectory	NOUN
ajst-30221	11	14	deviations	deviation	NOUN
ajst-30221	11	15	,	,	PUNCT
ajst-30221	11	16	enhance	enhance	VERB
ajst-30221	11	17	the	the	DET
ajst-30221	11	18	convergence	convergence	NOUN
ajst-30221	11	19	rate	rate	NOUN
ajst-30221	11	20	of	of	ADP
ajst-30221	11	21	misalignment	misalignment	ADJ
ajst-30221	11	22	angle	angle	NOUN
ajst-30221	11	23	errors	error	NOUN
ajst-30221	11	24	,	,	PUNCT
ajst-30221	11	25	expedite	expedite	VERB
ajst-30221	11	26	the	the	DET
ajst-30221	11	27	convergence	convergence	NOUN
ajst-30221	11	28	of	of	ADP
ajst-30221	11	29	three	three	NUM
ajst-30221	11	30	-	-	PUNCT
ajst-30221	11	31	dimensional	dimensional	ADJ
ajst-30221	11	32	velocity	velocity	NOUN
ajst-30221	11	33	errors	error	NOUN
ajst-30221	11	34	in	in	ADP
ajst-30221	11	35	the	the	DET
ajst-30221	11	36	northeastern	northeastern	ADJ
ajst-30221	11	37	sky	sky	NOUN
ajst-30221	11	38	,	,	PUNCT
ajst-30221	11	39	and	and	CCONJ
ajst-30221	11	40	diminish	diminish	VERB
ajst-30221	11	41	the	the	DET
ajst-30221	11	42	amplitude	amplitude	NOUN
ajst-30221	11	43	of	of	ADP
ajst-30221	11	44	position	position	NOUN
ajst-30221	11	45	error	error	NOUN
ajst-30221	11	46	fluctuations	fluctuation	NOUN
ajst-30221	11	47	.	.	PUNCT
ajst-30221	12	1	the	the	DET
ajst-30221	12	2	precision	precision	NOUN
ajst-30221	12	3	of	of	ADP
ajst-30221	12	4	sins	sin	NOUN
ajst-30221	12	5	/	/	SYM
ajst-30221	12	6	gnss	gnss	NOUN
ajst-30221	12	7	loose	loose	ADJ
ajst-30221	12	8	combination	combination	NOUN
ajst-30221	12	9	navigation	navigation	NOUN
ajst-30221	12	10	is	be	AUX
ajst-30221	12	11	markedly	markedly	ADV
ajst-30221	12	12	enhanced	enhance	VERB
ajst-30221	12	13	.	.	PUNCT
ajst-30221	13	1	keywords	keyword	NOUN
ajst-30221	13	2	:	:	PUNCT
ajst-30221	13	3	sins	sin	NOUN
ajst-30221	13	4	,	,	PUNCT
ajst-30221	13	5	gnss	gnss	NOUN
ajst-30221	13	6	,	,	PUNCT
ajst-30221	13	7	loose	loose	ADJ
ajst-30221	13	8	combination	combination	NOUN
ajst-30221	13	9	,	,	PUNCT
ajst-30221	13	10	prior	prior	ADJ
ajst-30221	13	11	information	information	NOUN
ajst-30221	13	12	.	.	PUNCT
ajst-30221	14	1	1	1	X
ajst-30221	14	2	.	.	X
ajst-30221	14	3	introduction	introduction	NOUN
ajst-30221	14	4	in	in	ADP
ajst-30221	14	5	recent	recent	ADJ
ajst-30221	14	6	years	year	NOUN
ajst-30221	14	7	,	,	PUNCT
ajst-30221	14	8	the	the	DET
ajst-30221	14	9	rapid	rapid	ADJ
ajst-30221	14	10	development	development	NOUN
ajst-30221	14	11	of	of	ADP
ajst-30221	14	12	high	high	ADJ
ajst-30221	14	13	-	-	PUNCT
ajst-30221	14	14	performance	performance	NOUN
ajst-30221	14	15	and	and	CCONJ
ajst-30221	14	16	low	low	ADJ
ajst-30221	14	17	-	-	PUNCT
ajst-30221	14	18	cost	cost	NOUN
ajst-30221	14	19	mems	mem	NOUN
ajst-30221	14	20	inertial	inertial	NOUN
ajst-30221	14	21	sensors[1	sensors[1	NOUN
ajst-30221	14	22	]	]	PUNCT
ajst-30221	14	23	has	have	AUX
ajst-30221	14	24	significantly	significantly	ADV
ajst-30221	14	25	expanded	expand	VERB
ajst-30221	14	26	the	the	DET
ajst-30221	14	27	application	application	NOUN
ajst-30221	14	28	areas	area	NOUN
ajst-30221	14	29	of	of	ADP
ajst-30221	14	30	inertial	inertial	ADJ
ajst-30221	14	31	navigation	navigation	NOUN
ajst-30221	14	32	systems[2	systems[2	NOUN
ajst-30221	14	33	-	-	PUNCT
ajst-30221	14	34	5	5	NUM
ajst-30221	14	35	]	]	PUNCT
ajst-30221	14	36	.	.	PUNCT
ajst-30221	15	1	the	the	DET
ajst-30221	15	2	loose	loose	ADJ
ajst-30221	15	3	combination	combination	NOUN
ajst-30221	15	4	method	method	NOUN
ajst-30221	15	5	based	base	VERB
ajst-30221	15	6	on	on	ADP
ajst-30221	15	7	mems	mems	ADJ
ajst-30221	15	8	inertial	inertial	ADJ
ajst-30221	15	9	navigation	navigation	NOUN
ajst-30221	15	10	system	system	NOUN
ajst-30221	15	11	(	(	PUNCT
ajst-30221	15	12	sins	sin	NOUN
ajst-30221	15	13	)	)	PUNCT
ajst-30221	15	14	and	and	CCONJ
ajst-30221	15	15	global	global	ADJ
ajst-30221	15	16	satellite	satellite	NOUN
ajst-30221	15	17	navigation	navigation	NOUN
ajst-30221	15	18	system	system	NOUN
ajst-30221	15	19	(	(	PUNCT
ajst-30221	15	20	gnss	gnss	NOUN
ajst-30221	15	21	)	)	PUNCT
ajst-30221	15	22	has	have	AUX
ajst-30221	15	23	been	be	AUX
ajst-30221	15	24	widely	widely	ADV
ajst-30221	15	25	used	use	VERB
ajst-30221	15	26	in	in	ADP
ajst-30221	15	27	many	many	ADJ
ajst-30221	15	28	fields[6	fields[6	NOUN
ajst-30221	15	29	-	-	PUNCT
ajst-30221	15	30	7	7	NUM
ajst-30221	15	31	]	]	PUNCT
ajst-30221	15	32	.	.	PUNCT
ajst-30221	16	1	however	however	ADV
ajst-30221	16	2	,	,	PUNCT
ajst-30221	16	3	in	in	ADP
ajst-30221	16	4	real	real	ADJ
ajst-30221	16	5	-	-	PUNCT
ajst-30221	16	6	time	time	NOUN
ajst-30221	16	7	applications	application	NOUN
ajst-30221	16	8	,	,	PUNCT
ajst-30221	16	9	the	the	DET
ajst-30221	16	10	method	method	NOUN
ajst-30221	16	11	still	still	ADV
ajst-30221	16	12	has	have	VERB
ajst-30221	16	13	some	some	DET
ajst-30221	16	14	limitations[8	limitations[8	PROPN
ajst-30221	16	15	]	]	X
ajst-30221	16	16	,	,	PUNCT
ajst-30221	16	17	and	and	CCONJ
ajst-30221	16	18	in	in	ADP
ajst-30221	16	19	environments	environment	NOUN
ajst-30221	16	20	such	such	ADJ
ajst-30221	16	21	as	as	ADP
ajst-30221	16	22	urban	urban	ADJ
ajst-30221	16	23	canyons	canyon	NOUN
ajst-30221	16	24	where	where	SCONJ
ajst-30221	16	25	gnss	gnss	NOUN
ajst-30221	16	26	signals	signal	NOUN
ajst-30221	16	27	are	be	AUX
ajst-30221	16	28	susceptible	susceptible	ADJ
ajst-30221	16	29	to	to	ADP
ajst-30221	16	30	occlusion	occlusion	NOUN
ajst-30221	16	31	or	or	CCONJ
ajst-30221	16	32	interference[9	interference[9	NUM
ajst-30221	16	33	]	]	PUNCT
ajst-30221	16	34	,	,	PUNCT
ajst-30221	16	35	standalone	standalone	ADJ
ajst-30221	16	36	navigation	navigation	NOUN
ajst-30221	16	37	systems	system	NOUN
ajst-30221	16	38	relying	rely	VERB
ajst-30221	16	39	only	only	ADV
ajst-30221	16	40	on	on	ADP
ajst-30221	16	41	mems	mems	ADJ
ajst-30221	16	42	inertial	inertial	ADJ
ajst-30221	16	43	sensors	sensor	NOUN
ajst-30221	16	44	have	have	VERB
ajst-30221	16	45	errors	error	NOUN
ajst-30221	16	46	that	that	PRON
ajst-30221	16	47	accumulate	accumulate	VERB
ajst-30221	16	48	rapidly	rapidly	ADV
ajst-30221	16	49	as	as	SCONJ
ajst-30221	16	50	the	the	DET
ajst-30221	16	51	interruption	interruption	NOUN
ajst-30221	16	52	of	of	ADP
ajst-30221	16	53	gnss	gnss	NOUN
ajst-30221	16	54	signals	signal	NOUN
ajst-30221	16	55	lengthens[10	lengthens[10	ADV
ajst-30221	16	56	]	]	PUNCT
ajst-30221	16	57	.	.	PUNCT
ajst-30221	17	1	to	to	PART
ajst-30221	17	2	cope	cope	VERB
ajst-30221	17	3	with	with	ADP
ajst-30221	17	4	the	the	DET
ajst-30221	17	5	above	above	ADJ
ajst-30221	17	6	problems	problem	NOUN
ajst-30221	17	7	,	,	PUNCT
ajst-30221	17	8	the	the	DET
ajst-30221	17	9	loose	loose	ADJ
ajst-30221	17	10	combination	combination	NOUN
ajst-30221	17	11	method	method	NOUN
ajst-30221	17	12	of	of	ADP
ajst-30221	17	13	inertial	inertial	ADJ
ajst-30221	17	14	navigation	navigation	NOUN
ajst-30221	17	15	and	and	CCONJ
ajst-30221	17	16	satellite	satellite	NOUN
ajst-30221	17	17	navigation	navigation	NOUN
ajst-30221	17	18	usually	usually	ADV
ajst-30221	17	19	employs	employ	VERB
ajst-30221	17	20	an	an	DET
ajst-30221	17	21	extended	extended	ADJ
ajst-30221	17	22	kalman	kalman	NOUN
ajst-30221	17	23	filter	filter	NOUN
ajst-30221	17	24	(	(	PUNCT
ajst-30221	17	25	ekf	ekf	PROPN
ajst-30221	17	26	)	)	PUNCT
ajst-30221	18	1	[	[	X
ajst-30221	18	2	11	11	NUM
ajst-30221	18	3	-	-	SYM
ajst-30221	18	4	12	12	NUM
ajst-30221	18	5	]	]	PUNCT
ajst-30221	18	6	.	.	PUNCT
ajst-30221	19	1	however	however	ADV
ajst-30221	19	2	,	,	PUNCT
ajst-30221	19	3	this	this	DET
ajst-30221	19	4	method	method	NOUN
ajst-30221	19	5	assumes	assume	VERB
ajst-30221	19	6	that	that	SCONJ
ajst-30221	19	7	both	both	PRON
ajst-30221	19	8	system	system	NOUN
ajst-30221	19	9	dynamics	dynamic	NOUN
ajst-30221	19	10	and	and	CCONJ
ajst-30221	19	11	observation	observation	NOUN
ajst-30221	19	12	noise	noise	NOUN
ajst-30221	19	13	are	be	AUX
ajst-30221	19	14	known	know	VERB
ajst-30221	19	15	white	white	ADJ
ajst-30221	19	16	noise[13	noise[13	PROPN
ajst-30221	19	17	]	]	PUNCT
ajst-30221	19	18	,	,	PUNCT
ajst-30221	19	19	whereas	whereas	SCONJ
ajst-30221	19	20	,	,	PUNCT
ajst-30221	19	21	in	in	ADP
ajst-30221	19	22	practice	practice	NOUN
ajst-30221	19	23	,	,	PUNCT
ajst-30221	19	24	the	the	DET
ajst-30221	19	25	noise	noise	NOUN
ajst-30221	19	26	of	of	ADP
ajst-30221	19	27	mems	mem	NOUN
ajst-30221	19	28	inertial	inertial	ADJ
ajst-30221	19	29	devices	device	NOUN
ajst-30221	19	30	is	be	AUX
ajst-30221	19	31	usually	usually	ADV
ajst-30221	19	32	time	time	NOUN
ajst-30221	19	33	-	-	PUNCT
ajst-30221	19	34	dependent	dependent	ADJ
ajst-30221	19	35	,	,	PUNCT
ajst-30221	19	36	i.e.	i.e.	X
ajst-30221	19	37	,	,	PUNCT
ajst-30221	19	38	colored	colored	ADJ
ajst-30221	19	39	noise	noise	NOUN
ajst-30221	19	40	,	,	PUNCT
ajst-30221	19	41	which	which	PRON
ajst-30221	19	42	has	have	VERB
ajst-30221	19	43	more	more	ADJ
ajst-30221	19	44	complex	complex	ADJ
ajst-30221	19	45	properties[14	properties[14	NOUN
ajst-30221	19	46	-	-	PUNCT
ajst-30221	19	47	15	15	NUM
ajst-30221	19	48	]	]	PUNCT
ajst-30221	19	49	.	.	PUNCT
ajst-30221	20	1	reducing	reduce	VERB
ajst-30221	20	2	the	the	DET
ajst-30221	20	3	system	system	NOUN
ajst-30221	20	4	dynamics	dynamic	NOUN
ajst-30221	20	5	noise	noise	VERB
ajst-30221	20	6	to	to	ADP
ajst-30221	20	7	white	white	ADJ
ajst-30221	20	8	noise	noise	NOUN
ajst-30221	20	9	for	for	ADP
ajst-30221	20	10	processing	processing	NOUN
ajst-30221	20	11	may	may	AUX
ajst-30221	20	12	lead	lead	VERB
ajst-30221	20	13	to	to	ADP
ajst-30221	20	14	a	a	DET
ajst-30221	20	15	mismatch	mismatch	NOUN
ajst-30221	20	16	between	between	ADP
ajst-30221	20	17	the	the	DET
ajst-30221	20	18	computed	computed	ADJ
ajst-30221	20	19	covariance	covariance	NOUN
ajst-30221	20	20	matrix	matrix	NOUN
ajst-30221	20	21	of	of	ADP
ajst-30221	20	22	the	the	DET
ajst-30221	20	23	kalman	kalman	PROPN
ajst-30221	20	24	filter	filter	NOUN
ajst-30221	20	25	output	output	NOUN
ajst-30221	20	26	and	and	CCONJ
ajst-30221	20	27	the	the	DET
ajst-30221	20	28	actual	actual	ADJ
ajst-30221	20	29	noise	noise	NOUN
ajst-30221	20	30	characteristics	characteristic	NOUN
ajst-30221	20	31	,	,	PUNCT
ajst-30221	20	32	which	which	PRON
ajst-30221	20	33	triggers	trigger	VERB
ajst-30221	20	34	a	a	DET
ajst-30221	20	35	bias	bias	NOUN
ajst-30221	20	36	in	in	ADP
ajst-30221	20	37	the	the	DET
ajst-30221	20	38	error	error	NOUN
ajst-30221	20	39	model[16	model[16	NOUN
ajst-30221	20	40	-	-	PUNCT
ajst-30221	20	41	18	18	NUM
ajst-30221	20	42	]	]	PUNCT
ajst-30221	20	43	.	.	PUNCT
ajst-30221	21	1	limiting	limit	VERB
ajst-30221	21	2	the	the	DET
ajst-30221	21	3	accuracy	accuracy	NOUN
ajst-30221	21	4	improvement	improvement	NOUN
ajst-30221	21	5	of	of	ADP
ajst-30221	21	6	the	the	DET
ajst-30221	21	7	loose	loose	ADJ
ajst-30221	21	8	combination	combination	NOUN
ajst-30221	21	9	approach	approach	NOUN
ajst-30221	21	10	of	of	ADP
ajst-30221	21	11	inertial	inertial	ADJ
ajst-30221	21	12	navigation	navigation	NOUN
ajst-30221	21	13	and	and	CCONJ
ajst-30221	21	14	satellite	satellite	NOUN
ajst-30221	21	15	navigation	navigation	NOUN
ajst-30221	21	16	is	be	AUX
ajst-30221	21	17	constrained[19	constrained[19	NOUN
ajst-30221	21	18	-	-	SYM
ajst-30221	21	19	20	20	NUM
ajst-30221	21	20	]	]	PUNCT
ajst-30221	21	21	.	.	PUNCT
ajst-30221	22	1	this	this	DET
ajst-30221	22	2	work	work	NOUN
ajst-30221	22	3	proposes	propose	VERB
ajst-30221	22	4	the	the	DET
ajst-30221	22	5	utilization	utilization	NOUN
ajst-30221	22	6	of	of	ADP
ajst-30221	22	7	a	a	DET
ajst-30221	22	8	second	second	ADJ
ajst-30221	22	9	-	-	PUNCT
ajst-30221	22	10	order	order	NOUN
ajst-30221	22	11	butterworth	butterworth	ADJ
ajst-30221	22	12	low	low	ADJ
ajst-30221	22	13	-	-	PUNCT
ajst-30221	22	14	pass	pass	NOUN
ajst-30221	22	15	filter	filter	NOUN
ajst-30221	22	16	to	to	PART
ajst-30221	22	17	process	process	VERB
ajst-30221	22	18	sins	sin	NOUN
ajst-30221	22	19	data	datum	NOUN
ajst-30221	22	20	,	,	PUNCT
ajst-30221	22	21	thereby	thereby	ADV
ajst-30221	22	22	eliminating	eliminate	VERB
ajst-30221	22	23	high	high	ADJ
ajst-30221	22	24	-	-	PUNCT
ajst-30221	22	25	frequency	frequency	NOUN
ajst-30221	22	26	noise	noise	NOUN
ajst-30221	22	27	interference	interference	NOUN
ajst-30221	22	28	and	and	CCONJ
ajst-30221	22	29	extracting	extract	VERB
ajst-30221	22	30	a	a	DET
ajst-30221	22	31	priori	priori	ADJ
ajst-30221	22	32	information	information	NOUN
ajst-30221	22	33	for	for	ADP
ajst-30221	22	34	inertial	inertial	ADJ
ajst-30221	22	35	navigation	navigation	NOUN
ajst-30221	22	36	.	.	PUNCT
ajst-30221	23	1	a	a	DET
ajst-30221	23	2	priori	priori	ADJ
ajst-30221	23	3	information	information	NOUN
ajst-30221	23	4	is	be	AUX
ajst-30221	23	5	incorporated	incorporate	VERB
ajst-30221	23	6	into	into	ADP
ajst-30221	23	7	the	the	DET
ajst-30221	23	8	loose	loose	ADJ
ajst-30221	23	9	combination	combination	NOUN
ajst-30221	23	10	solution	solution	NOUN
ajst-30221	23	11	procedure	procedure	NOUN
ajst-30221	23	12	of	of	ADP
ajst-30221	23	13	sins	sin	NOUN
ajst-30221	23	14	and	and	CCONJ
ajst-30221	23	15	gnss	gns	NOUN
ajst-30221	23	16	to	to	PART
ajst-30221	23	17	enhance	enhance	VERB
ajst-30221	23	18	positioning	positioning	NOUN
ajst-30221	23	19	accuracy	accuracy	NOUN
ajst-30221	23	20	as	as	SCONJ
ajst-30221	23	21	illustrated	illustrate	VERB
ajst-30221	23	22	in	in	ADP
ajst-30221	23	23	figure	figure	NOUN
ajst-30221	23	24	1	1	NUM
ajst-30221	23	25	.	.	PUNCT
ajst-30221	23	26	figure	figure	NOUN
ajst-30221	23	27	1	1	NUM
ajst-30221	23	28	.	.	PUNCT
ajst-30221	23	29	flow	flow	VERB
ajst-30221	23	30	chart	chart	NOUN
ajst-30221	23	31	of	of	ADP
ajst-30221	23	32	sins	sin	NOUN
ajst-30221	23	33	/	/	SYM
ajst-30221	23	34	gnss	gnss	NOUN
ajst-30221	23	35	integrated	integrate	VERB
ajst-30221	23	36	navigation	navigation	NOUN
ajst-30221	23	37	model	model	NOUN
ajst-30221	23	38	based	base	VERB
ajst-30221	23	39	on	on	ADP
ajst-30221	23	40	prior	prior	ADJ
ajst-30221	23	41	information	information	NOUN
ajst-30221	23	42	280	280	NUM
ajst-30221	23	43	2	2	NUM
ajst-30221	23	44	.	.	PUNCT
ajst-30221	23	45	integrated	integrate	VERB
ajst-30221	23	46	navigation	navigation	NOUN
ajst-30221	23	47	based	base	VERB
ajst-30221	23	48	on	on	ADP
ajst-30221	23	49	prior	prior	ADJ
ajst-30221	23	50	information	information	NOUN
ajst-30221	23	51	2.1	2.1	NUM
ajst-30221	23	52	.	.	PUNCT
ajst-30221	24	1	second	second	ADJ
ajst-30221	24	2	-	-	PUNCT
ajst-30221	24	3	order	order	NOUN
ajst-30221	24	4	butterworth	butterworth	ADJ
ajst-30221	24	5	low	low	ADJ
ajst-30221	24	6	-	-	PUNCT
ajst-30221	24	7	pass	pass	NOUN
ajst-30221	24	8	filter	filter	NOUN
ajst-30221	24	9	the	the	DET
ajst-30221	24	10	second	second	ADJ
ajst-30221	24	11	-	-	PUNCT
ajst-30221	24	12	order	order	NOUN
ajst-30221	24	13	butterworth	butterworth	NOUN
ajst-30221	24	14	filter	filter	NOUN
ajst-30221	24	15	is	be	AUX
ajst-30221	24	16	extensively	extensively	ADV
ajst-30221	24	17	utilized	utilize	VERB
ajst-30221	24	18	in	in	ADP
ajst-30221	24	19	signal	signal	NOUN
ajst-30221	24	20	processing	processing	NOUN
ajst-30221	24	21	because	because	SCONJ
ajst-30221	24	22	of	of	ADP
ajst-30221	24	23	its	its	PRON
ajst-30221	24	24	characteristic	characteristic	NOUN
ajst-30221	24	25	of	of	ADP
ajst-30221	24	26	maximum	maximum	ADJ
ajst-30221	24	27	flatness	flatness	NOUN
ajst-30221	24	28	.	.	PUNCT
ajst-30221	25	1	it	it	PRON
ajst-30221	25	2	is	be	AUX
ajst-30221	25	3	primarily	primarily	ADV
ajst-30221	25	4	defined	define	VERB
ajst-30221	25	5	by	by	ADP
ajst-30221	25	6	a	a	DET
ajst-30221	25	7	flat	flat	ADJ
ajst-30221	25	8	amplitude	amplitude	NOUN
ajst-30221	25	9	-	-	PUNCT
ajst-30221	25	10	frequency	frequency	NOUN
ajst-30221	25	11	response	response	NOUN
ajst-30221	25	12	in	in	ADP
ajst-30221	25	13	the	the	DET
ajst-30221	25	14	passband	passband	NOUN
ajst-30221	25	15	,	,	PUNCT
ajst-30221	25	16	which	which	PRON
ajst-30221	25	17	progressively	progressively	ADV
ajst-30221	25	18	diminishes	diminish	VERB
ajst-30221	25	19	to	to	ADP
ajst-30221	25	20	zero	zero	NUM
ajst-30221	25	21	in	in	ADP
ajst-30221	25	22	the	the	DET
ajst-30221	25	23	stopband	stopband	NOUN
ajst-30221	25	24	and	and	CCONJ
ajst-30221	25	25	displays	display	VERB
ajst-30221	25	26	a	a	DET
ajst-30221	25	27	gradual	gradual	ADJ
ajst-30221	25	28	transition	transition	NOUN
ajst-30221	25	29	band	band	NOUN
ajst-30221	25	30	around	around	ADP
ajst-30221	25	31	the	the	DET
ajst-30221	25	32	cutoff	cutoff	NOUN
ajst-30221	25	33	frequency	frequency	NOUN
ajst-30221	25	34	.	.	PUNCT
ajst-30221	26	1	this	this	DET
ajst-30221	26	2	attribute	attribute	NOUN
ajst-30221	26	3	allows	allow	VERB
ajst-30221	26	4	the	the	DET
ajst-30221	26	5	secondorder	secondorder	ADJ
ajst-30221	26	6	butterworth	butterworth	NOUN
ajst-30221	26	7	filter	filter	NOUN
ajst-30221	26	8	to	to	PART
ajst-30221	26	9	efficiently	efficiently	ADV
ajst-30221	26	10	eliminate	eliminate	VERB
ajst-30221	26	11	highfrequency	highfrequency	NOUN
ajst-30221	26	12	noise	noise	NOUN
ajst-30221	26	13	while	while	SCONJ
ajst-30221	26	14	maintaining	maintain	VERB
ajst-30221	26	15	the	the	DET
ajst-30221	26	16	fidelity	fidelity	NOUN
ajst-30221	26	17	of	of	ADP
ajst-30221	26	18	the	the	DET
ajst-30221	26	19	lowfrequency	lowfrequency	NOUN
ajst-30221	26	20	signal	signal	NOUN
ajst-30221	26	21	to	to	ADP
ajst-30221	26	22	the	the	DET
ajst-30221	26	23	greatest	great	ADJ
ajst-30221	26	24	extent	extent	NOUN
ajst-30221	26	25	possible	possible	ADJ
ajst-30221	26	26	.	.	PUNCT
ajst-30221	27	1	the	the	DET
ajst-30221	27	2	secondorder	secondorder	ADJ
ajst-30221	27	3	butterworth	butterworth	PROPN
ajst-30221	27	4	filter	filter	NOUN
ajst-30221	27	5	functions	function	NOUN
ajst-30221	27	6	as	as	ADP
ajst-30221	27	7	a	a	DET
ajst-30221	27	8	low	low	ADJ
ajst-30221	27	9	-	-	PUNCT
ajst-30221	27	10	pass	pass	NOUN
ajst-30221	27	11	filter	filter	NOUN
ajst-30221	27	12	,	,	PUNCT
ajst-30221	27	13	permitting	permit	VERB
ajst-30221	27	14	low	low	ADJ
ajst-30221	27	15	-	-	PUNCT
ajst-30221	27	16	frequency	frequency	NOUN
ajst-30221	27	17	signals	signal	NOUN
ajst-30221	27	18	to	to	PART
ajst-30221	27	19	pass	pass	VERB
ajst-30221	27	20	with	with	ADP
ajst-30221	27	21	minimal	minimal	ADJ
ajst-30221	27	22	attenuation	attenuation	NOUN
ajst-30221	27	23	while	while	SCONJ
ajst-30221	27	24	substantially	substantially	ADV
ajst-30221	27	25	rejecting	reject	VERB
ajst-30221	27	26	higher	high	ADJ
ajst-30221	27	27	frequency	frequency	NOUN
ajst-30221	27	28	signals	signal	NOUN
ajst-30221	27	29	,	,	PUNCT
ajst-30221	27	30	therefore	therefore	ADV
ajst-30221	27	31	efficiently	efficiently	ADV
ajst-30221	27	32	reducing	reduce	VERB
ajst-30221	27	33	high	high	ADJ
ajst-30221	27	34	-	-	PUNCT
ajst-30221	27	35	frequency	frequency	NOUN
ajst-30221	27	36	noise	noise	NOUN
ajst-30221	27	37	interference	interference	NOUN
ajst-30221	27	38	.	.	PUNCT
ajst-30221	28	1	the	the	DET
ajst-30221	28	2	transfer	transfer	NOUN
ajst-30221	28	3	function	function	NOUN
ajst-30221	28	4	is	be	AUX
ajst-30221	28	5	represented	represent	VERB
ajst-30221	28	6	by	by	ADP
ajst-30221	28	7	the	the	DET
ajst-30221	28	8	following	follow	VERB
ajst-30221	28	9	mathematical	mathematical	ADJ
ajst-30221	28	10	expression	expression	NOUN
ajst-30221	28	11	:	:	PUNCT
ajst-30221	28	12	2	2	NUM
ajst-30221	28	13	2	2	NUM
ajst-30221	28	14	2	2	NUM
ajst-30221	28	15	2	2	NUM
ajst-30221	28	16	1	1	NUM
ajst-30221	28	17	(	(	PUNCT
ajst-30221	28	18	)	)	PUNCT
ajst-30221	28	19	(	(	PUNCT
ajst-30221	28	20	)	)	PUNCT
ajst-30221	28	21	(	(	PUNCT
ajst-30221	28	22	)	)	PUNCT
ajst-30221	28	23	c	c	NOUN
ajst-30221	28	24	c	c	X
ajst-30221	28	25	c	c	NOUN
ajst-30221	28	26	kcv	kcv	VERB
ajst-30221	28	27	s	s	PROPN
ajst-30221	28	28	h	h	NOUN
ajst-30221	28	29	s	s	PART
ajst-30221	28	30	v	v	NOUN
ajst-30221	28	31	s	s	NOUN
ajst-30221	28	32	s	s	NOUN
ajst-30221	28	33	b	b	PROPN
ajst-30221	28	34	s	s	X
ajst-30221	28	35	c	c	X
ajst-30221	28	36			X
ajst-30221	28	37			X
ajst-30221	28	38			X
ajst-30221	28	39			NUM
ajst-30221	28	40			PROPN
ajst-30221	28	41			ADV
ajst-30221	28	42			X
ajst-30221	28	43	(	(	PUNCT
ajst-30221	28	44	1	1	X
ajst-30221	28	45	)	)	PUNCT
ajst-30221	28	46	where	where	SCONJ
ajst-30221	28	47	k	k	PROPN
ajst-30221	28	48	represents	represent	VERB
ajst-30221	28	49	the	the	DET
ajst-30221	28	50	gain	gain	NOUN
ajst-30221	28	51	,	,	PUNCT
ajst-30221	28	52	c	c	NOUN
ajst-30221	28	53	is	be	AUX
ajst-30221	28	54	the	the	DET
ajst-30221	28	55	cut	cut	VERB
ajst-30221	28	56	-	-	PUNCT
ajst-30221	28	57	off	off	ADP
ajst-30221	28	58	frequency	frequency	NOUN
ajst-30221	28	59	,	,	PUNCT
ajst-30221	28	60	b	b	PROPN
ajst-30221	28	61	and	and	CCONJ
ajst-30221	28	62	c	c	PROPN
ajst-30221	28	63	denote	denote	VERB
ajst-30221	28	64	the	the	DET
ajst-30221	28	65	normalization	normalization	NOUN
ajst-30221	28	66	factors	factor	NOUN
ajst-30221	28	67	.	.	PUNCT
ajst-30221	29	1	2.2	2.2	NUM
ajst-30221	29	2	.	.	PUNCT
ajst-30221	29	3	pins	pin	NOUN
ajst-30221	29	4	/	/	SYM
ajst-30221	29	5	gnss	gnss	NOUN
ajst-30221	29	6	integrated	integrate	VERB
ajst-30221	29	7	navigation	navigation	NOUN
ajst-30221	29	8	the	the	DET
ajst-30221	29	9	fundamental	fundamental	ADJ
ajst-30221	29	10	notion	notion	NOUN
ajst-30221	29	11	of	of	ADP
ajst-30221	29	12	the	the	DET
ajst-30221	29	13	sins	sin	NOUN
ajst-30221	29	14	/	/	SYM
ajst-30221	29	15	gnss	gnss	NOUN
ajst-30221	29	16	loose	loose	ADJ
ajst-30221	29	17	combination	combination	NOUN
ajst-30221	29	18	is	be	AUX
ajst-30221	29	19	illustrated	illustrate	VERB
ajst-30221	29	20	in	in	ADP
ajst-30221	29	21	figure	figure	NOUN
ajst-30221	29	22	2	2	NUM
ajst-30221	29	23	.	.	PUNCT
ajst-30221	30	1	during	during	ADP
ajst-30221	30	2	the	the	DET
ajst-30221	30	3	resolution	resolution	NOUN
ajst-30221	30	4	process	process	NOUN
ajst-30221	30	5	,	,	PUNCT
ajst-30221	30	6	satellite	satellite	NOUN
ajst-30221	30	7	navigation	navigation	NOUN
ajst-30221	30	8	(	(	PUNCT
ajst-30221	30	9	gnss	gnss	NOUN
ajst-30221	30	10	)	)	PUNCT
ajst-30221	30	11	and	and	CCONJ
ajst-30221	30	12	inertial	inertial	ADJ
ajst-30221	30	13	navigation	navigation	NOUN
ajst-30221	30	14	(	(	PUNCT
ajst-30221	30	15	ins	in	NOUN
ajst-30221	30	16	)	)	PUNCT
ajst-30221	30	17	operate	operate	VERB
ajst-30221	30	18	independently	independently	ADV
ajst-30221	30	19	,	,	PUNCT
ajst-30221	30	20	after	after	ADP
ajst-30221	30	21	which	which	PRON
ajst-30221	30	22	the	the	DET
ajst-30221	30	23	gnss	gnss	NOUN
ajst-30221	30	24	output	output	NOUN
ajst-30221	30	25	data	datum	NOUN
ajst-30221	30	26	is	be	AUX
ajst-30221	30	27	utilized	utilize	VERB
ajst-30221	30	28	to	to	PART
ajst-30221	30	29	provide	provide	VERB
ajst-30221	30	30	auxiliary	auxiliary	ADJ
ajst-30221	30	31	corrections	correction	NOUN
ajst-30221	30	32	to	to	ADP
ajst-30221	30	33	the	the	DET
ajst-30221	30	34	ins	in	NOUN
ajst-30221	30	35	results	result	NOUN
ajst-30221	30	36	,	,	PUNCT
ajst-30221	30	37	thereby	thereby	ADV
ajst-30221	30	38	significantly	significantly	ADV
ajst-30221	30	39	enhancing	enhance	VERB
ajst-30221	30	40	positioning	positioning	NOUN
ajst-30221	30	41	accuracy	accuracy	NOUN
ajst-30221	30	42	,	,	PUNCT
ajst-30221	30	43	characterized	characterize	VERB
ajst-30221	30	44	by	by	ADP
ajst-30221	30	45	a	a	DET
ajst-30221	30	46	succinct	succinct	ADJ
ajst-30221	30	47	theoretical	theoretical	ADJ
ajst-30221	30	48	framework	framework	NOUN
ajst-30221	30	49	and	and	CCONJ
ajst-30221	30	50	ease	ease	NOUN
ajst-30221	30	51	of	of	ADP
ajst-30221	30	52	implementation	implementation	NOUN
ajst-30221	30	53	.	.	PUNCT
ajst-30221	31	1	figure	figure	NOUN
ajst-30221	31	2	2	2	NUM
ajst-30221	31	3	.	.	PUNCT
ajst-30221	31	4	flow	flow	VERB
ajst-30221	31	5	chart	chart	NOUN
ajst-30221	31	6	of	of	ADP
ajst-30221	31	7	sins	sin	NOUN
ajst-30221	31	8	/	/	SYM
ajst-30221	31	9	gnss	gnss	NOUN
ajst-30221	31	10	loose	loose	ADJ
ajst-30221	31	11	integration	integration	NOUN
ajst-30221	31	12	the	the	DET
ajst-30221	31	13	inertial	inertial	ADJ
ajst-30221	31	14	navigation	navigation	NOUN
ajst-30221	31	15	system	system	NOUN
ajst-30221	31	16	computes	compute	VERB
ajst-30221	31	17	component	component	NOUN
ajst-30221	31	18	output	output	NOUN
ajst-30221	31	19	data	datum	NOUN
ajst-30221	31	20	to	to	PART
ajst-30221	31	21	derive	derive	VERB
ajst-30221	31	22	velocity	velocity	NOUN
ajst-30221	31	23	and	and	CCONJ
ajst-30221	31	24	position	position	NOUN
ajst-30221	31	25	information	information	NOUN
ajst-30221	31	26	,	,	PUNCT
ajst-30221	31	27	while	while	SCONJ
ajst-30221	31	28	the	the	DET
ajst-30221	31	29	gnss	gnss	NOUN
ajst-30221	31	30	receiver	receiver	NOUN
ajst-30221	31	31	utilizes	utilize	VERB
ajst-30221	31	32	satellite	satellite	NOUN
ajst-30221	31	33	navigation	navigation	NOUN
ajst-30221	31	34	to	to	PART
ajst-30221	31	35	acquire	acquire	VERB
ajst-30221	31	36	corresponding	correspond	VERB
ajst-30221	31	37	velocity	velocity	NOUN
ajst-30221	31	38	and	and	CCONJ
ajst-30221	31	39	position	position	NOUN
ajst-30221	31	40	data	datum	NOUN
ajst-30221	31	41	.	.	PUNCT
ajst-30221	32	1	thereafter	thereafter	ADV
ajst-30221	32	2	,	,	PUNCT
ajst-30221	32	3	the	the	DET
ajst-30221	32	4	velocity	velocity	NOUN
ajst-30221	32	5	and	and	CCONJ
ajst-30221	32	6	position	position	NOUN
ajst-30221	32	7	data	datum	NOUN
ajst-30221	32	8	acquired	acquire	VERB
ajst-30221	32	9	from	from	ADP
ajst-30221	32	10	the	the	DET
ajst-30221	32	11	independent	independent	ADJ
ajst-30221	32	12	solutions	solution	NOUN
ajst-30221	32	13	of	of	ADP
ajst-30221	32	14	inertial	inertial	ADJ
ajst-30221	32	15	navigation	navigation	NOUN
ajst-30221	32	16	and	and	CCONJ
ajst-30221	32	17	satellite	satellite	NOUN
ajst-30221	32	18	navigation	navigation	NOUN
ajst-30221	32	19	are	be	AUX
ajst-30221	32	20	processed	process	VERB
ajst-30221	32	21	separately	separately	ADV
ajst-30221	32	22	,	,	PUNCT
ajst-30221	32	23	and	and	CCONJ
ajst-30221	32	24	the	the	DET
ajst-30221	32	25	results	result	NOUN
ajst-30221	32	26	are	be	AUX
ajst-30221	32	27	input	input	VERB
ajst-30221	32	28	into	into	ADP
ajst-30221	32	29	the	the	DET
ajst-30221	32	30	kalman	kalman	NOUN
ajst-30221	32	31	filter	filter	NOUN
ajst-30221	32	32	for	for	ADP
ajst-30221	32	33	error	error	NOUN
ajst-30221	32	34	correction	correction	NOUN
ajst-30221	32	35	.	.	PUNCT
ajst-30221	33	1	the	the	DET
ajst-30221	33	2	kalman	kalman	PROPN
ajst-30221	33	3	filter	filter	NOUN
ajst-30221	33	4	processing	processing	NOUN
ajst-30221	33	5	yields	yield	NOUN
ajst-30221	33	6	high	high	ADJ
ajst-30221	33	7	-	-	PUNCT
ajst-30221	33	8	precision	precision	NOUN
ajst-30221	33	9	data	datum	NOUN
ajst-30221	33	10	on	on	ADP
ajst-30221	33	11	location	location	NOUN
ajst-30221	33	12	,	,	PUNCT
ajst-30221	33	13	velocity	velocity	NOUN
ajst-30221	33	14	,	,	PUNCT
ajst-30221	33	15	and	and	CCONJ
ajst-30221	33	16	attitude	attitude	NOUN
ajst-30221	33	17	.	.	PUNCT
ajst-30221	34	1	the	the	DET
ajst-30221	34	2	state	state	NOUN
ajst-30221	34	3	equation	equation	NOUN
ajst-30221	34	4	for	for	ADP
ajst-30221	34	5	the	the	DET
ajst-30221	34	6	loose	loose	ADJ
ajst-30221	34	7	combination	combination	NOUN
ajst-30221	34	8	of	of	ADP
ajst-30221	34	9	sins	sin	NOUN
ajst-30221	34	10	and	and	CCONJ
ajst-30221	34	11	gnss	gnss	NOUN
ajst-30221	34	12	is	be	AUX
ajst-30221	34	13	presented	present	VERB
ajst-30221	34	14	below	below	ADP
ajst-30221	34	15	:	:	PUNCT
ajst-30221	34	16	(	(	PUNCT
ajst-30221	34	17	)	)	PUNCT
ajst-30221	34	18	(	(	PUNCT
ajst-30221	34	19	)	)	PUNCT
ajst-30221	34	20	(	(	PUNCT
ajst-30221	34	21	)	)	PUNCT
ajst-30221	34	22	(	(	PUNCT
ajst-30221	34	23	)	)	PUNCT
ajst-30221	34	24	(	(	PUNCT
ajst-30221	34	25	)	)	PUNCT
ajst-30221	35	1	k	k	X
ajst-30221	35	2	k	k	PROPN
ajst-30221	35	3	k	k	PROPN
ajst-30221	35	4	k	k	PROPN
ajst-30221	35	5	kt	kt	PROPN
ajst-30221	35	6	t	t	PROPN
ajst-30221	35	7	t	t	PROPN
ajst-30221	35	8	t	t	PROPN
ajst-30221	35	9	t	t	PROPN
ajst-30221	35	10	x	x	NOUN
ajst-30221	35	11	f	f	PROPN
ajst-30221	36	1	x	x	PROPN
ajst-30221	36	2	g	g	PROPN
ajst-30221	36	3	w	w	PROPN
ajst-30221	36	4	(	(	PUNCT
ajst-30221	36	5	1	1	NUM
ajst-30221	36	6	)	)	PUNCT
ajst-30221	36	7	expansion	expansion	NOUN
ajst-30221	36	8	formulas	formula	NOUN
ajst-30221	36	9	for	for	ADP
ajst-30221	36	10	the	the	DET
ajst-30221	36	11	loose	loose	ADJ
ajst-30221	36	12	combination	combination	NOUN
ajst-30221	36	13	equation	equation	NOUN
ajst-30221	36	14	of	of	ADP
ajst-30221	36	15	state	state	NOUN
ajst-30221	36	16	are	be	AUX
ajst-30221	36	17	derived	derive	VERB
ajst-30221	36	18	by	by	ADP
ajst-30221	36	19	modeling	model	VERB
ajst-30221	36	20	the	the	DET
ajst-30221	36	21	inaccuracies	inaccuracy	NOUN
ajst-30221	36	22	of	of	ADP
ajst-30221	36	23	the	the	DET
ajst-30221	36	24	sins	sin	NOUN
ajst-30221	36	25	accelerometer	accelerometer	VERB
ajst-30221	36	26	and	and	CCONJ
ajst-30221	36	27	gyroscope	gyroscope	NOUN
ajst-30221	36	28	elements	element	NOUN
ajst-30221	36	29	,	,	PUNCT
ajst-30221	36	30	as	as	ADV
ajst-30221	36	31	well	well	ADV
ajst-30221	36	32	as	as	ADP
ajst-30221	36	33	the	the	DET
ajst-30221	36	34	errors	error	NOUN
ajst-30221	36	35	in	in	ADP
ajst-30221	36	36	velocity	velocity	NOUN
ajst-30221	36	37	,	,	PUNCT
ajst-30221	36	38	position	position	NOUN
ajst-30221	36	39	,	,	PUNCT
ajst-30221	36	40	attitude	attitude	NOUN
ajst-30221	36	41	,	,	PUNCT
ajst-30221	36	42	and	and	CCONJ
ajst-30221	36	43	gnss	gnss	NOUN
ajst-30221	36	44	receiver	receiver	ADJ
ajst-30221	36	45	clock	clock	NOUN
ajst-30221	36	46	discrepancies	discrepancy	NOUN
ajst-30221	36	47	:	:	PUNCT
ajst-30221	37	1			NUM
ajst-30221	37	2			ADJ
ajst-30221	38	1			PROPN
ajst-30221	38	2			PROPN
ajst-30221	38	3			INTJ
ajst-30221	38	4			PROPN
ajst-30221	38	5			ADJ
ajst-30221	38	6			NOUN
ajst-30221	38	7			PROPN
ajst-30221	38	8			NOUN
ajst-30221	38	9			NOUN
ajst-30221	38	10			PROPN
ajst-30221	38	11			NOUN
ajst-30221	38	12			NOUN
ajst-30221	38	13			NOUN
ajst-30221	38	14			NOUN
ajst-30221	38	15			NOUN
ajst-30221	38	16			NOUN
ajst-30221	38	17			PROPN
ajst-30221	38	18			NOUN
ajst-30221	38	19			NOUN
ajst-30221	38	20			NUM
ajst-30221	38	21			ADJ
ajst-30221	38	22			NOUN
ajst-30221	38	23			PROPN
ajst-30221	38	24			NOUN
ajst-30221	38	25			NOUN
ajst-30221	38	26			PROPN
ajst-30221	38	27			NOUN
ajst-30221	38	28			PROPN
ajst-30221	38	29			ADJ
ajst-30221	38	30			NOUN
ajst-30221	38	31			PROPN
ajst-30221	38	32			NOUN
ajst-30221	38	33			NOUN
ajst-30221	38	34			NOUN
ajst-30221	38	35			NOUN
ajst-30221	38	36			NOUN
ajst-30221	38	37			NOUN
ajst-30221	38	38			NOUN
ajst-30221	38	39			NOUN
ajst-30221	38	40			PROPN
ajst-30221	38	41			NOUN
ajst-30221	38	42			PROPN
ajst-30221	38	43			NOUN
ajst-30221	38	44			NOUN
ajst-30221	38	45			PROPN
ajst-30221	38	46			NOUN
ajst-30221	38	47			NOUN
ajst-30221	38	48			NOUN
ajst-30221	38	49			NOUN
ajst-30221	38	50			NOUN
ajst-30221	38	51			PROPN
ajst-30221	38	52			PROPN
ajst-30221	38	53			NOUN
ajst-30221	38	54			PROPN
ajst-30221	38	55			PROPN
ajst-30221	38	56			VERB
ajst-30221	38	57			ADJ
ajst-30221	38	58			ADJ
ajst-30221	38	59			PROPN
ajst-30221	38	60			ADJ
ajst-30221	38	61			NOUN
ajst-30221	38	62			NOUN
ajst-30221	38	63			NOUN
ajst-30221	38	64			NOUN
ajst-30221	38	65	nn	nn	X
ajst-30221	38	66	n	n	CCONJ
ajst-30221	38	67	n	n	ADV
ajst-30221	38	68	ff	ff	NOUN
ajst-30221	38	69	fv	fv	PROPN
ajst-30221	38	70	fγ	fγ	PROPN
ajst-30221	38	71	b	b	PROPN
ajst-30221	38	72	b	b	PROPN
ajst-30221	38	73	nn	nn	PROPN
ajst-30221	38	74	n	n	CCONJ
ajst-30221	38	75	n	n	PROPN
ajst-30221	38	76	vf	vf	X
ajst-30221	38	77	vv	vv	ADP
ajst-30221	38	78	vγ	vγ	PROPN
ajst-30221	38	79	b	b	PROPN
ajst-30221	38	80	b	b	PROPN
ajst-30221	38	81	b	b	X
ajst-30221	38	82	gnn	gnn	PROPN
ajst-30221	38	83	γv	γv	NOUN
ajst-30221	38	84	γγ	γγ	PROPN
ajst-30221	38	85	b	b	PROPN
ajst-30221	38	86	abb	abb	NOUN
ajst-30221	38	87	gg	gg	NOUN
ajst-30221	38	88	bb	bb	NOUN
ajst-30221	38	89	aa	aa	INTJ
ajst-30221	39	1	ff	ff	INTJ
ajst-30221	39	2	f	f	PROPN
ajst-30221	40	1	f	f	PROPN
ajst-30221	40	2	f	f	PROPN
ajst-30221	40	3	-c	-c	SYM
ajst-30221	40	4	0	0	NUM
ajst-30221	40	5	-c	-c	SYM
ajst-30221	40	6	0	0	NUM
ajst-30221	40	7	δvδv	δvδv	NOUN
ajst-30221	41	1	f	f	PROPN
ajst-30221	41	2	f	f	PROPN
ajst-30221	42	1	f	f	PROPN
ajst-30221	42	2	0	0	PROPN
ajst-30221	42	3	c	c	NOUN
ajst-30221	42	4	0	0	PUNCT
ajst-30221	42	5	c	c	NOUN
ajst-30221	42	6	ω	ω	PROPN
ajst-30221	42	7	δγδγ	δγδγ	PROPN
ajst-30221	42	8	0	0	PROPN
ajst-30221	43	1	f	f	PROPN
ajst-30221	43	2	f	f	PROPN
ajst-30221	43	3	0	0	NUM
ajst-30221	43	4	0	0	NUM
ajst-30221	43	5	0	0	NUM
ajst-30221	43	6	0	0	NUM
ajst-30221	43	7	ω	ω	NUM
ajst-30221	43	8	bb	bb	NOUN
ajst-30221	43	9	0	0	NUM
ajst-30221	43	10	0	0	NUM
ajst-30221	43	11	0	0	NUM
ajst-30221	43	12	0	0	NUM
ajst-30221	43	13	0	0	NUM
ajst-30221	43	14	0	0	NUM
ajst-30221	43	15	0	0	NUM
ajst-30221	44	1	bb	bb	NUM
ajst-30221	44	2	0	0	NUM
ajst-30221	44	3	0	0	NUM
ajst-30221	44	4	0	0	NUM
ajst-30221	44	5	0	0	NUM
ajst-30221	44	6	0	0	NUM
ajst-30221	44	7	0	0	NUM
ajst-30221	44	8	0	0	NUM
ajst-30221	44	9	(	(	PUNCT
ajst-30221	44	10	2	2	NUM
ajst-30221	44	11	)	)	PUNCT
ajst-30221	44	12	where	where	SCONJ
ajst-30221	44	13	each	each	DET
ajst-30221	44	14	element	element	NOUN
ajst-30221	44	15	is	be	AUX
ajst-30221	44	16	a	a	DET
ajst-30221	44	17	matrix	matrix	NOUN
ajst-30221	44	18	,	,	PUNCT
ajst-30221	44	19	0	0	NUM
ajst-30221	44	20	signifies	signify	VERB
ajst-30221	44	21	the	the	DET
ajst-30221	44	22	all	all	ADV
ajst-30221	44	23	-	-	PUNCT
ajst-30221	44	24	zero	zero	NUM
ajst-30221	44	25	matrix	matrix	NOUN
ajst-30221	44	26	;	;	PUNCT
ajst-30221	44	27	nf	nf	INTJ
ajst-30221	44	28	,	,	PUNCT
ajst-30221	44	29	δ	δ	PROPN
ajst-30221	44	30	,	,	PUNCT
ajst-30221	44	31	nv	nv	PROPN
ajst-30221	44	32	,	,	PUNCT
ajst-30221	44	33	nδγ	nδγ	PROPN
ajst-30221	44	34	,	,	PUNCT
ajst-30221	44	35	b	b	X
ajst-30221	44	36	gb	gb	NOUN
ajst-30221	44	37	and	and	CCONJ
ajst-30221	44	38	b	b	PROPN
ajst-30221	44	39	ab	ab	PROPN
ajst-30221	44	40	is	be	AUX
ajst-30221	44	41	the	the	DET
ajst-30221	44	42	state	state	NOUN
ajst-30221	44	43	transfer	transfer	NOUN
ajst-30221	44	44	matrix	matrix	NOUN
ajst-30221	44	45	of	of	ADP
ajst-30221	44	46	attitude	attitude	NOUN
ajst-30221	44	47	,	,	PUNCT
ajst-30221	44	48	velocity	velocity	NOUN
ajst-30221	44	49	,	,	PUNCT
ajst-30221	44	50	and	and	CCONJ
ajst-30221	44	51	position	position	NOUN
ajst-30221	44	52	errors	error	NOUN
ajst-30221	44	53	of	of	ADP
ajst-30221	44	54	the	the	DET
ajst-30221	44	55	three	three	NUM
ajst-30221	44	56	axes	axis	NOUN
ajst-30221	44	57	.	.	PUNCT
ajst-30221	45	1	cn	cn	PROPN
ajst-30221	45	2	b	b	PROPN
ajst-30221	45	3	is	be	AUX
ajst-30221	45	4	the	the	DET
ajst-30221	45	5	noise	noise	NOUN
ajst-30221	45	6	allocation	allocation	NOUN
ajst-30221	45	7	matrix	matrix	NOUN
ajst-30221	45	8	.	.	PUNCT
ajst-30221	46	1	an	an	DET
ajst-30221	46	2	independent	independent	ADJ
ajst-30221	46	3	solution	solution	NOUN
ajst-30221	46	4	derived	derive	VERB
ajst-30221	46	5	from	from	ADP
ajst-30221	46	6	inertial	inertial	ADJ
ajst-30221	46	7	guidance	guidance	NOUN
ajst-30221	46	8	,	,	PUNCT
ajst-30221	46	9	the	the	DET
ajst-30221	46	10	guard	guard	NOUN
ajst-30221	46	11	guide	guide	NOUN
ajst-30221	46	12	velocity	velocity	NOUN
ajst-30221	46	13	,	,	PUNCT
ajst-30221	46	14	and	and	CCONJ
ajst-30221	46	15	position	position	NOUN
ajst-30221	46	16	equations	equation	NOUN
ajst-30221	46	17	is	be	AUX
ajst-30221	46	18	utilized	utilize	VERB
ajst-30221	46	19	as	as	ADP
ajst-30221	46	20	input	input	NOUN
ajst-30221	46	21	to	to	ADP
ajst-30221	46	22	the	the	DET
ajst-30221	46	23	system	system	NOUN
ajst-30221	46	24	.	.	PUNCT
ajst-30221	47	1	following	follow	VERB
ajst-30221	47	2	the	the	DET
ajst-30221	47	3	processing	processing	NOUN
ajst-30221	47	4	of	of	ADP
ajst-30221	47	5	the	the	DET
ajst-30221	47	6	range	range	NOUN
ajst-30221	47	7	to	to	ADP
ajst-30221	47	8	the	the	DET
ajst-30221	47	9	sins	sin	NOUN
ajst-30221	47	10	data	datum	NOUN
ajst-30221	47	11	for	for	ADP
ajst-30221	47	12	correction	correction	NOUN
ajst-30221	47	13	,	,	PUNCT
ajst-30221	47	14	the	the	DET
ajst-30221	47	15	measurement	measurement	NOUN
ajst-30221	47	16	equations	equation	NOUN
ajst-30221	47	17	for	for	ADP
ajst-30221	47	18	the	the	DET
ajst-30221	47	19	sins	sin	NOUN
ajst-30221	47	20	/	/	SYM
ajst-30221	47	21	gnss	gnss	NOUN
ajst-30221	47	22	loose	loose	ADJ
ajst-30221	47	23	combination	combination	NOUN
ajst-30221	47	24	are	be	AUX
ajst-30221	47	25	as	as	SCONJ
ajst-30221	47	26	follows	follow	VERB
ajst-30221	47	27	:	:	PUNCT
ajst-30221	47	28	(	(	PUNCT
ajst-30221	47	29	)	)	PUNCT
ajst-30221	47	30	(	(	PUNCT
ajst-30221	47	31	)	)	PUNCT
ajst-30221	47	32	(	(	PUNCT
ajst-30221	47	33	)	)	PUNCT
ajst-30221	47	34	(	(	PUNCT
ajst-30221	47	35	)	)	PUNCT
ajst-30221	47	36	t	t	NOUN
ajst-30221	47	37	t	t	PROPN
ajst-30221	47	38	t	t	PROPN
ajst-30221	47	39	t	t	PROPN
ajst-30221	47	40			PROPN
ajst-30221	47	41	z	z	PROPN
ajst-30221	47	42	h	h	NOUN
ajst-30221	47	43	x	x	SYM
ajst-30221	47	44	v	v	X
ajst-30221	47	45	(	(	PUNCT
ajst-30221	47	46	3	3	NUM
ajst-30221	47	47	)	)	PUNCT
ajst-30221	47	48	where	where	SCONJ
ajst-30221	47	49	(	(	PUNCT
ajst-30221	47	50	)	)	PUNCT
ajst-30221	47	51	tz	tz	PROPN
ajst-30221	47	52	represents	represent	VERB
ajst-30221	47	53	the	the	DET
ajst-30221	47	54	system	system	NOUN
ajst-30221	47	55	measurement	measurement	NOUN
ajst-30221	47	56	,	,	PUNCT
ajst-30221	47	57	(	(	PUNCT
ajst-30221	47	58	)	)	PUNCT
ajst-30221	47	59	th	th	PROPN
ajst-30221	47	60	denotes	denote	VERB
ajst-30221	47	61	the	the	DET
ajst-30221	47	62	system	system	NOUN
ajst-30221	47	63	measurement	measurement	NOUN
ajst-30221	47	64	matrix	matrix	NOUN
ajst-30221	47	65	,	,	PUNCT
ajst-30221	47	66	and	and	CCONJ
ajst-30221	47	67	(	(	PUNCT
ajst-30221	47	68	)	)	PUNCT
ajst-30221	47	69	tv	tv	NOUN
ajst-30221	47	70	signifies	signify	VERB
ajst-30221	47	71	the	the	DET
ajst-30221	47	72	system	system	NOUN
ajst-30221	47	73	measurement	measurement	NOUN
ajst-30221	47	74	white	white	ADJ
ajst-30221	47	75	noise	noise	PROPN
ajst-30221	47	76	.	.	PUNCT
ajst-30221	48	1	the	the	DET
ajst-30221	48	2	three	three	NUM
ajst-30221	48	3	-	-	PUNCT
ajst-30221	48	4	dimensional	dimensional	ADJ
ajst-30221	48	5	coordinates	coordinate	NOUN
ajst-30221	48	6	have	have	AUX
ajst-30221	48	7	been	be	AUX
ajst-30221	48	8	recorded	record	VERB
ajst-30221	48	9	,	,	PUNCT
ajst-30221	48	10	returning	return	VERB
ajst-30221	48	11	the	the	DET
ajst-30221	48	12	following	follow	VERB
ajst-30221	48	13	results	result	NOUN
ajst-30221	48	14	:	:	PUNCT
ajst-30221	48	15			NOUN
ajst-30221	48	16			SYM
ajst-30221	48	17			NOUN
ajst-30221	48	18			PUNCT
ajst-30221	48	19			NOUN
ajst-30221	48	20			NOUN
ajst-30221	49	1			PUNCT
ajst-30221	49	2	r	r	NOUN
ajst-30221	49	3	t	t	PROPN
ajst-30221	49	4			PROPN
ajst-30221	49	5			PROPN
ajst-30221	49	6			NOUN
ajst-30221	49	7			NOUN
ajst-30221	49	8			PROPN
ajst-30221	49	9			PROPN
ajst-30221	49	10			NOUN
ajst-30221	49	11			PROPN
ajst-30221	49	12			PROPN
ajst-30221	49	13			NOUN
ajst-30221	49	14			PROPN
ajst-30221	49	15			PROPN
ajst-30221	49	16			PROPN
ajst-30221	49	17			VERB
ajst-30221	49	18			PROPN
ajst-30221	49	19	sins	sin	NOUN
ajst-30221	49	20	gps	gps	VERB
ajst-30221	49	21	n	n	PRON
ajst-30221	49	22	sins	sin	NOUN
ajst-30221	49	23	gps	gps	PROPN
ajst-30221	49	24	sins	sin	NOUN
ajst-30221	49	25	gps	gps	VERB
ajst-30221	49	26	m	m	PROPN
ajst-30221	49	27	sins	sin	NOUN
ajst-30221	50	1	gps	gps	PROPN
ajst-30221	50	2	sins	sin	NOUN
ajst-30221	50	3	gps	gps	PROPN
ajst-30221	50	4	sins	sin	NOUN
ajst-30221	50	5	gps	gps	VERB
ajst-30221	50	6	l	l	NOUN
ajst-30221	50	7	l	l	NOUN
ajst-30221	51	1	+	+	CCONJ
ajst-30221	51	2	h	h	NOUN
ajst-30221	51	3	cosφ	cosφ	NOUN
ajst-30221	51	4	λ	λ	X
ajst-30221	51	5	λ	λ	NOUN
ajst-30221	51	6	z	z	NOUN
ajst-30221	51	7	λ	λ	X
ajst-30221	51	8	λ	λ	NOUN
ajst-30221	51	9	=	=	PUNCT
ajst-30221	52	1	r	r	NOUN
ajst-30221	52	2	+	+	NUM
ajst-30221	52	3	h	h	PROPN
ajst-30221	52	4	φ	φ	PROPN
ajst-30221	52	5	φ	φ	PROPN
ajst-30221	52	6	h	h	PROPN
ajst-30221	52	7	h	h	PROPN
ajst-30221	52	8	h	h	NOUN
ajst-30221	53	1	h	h	NOUN
ajst-30221	53	2	(	(	PUNCT
ajst-30221	53	3	)	)	PUNCT
ajst-30221	53	4	(	(	PUNCT
ajst-30221	53	5	4	4	X
ajst-30221	53	6	)	)	PUNCT
ajst-30221	53	7	utilizing	utilize	VERB
ajst-30221	53	8	the	the	DET
ajst-30221	53	9	state	state	NOUN
ajst-30221	53	10	and	and	CCONJ
ajst-30221	53	11	measurement	measurement	NOUN
ajst-30221	53	12	equations	equation	NOUN
ajst-30221	53	13	of	of	ADP
ajst-30221	53	14	the	the	DET
ajst-30221	53	15	sins	sin	NOUN
ajst-30221	53	16	/	/	SYM
ajst-30221	53	17	gnss	gnss	NOUN
ajst-30221	53	18	loose	loose	ADJ
ajst-30221	53	19	combination	combination	NOUN
ajst-30221	53	20	,	,	PUNCT
ajst-30221	53	21	kalman	kalman	NOUN
ajst-30221	53	22	filtering	filtering	NOUN
ajst-30221	53	23	assigns	assign	NOUN
ajst-30221	53	24	weights	weight	NOUN
ajst-30221	53	25	to	to	ADP
ajst-30221	53	26	the	the	DET
ajst-30221	53	27	corrections	correction	NOUN
ajst-30221	53	28	of	of	ADP
ajst-30221	53	29	the	the	DET
ajst-30221	53	30	state	state	NOUN
ajst-30221	53	31	and	and	CCONJ
ajst-30221	53	32	actual	actual	ADJ
ajst-30221	53	33	measurements	measurement	NOUN
ajst-30221	53	34	predicted	predict	VERB
ajst-30221	53	35	at	at	ADP
ajst-30221	53	36	that	that	DET
ajst-30221	53	37	instant	instant	NOUN
ajst-30221	53	38	,	,	PUNCT
ajst-30221	53	39	based	base	VERB
ajst-30221	53	40	on	on	ADP
ajst-30221	53	41	available	available	ADJ
ajst-30221	53	42	information	information	NOUN
ajst-30221	53	43	,	,	PUNCT
ajst-30221	53	44	to	to	PART
ajst-30221	53	45	derive	derive	VERB
ajst-30221	53	46	the	the	DET
ajst-30221	53	47	optimal	optimal	ADJ
ajst-30221	53	48	estimate	estimate	NOUN
ajst-30221	53	49	of	of	ADP
ajst-30221	53	50	the	the	DET
ajst-30221	53	51	subsequent	subsequent	ADJ
ajst-30221	53	52	output	output	NOUN
ajst-30221	53	53	that	that	PRON
ajst-30221	53	54	satisfies	satisfy	VERB
ajst-30221	53	55	the	the	DET
ajst-30221	53	56	criterion	criterion	NOUN
ajst-30221	53	57	.	.	PUNCT
ajst-30221	54	1	kalman	kalman	NOUN
ajst-30221	54	2	filtering	filtering	NOUN
ajst-30221	54	3	discretizes	discretize	VERB
ajst-30221	54	4	the	the	DET
ajst-30221	54	5	content	content	NOUN
ajst-30221	54	6	;	;	PUNCT
ajst-30221	54	7	hence	hence	ADV
ajst-30221	54	8	,	,	PUNCT
ajst-30221	54	9	the	the	DET
ajst-30221	54	10	continuous	continuous	ADJ
ajst-30221	54	11	state	state	NOUN
ajst-30221	54	12	and	and	CCONJ
ajst-30221	54	13	measurement	measurement	NOUN
ajst-30221	54	14	equations	equation	NOUN
ajst-30221	54	15	are	be	AUX
ajst-30221	54	16	discretized	discretize	VERB
ajst-30221	54	17	prior	prior	ADV
ajst-30221	54	18	to	to	ADP
ajst-30221	54	19	application	application	NOUN
ajst-30221	54	20	,	,	PUNCT
ajst-30221	54	21	employing	employ	VERB
ajst-30221	54	22	a	a	DET
ajst-30221	54	23	taylor	taylor	PROPN
ajst-30221	54	24	series	series	NOUN
ajst-30221	54	25	expansion	expansion	NOUN
ajst-30221	54	26	for	for	ADP
ajst-30221	54	27	this	this	DET
ajst-30221	54	28	purpose	purpose	NOUN
ajst-30221	54	29	:	:	PUNCT
ajst-30221	55	1	281	281	NUM
ajst-30221	55	2			ADV
ajst-30221	55	3			NUM
ajst-30221	55	4			PROPN
ajst-30221	55	5	k	k	PROPN
ajst-30221	56	1	k	k	PROPN
ajst-30221	56	2	,	,	PUNCT
ajst-30221	56	3	k	k	PROPN
ajst-30221	56	4	-1	-1	PROPN
ajst-30221	57	1	k	k	PROPN
ajst-30221	57	2	-1	-1	PROPN
ajst-30221	58	1	k	k	PROPN
ajst-30221	58	2	-1	-1	PUNCT
ajst-30221	59	1	k	k	PROPN
ajst-30221	60	1	k	k	PROPN
ajst-30221	61	1	k	k	PROPN
ajst-30221	61	2	k	k	X
ajst-30221	61	3	x	x	PUNCT
ajst-30221	62	1	=	=	NOUN
ajst-30221	62	2	φ	φ	X
ajst-30221	62	3	x	x	PUNCT
ajst-30221	63	1	+	+	NOUN
ajst-30221	63	2	w	w	NOUN
ajst-30221	63	3	z	z	NOUN
ajst-30221	63	4	=	=	SYM
ajst-30221	63	5	h	h	NOUN
ajst-30221	64	1	k	k	NOUN
ajst-30221	65	1	+	+	CCONJ
ajst-30221	65	2	v	v	X
ajst-30221	65	3	(	(	PUNCT
ajst-30221	65	4	5	5	NUM
ajst-30221	65	5	)	)	PUNCT
ajst-30221	65	6	where	where	SCONJ
ajst-30221	65	7	kx	kx	PROPN
ajst-30221	65	8	represents	represent	VERB
ajst-30221	65	9	the	the	DET
ajst-30221	65	10	state	state	NOUN
ajst-30221	65	11	vector	vector	NOUN
ajst-30221	65	12	at	at	ADP
ajst-30221	65	13	time	time	NOUN
ajst-30221	65	14	k	k	PROPN
ajst-30221	65	15	,	,	PUNCT
ajst-30221	65	16	k	k	PROPN
ajst-30221	65	17	,	,	PUNCT
ajst-30221	65	18	k	k	PROPN
ajst-30221	65	19	-1φ	-1φ	PROPN
ajst-30221	65	20	denotes	denote	VERB
ajst-30221	65	21	the	the	DET
ajst-30221	65	22	one	one	NUM
ajst-30221	65	23	-	-	PUNCT
ajst-30221	65	24	step	step	NOUN
ajst-30221	65	25	transfer	transfer	NOUN
ajst-30221	65	26	matrix	matrix	NOUN
ajst-30221	65	27	of	of	ADP
ajst-30221	65	28	the	the	DET
ajst-30221	65	29	state	state	NOUN
ajst-30221	65	30	at	at	ADP
ajst-30221	65	31	two	two	NUM
ajst-30221	65	32	consecutive	consecutive	ADJ
ajst-30221	65	33	moments	moment	NOUN
ajst-30221	65	34	,	,	PUNCT
ajst-30221	65	35	w	w	NOUN
ajst-30221	65	36	signifies	signify	VERB
ajst-30221	65	37	the	the	DET
ajst-30221	65	38	system	system	NOUN
ajst-30221	65	39	excitation	excitation	NOUN
ajst-30221	65	40	noise	noise	NOUN
ajst-30221	65	41	,	,	PUNCT
ajst-30221	65	42	kz	kz	PROPN
ajst-30221	65	43	indicates	indicate	VERB
ajst-30221	65	44	the	the	DET
ajst-30221	65	45	measurement	measurement	NOUN
ajst-30221	65	46	vector	vector	NOUN
ajst-30221	65	47	,	,	PUNCT
ajst-30221	65	48	kh	kh	PROPN
ajst-30221	65	49	refers	refer	VERB
ajst-30221	65	50	to	to	ADP
ajst-30221	65	51	the	the	DET
ajst-30221	65	52	measurement	measurement	NOUN
ajst-30221	65	53	matrix	matrix	NOUN
ajst-30221	65	54	,	,	PUNCT
ajst-30221	65	55	and	and	CCONJ
ajst-30221	65	56	v	v	NOUN
ajst-30221	65	57	stands	stand	VERB
ajst-30221	65	58	for	for	ADP
ajst-30221	65	59	the	the	DET
ajst-30221	65	60	measurement	measurement	NOUN
ajst-30221	65	61	noise	noise	NOUN
ajst-30221	65	62	.	.	PUNCT
ajst-30221	66	1	the	the	DET
ajst-30221	66	2	fundamental	fundamental	ADJ
ajst-30221	66	3	equation	equation	NOUN
ajst-30221	66	4	of	of	ADP
ajst-30221	66	5	kalman	kalman	NOUN
ajst-30221	66	6	filtering	filtering	NOUN
ajst-30221	66	7	comprises	comprise	VERB
ajst-30221	66	8	five	five	NUM
ajst-30221	66	9	essential	essential	ADJ
ajst-30221	66	10	components	component	NOUN
ajst-30221	66	11	:	:	PUNCT
ajst-30221	66	12	one	one	NUM
ajst-30221	66	13	-	-	PUNCT
ajst-30221	66	14	step	step	NOUN
ajst-30221	66	15	state	state	NOUN
ajst-30221	66	16	prediction	prediction	NOUN
ajst-30221	66	17	,	,	PUNCT
ajst-30221	66	18	mean	mean	ADJ
ajst-30221	66	19	square	square	ADJ
ajst-30221	66	20	error	error	NOUN
ajst-30221	66	21	of	of	ADP
ajst-30221	66	22	one	one	NUM
ajst-30221	66	23	-	-	PUNCT
ajst-30221	66	24	step	step	NOUN
ajst-30221	66	25	state	state	NOUN
ajst-30221	66	26	prediction	prediction	NOUN
ajst-30221	66	27	,	,	PUNCT
ajst-30221	66	28	filtering	filter	VERB
ajst-30221	66	29	gain	gain	NOUN
ajst-30221	66	30	,	,	PUNCT
ajst-30221	66	31	state	state	NOUN
ajst-30221	66	32	estimation	estimation	NOUN
ajst-30221	66	33	,	,	PUNCT
ajst-30221	66	34	and	and	CCONJ
ajst-30221	66	35	mean	mean	VERB
ajst-30221	66	36	square	square	ADJ
ajst-30221	66	37	error	error	NOUN
ajst-30221	66	38	of	of	ADP
ajst-30221	66	39	state	state	NOUN
ajst-30221	66	40	estimation	estimation	NOUN
ajst-30221	66	41	.	.	PUNCT
ajst-30221	67	1	kalman	kalman	NOUN
ajst-30221	67	2	filtering	filtering	PROPN
ajst-30221	67	3	employs	employ	VERB
ajst-30221	67	4	the	the	DET
ajst-30221	67	5	initial	initial	ADJ
ajst-30221	67	6	value	value	NOUN
ajst-30221	67	7	and	and	CCONJ
ajst-30221	67	8	its	its	PRON
ajst-30221	67	9	associated	associated	ADJ
ajst-30221	67	10	estimation	estimation	NOUN
ajst-30221	67	11	error	error	NOUN
ajst-30221	67	12	to	to	PART
ajst-30221	67	13	perform	perform	VERB
ajst-30221	67	14	iterative	iterative	NOUN
ajst-30221	67	15	calculations	calculation	NOUN
ajst-30221	67	16	through	through	ADP
ajst-30221	67	17	the	the	DET
ajst-30221	67	18	time	time	NOUN
ajst-30221	67	19	update	update	NOUN
ajst-30221	67	20	and	and	CCONJ
ajst-30221	67	21	measurement	measurement	NOUN
ajst-30221	67	22	update	update	NOUN
ajst-30221	67	23	processes	process	NOUN
ajst-30221	67	24	,	,	PUNCT
ajst-30221	67	25	thereby	thereby	ADV
ajst-30221	67	26	continuously	continuously	ADV
ajst-30221	67	27	refining	refine	VERB
ajst-30221	67	28	the	the	DET
ajst-30221	67	29	optimal	optimal	ADJ
ajst-30221	67	30	estimation	estimation	NOUN
ajst-30221	67	31	of	of	ADP
ajst-30221	67	32	the	the	DET
ajst-30221	67	33	system	system	NOUN
ajst-30221	67	34	state	state	NOUN
ajst-30221	67	35	.	.	PUNCT
ajst-30221	68	1	the	the	DET
ajst-30221	68	2	fundamental	fundamental	ADJ
ajst-30221	68	3	equations	equation	NOUN
ajst-30221	68	4	of	of	ADP
ajst-30221	68	5	kalman	kalman	PROPN
ajst-30221	68	6	filtering	filtering	PROPN
ajst-30221	68	7	are	be	AUX
ajst-30221	68	8	presented	present	VERB
ajst-30221	68	9	below	below	ADP
ajst-30221	68	10	:	:	PUNCT
ajst-30221	68	11	ˆ	ˆ	DET
ajst-30221	68	12	ˆ	ˆ	PUNCT
ajst-30221	68	13	k	k	NOUN
ajst-30221	68	14	,	,	PUNCT
ajst-30221	68	15	k	k	PROPN
ajst-30221	68	16	-1	-1	PROPN
ajst-30221	69	1	k	k	X
ajst-30221	69	2	,	,	PUNCT
ajst-30221	69	3	k	k	PROPN
ajst-30221	69	4	-1	-1	PROPN
ajst-30221	70	1	k	k	PROPN
ajst-30221	70	2	-1x	-1x	PROPN
ajst-30221	70	3	=	=	PROPN
ajst-30221	70	4	φ	φ	PROPN
ajst-30221	70	5	x	x	SYM
ajst-30221	70	6	(	(	PUNCT
ajst-30221	70	7	6	6	NUM
ajst-30221	70	8	)	)	PUNCT
ajst-30221	70	9	τ	τ	PROPN
ajst-30221	70	10	κ	κ	NOUN
ajst-30221	70	11	,	,	PUNCT
ajst-30221	70	12	κ	κ	PROPN
ajst-30221	70	13	-1	-1	ADJ
ajst-30221	70	14	κ	κ	PROPN
ajst-30221	70	15	,	,	PUNCT
ajst-30221	70	16	κ	κ	PROPN
ajst-30221	70	17	-1	-1	PROPN
ajst-30221	70	18	κ	κ	PROPN
ajst-30221	70	19	-1	-1	PROPN
ajst-30221	70	20	κ	κ	PROPN
ajst-30221	70	21	,	,	PUNCT
ajst-30221	70	22	κ	κ	PROPN
ajst-30221	70	23	-1	-1	NOUN
ajst-30221	70	24	κ	κ	PROPN
ajst-30221	70	25	-1π	-1π	PROPN
ajst-30221	71	1	=	=	SYM
ajst-30221	71	2	φ	φ	PROPN
ajst-30221	71	3	π	π	PROPN
ajst-30221	71	4	φ	φ	PROPN
ajst-30221	71	5	+	+	CCONJ
ajst-30221	71	6	υ	υ	PROPN
ajst-30221	71	7	(	(	PUNCT
ajst-30221	71	8	7	7	NUM
ajst-30221	71	9	)	)	PUNCT
ajst-30221	71	10			NOUN
ajst-30221	71	11	-1	-1	PROPN
ajst-30221	71	12	t	t	PROPN
ajst-30221	71	13	t	t	PROPN
ajst-30221	72	1	k	k	PROPN
ajst-30221	72	2	k	k	PROPN
ajst-30221	72	3	,	,	PUNCT
ajst-30221	72	4	k	k	PROPN
ajst-30221	72	5	-1	-1	PROPN
ajst-30221	73	1	k	k	PROPN
ajst-30221	73	2	k	k	PROPN
ajst-30221	73	3	k	k	PROPN
ajst-30221	73	4	,	,	PUNCT
ajst-30221	73	5	k	k	PROPN
ajst-30221	73	6	-1	-1	PROPN
ajst-30221	74	1	k	k	PROPN
ajst-30221	74	2	kk	kk	PROPN
ajst-30221	75	1	=	=	PUNCT
ajst-30221	76	1	p	p	NOUN
ajst-30221	76	2	h	h	NOUN
ajst-30221	76	3	h	h	NOUN
ajst-30221	76	4	p	p	NOUN
ajst-30221	76	5	h	h	NOUN
ajst-30221	77	1	+	+	CCONJ
ajst-30221	78	1	r	r	NOUN
ajst-30221	78	2	(	(	PUNCT
ajst-30221	78	3	8)	8)	NUM
ajst-30221	78	4			NOUN
ajst-30221	78	5	ˆ	ˆ	NOUN
ajst-30221	78	6	ˆ	ˆ	NOUN
ajst-30221	78	7	ˆ	ˆ	PUNCT
ajst-30221	79	1	k	k	PROPN
ajst-30221	79	2	k	k	X
ajst-30221	79	3	,	,	PUNCT
ajst-30221	79	4	k	k	PROPN
ajst-30221	79	5	-1	-1	PROPN
ajst-30221	80	1	k	k	PROPN
ajst-30221	80	2	k	k	PROPN
ajst-30221	80	3	k	k	PROPN
ajst-30221	80	4	k	k	PROPN
ajst-30221	80	5	,	,	PUNCT
ajst-30221	80	6	k	k	PROPN
ajst-30221	80	7	-1x	-1x	PROPN
ajst-30221	80	8	=	=	PUNCT
ajst-30221	81	1	x	x	PUNCT
ajst-30221	81	2	+	+	CCONJ
ajst-30221	81	3	k	k	PROPN
ajst-30221	81	4	z	z	NOUN
ajst-30221	81	5	h	h	NOUN
ajst-30221	81	6	x	x	X
ajst-30221	81	7	(	(	PUNCT
ajst-30221	81	8	9	9	NUM
ajst-30221	81	9	)	)	PUNCT
ajst-30221	81	10			NOUN
ajst-30221	81	11	k	k	NUM
ajst-30221	82	1	k	k	PROPN
ajst-30221	82	2	k	k	PROPN
ajst-30221	82	3	k	k	PROPN
ajst-30221	82	4	,	,	PUNCT
ajst-30221	82	5	k	k	PROPN
ajst-30221	82	6	-1p	-1p	PROPN
ajst-30221	83	1	=	=	PUNCT
ajst-30221	83	2	i	i	PRON
ajst-30221	84	1	k	k	PROPN
ajst-30221	84	2	h	h	NOUN
ajst-30221	84	3	p	p	NOUN
ajst-30221	84	4	(	(	PUNCT
ajst-30221	84	5	10	10	NUM
ajst-30221	84	6	)	)	PUNCT
ajst-30221	84	7	3	3	NUM
ajst-30221	84	8	.	.	X
ajst-30221	84	9	experiment	experiment	NOUN
ajst-30221	84	10	and	and	CCONJ
ajst-30221	84	11	result	result	VERB
ajst-30221	84	12	3.1	3.1	NUM
ajst-30221	84	13	.	.	PUNCT
ajst-30221	84	14	simulated	simulate	VERB
ajst-30221	84	15	data	datum	NOUN
ajst-30221	84	16	this	this	DET
ajst-30221	84	17	work	work	NOUN
ajst-30221	84	18	is	be	AUX
ajst-30221	84	19	founded	found	VERB
ajst-30221	84	20	on	on	ADP
ajst-30221	84	21	the	the	DET
ajst-30221	84	22	implementation	implementation	NOUN
ajst-30221	84	23	of	of	ADP
ajst-30221	84	24	the	the	DET
ajst-30221	84	25	opensource	opensource	NOUN
ajst-30221	84	26	pins	pin	NOUN
ajst-30221	84	27	algorithm	algorithm	NOUN
ajst-30221	84	28	.	.	PUNCT
ajst-30221	85	1	the	the	DET
ajst-30221	85	2	flight	flight	NOUN
ajst-30221	85	3	trajectory	trajectory	NOUN
ajst-30221	85	4	data	datum	NOUN
ajst-30221	85	5	are	be	AUX
ajst-30221	85	6	simulated	simulate	VERB
ajst-30221	85	7	using	use	VERB
ajst-30221	85	8	parameter	parameter	NOUN
ajst-30221	85	9	settings	setting	NOUN
ajst-30221	85	10	.	.	PUNCT
ajst-30221	86	1	forty	forty	NUM
ajst-30221	86	2	seconds	second	NOUN
ajst-30221	86	3	after	after	ADP
ajst-30221	86	4	activation	activation	NOUN
ajst-30221	86	5	and	and	CCONJ
ajst-30221	86	6	remaining	remain	VERB
ajst-30221	86	7	stationary	stationary	NOUN
ajst-30221	86	8	,	,	PUNCT
ajst-30221	86	9	ascend	ascend	VERB
ajst-30221	86	10	in	in	ADP
ajst-30221	86	11	the	the	DET
ajst-30221	86	12	true	true	ADJ
ajst-30221	86	13	north	north	NOUN
ajst-30221	86	14	direction	direction	NOUN
ajst-30221	86	15	with	with	ADP
ajst-30221	86	16	an	an	DET
ajst-30221	86	17	acceleration	acceleration	NOUN
ajst-30221	86	18	of	of	ADP
ajst-30221	86	19	1	1	NUM
ajst-30221	86	20	m	m	NOUN
ajst-30221	86	21	/	/	SYM
ajst-30221	86	22	s²	s²	PROPN
ajst-30221	86	23	for	for	ADP
ajst-30221	86	24	ten	ten	NUM
ajst-30221	86	25	seconds	second	NOUN
ajst-30221	86	26	,	,	PUNCT
ajst-30221	86	27	thereafter	thereafter	ADV
ajst-30221	86	28	maintaining	maintain	VERB
ajst-30221	86	29	a	a	DET
ajst-30221	86	30	constant	constant	ADJ
ajst-30221	86	31	velocity	velocity	NOUN
ajst-30221	86	32	for	for	ADP
ajst-30221	86	33	one	one	NUM
ajst-30221	86	34	hundred	hundred	NUM
ajst-30221	86	35	seconds	second	NOUN
ajst-30221	86	36	;	;	PUNCT
ajst-30221	86	37	execute	execute	VERB
ajst-30221	86	38	a	a	DET
ajst-30221	86	39	left	left	ADJ
ajst-30221	86	40	turn	turn	NOUN
ajst-30221	86	41	of	of	ADP
ajst-30221	86	42	ninety	ninety	NUM
ajst-30221	86	43	degrees	degree	NOUN
ajst-30221	86	44	and	and	CCONJ
ajst-30221	86	45	sustain	sustain	VERB
ajst-30221	86	46	a	a	DET
ajst-30221	86	47	constant	constant	ADJ
ajst-30221	86	48	speed	speed	NOUN
ajst-30221	86	49	for	for	ADP
ajst-30221	86	50	seventy	seventy	NUM
ajst-30221	86	51	seconds	second	NOUN
ajst-30221	86	52	;	;	PUNCT
ajst-30221	86	53	perform	perform	VERB
ajst-30221	86	54	a	a	DET
ajst-30221	86	55	right	right	ADJ
ajst-30221	86	56	turn	turn	NOUN
ajst-30221	86	57	of	of	ADP
ajst-30221	86	58	two	two	NUM
ajst-30221	86	59	hundred	hundred	NUM
ajst-30221	86	60	seventy	seventy	NUM
ajst-30221	86	61	degrees	degree	NOUN
ajst-30221	86	62	and	and	CCONJ
ajst-30221	86	63	maintain	maintain	VERB
ajst-30221	86	64	a	a	DET
ajst-30221	86	65	constant	constant	ADJ
ajst-30221	86	66	speed	speed	NOUN
ajst-30221	86	67	for	for	ADP
ajst-30221	86	68	fifty	fifty	NUM
ajst-30221	86	69	seconds	second	NOUN
ajst-30221	86	70	;	;	PUNCT
ajst-30221	86	71	execute	execute	VERB
ajst-30221	86	72	a	a	DET
ajst-30221	86	73	left	left	ADJ
ajst-30221	86	74	turn	turn	NOUN
ajst-30221	86	75	of	of	ADP
ajst-30221	86	76	ninety	ninety	NUM
ajst-30221	86	77	degrees	degree	NOUN
ajst-30221	86	78	followed	follow	VERB
ajst-30221	86	79	by	by	ADP
ajst-30221	86	80	a	a	DET
ajst-30221	86	81	right	right	ADJ
ajst-30221	86	82	turn	turn	NOUN
ajst-30221	86	83	of	of	ADP
ajst-30221	86	84	four	four	NUM
ajst-30221	86	85	hundred	hundred	NUM
ajst-30221	86	86	fifty	fifty	NUM
ajst-30221	86	87	degrees	degree	NOUN
ajst-30221	86	88	,	,	PUNCT
ajst-30221	86	89	sustaining	sustain	VERB
ajst-30221	86	90	a	a	DET
ajst-30221	86	91	constant	constant	ADJ
ajst-30221	86	92	speed	speed	NOUN
ajst-30221	86	93	for	for	ADP
ajst-30221	86	94	one	one	NUM
ajst-30221	86	95	hundred	hundred	NUM
ajst-30221	86	96	thirty	thirty	NUM
ajst-30221	86	97	seconds	second	NOUN
ajst-30221	86	98	;	;	PUNCT
ajst-30221	86	99	replicate	replicate	VERB
ajst-30221	86	100	the	the	DET
ajst-30221	86	101	aforementioned	aforementioned	ADJ
ajst-30221	86	102	trajectory	trajectory	NOUN
ajst-30221	86	103	three	three	NUM
ajst-30221	86	104	times	time	NOUN
ajst-30221	86	105	to	to	PART
ajst-30221	86	106	establish	establish	VERB
ajst-30221	86	107	the	the	DET
ajst-30221	86	108	flight	flight	NOUN
ajst-30221	86	109	path	path	NOUN
ajst-30221	86	110	.	.	PUNCT
ajst-30221	87	1	the	the	DET
ajst-30221	87	2	optimal	optimal	ADJ
ajst-30221	87	3	flying	flying	NOUN
ajst-30221	87	4	path	path	NOUN
ajst-30221	87	5	is	be	AUX
ajst-30221	87	6	determined	determine	VERB
ajst-30221	87	7	by	by	ADP
ajst-30221	87	8	configuring	configure	VERB
ajst-30221	87	9	the	the	DET
ajst-30221	87	10	attitude	attitude	NOUN
ajst-30221	87	11	and	and	CCONJ
ajst-30221	87	12	position	position	NOUN
ajst-30221	87	13	parameters	parameter	NOUN
ajst-30221	87	14	,	,	PUNCT
ajst-30221	87	15	as	as	SCONJ
ajst-30221	87	16	seen	see	VERB
ajst-30221	87	17	in	in	ADP
ajst-30221	87	18	fig	fig	NOUN
ajst-30221	87	19	.	.	PUNCT
ajst-30221	88	1	3	3	X
ajst-30221	88	2	.	.	X
ajst-30221	88	3	the	the	DET
ajst-30221	88	4	initial	initial	ADJ
ajst-30221	88	5	position	position	NOUN
ajst-30221	88	6	is	be	AUX
ajst-30221	88	7	indicated	indicate	VERB
ajst-30221	88	8	by	by	ADP
ajst-30221	88	9	a	a	DET
ajst-30221	88	10	red	red	ADJ
ajst-30221	88	11	five	five	NUM
ajst-30221	88	12	-	-	PUNCT
ajst-30221	88	13	star	star	NOUN
ajst-30221	88	14	in	in	ADP
ajst-30221	88	15	the	the	DET
ajst-30221	88	16	illustration	illustration	NOUN
ajst-30221	88	17	,	,	PUNCT
ajst-30221	88	18	with	with	SCONJ
ajst-30221	88	19	the	the	DET
ajst-30221	88	20	relative	relative	ADJ
ajst-30221	88	21	position	position	NOUN
ajst-30221	88	22	described	describe	VERB
ajst-30221	88	23	corresponding	correspond	VERB
ajst-30221	88	24	to	to	ADP
ajst-30221	88	25	the	the	DET
ajst-30221	88	26	coordinates	coordinate	NOUN
ajst-30221	88	27	(	(	PUNCT
ajst-30221	88	28	0	0	NUM
ajst-30221	88	29	,	,	PUNCT
ajst-30221	88	30	0	0	NUM
ajst-30221	88	31	,	,	PUNCT
ajst-30221	88	32	0	0	NUM
ajst-30221	88	33	)	)	PUNCT
ajst-30221	88	34	.	.	PUNCT
ajst-30221	89	1	the	the	DET
ajst-30221	89	2	trajectory	trajectory	NOUN
ajst-30221	89	3	proceeds	proceed	NOUN
ajst-30221	89	4	in	in	ADP
ajst-30221	89	5	the	the	DET
ajst-30221	89	6	true	true	ADJ
ajst-30221	89	7	north	north	NOUN
ajst-30221	89	8	direction	direction	NOUN
ajst-30221	89	9	until	until	ADP
ajst-30221	89	10	its	its	PRON
ajst-30221	89	11	conclusion	conclusion	NOUN
ajst-30221	89	12	.	.	PUNCT
ajst-30221	90	1	figure	figure	NOUN
ajst-30221	90	2	3	3	NUM
ajst-30221	90	3	.	.	PUNCT
ajst-30221	90	4	simulation	simulation	NOUN
ajst-30221	90	5	of	of	ADP
ajst-30221	90	6	ideal	ideal	ADJ
ajst-30221	90	7	flight	flight	NOUN
ajst-30221	90	8	trajectory	trajectory	NOUN
ajst-30221	90	9	in	in	ADP
ajst-30221	90	10	real	real	ADJ
ajst-30221	90	11	-	-	PUNCT
ajst-30221	90	12	world	world	NOUN
ajst-30221	90	13	scenarios	scenario	NOUN
ajst-30221	90	14	,	,	PUNCT
ajst-30221	90	15	the	the	DET
ajst-30221	90	16	utilization	utilization	NOUN
ajst-30221	90	17	of	of	ADP
ajst-30221	90	18	equipment	equipment	NOUN
ajst-30221	90	19	containing	contain	VERB
ajst-30221	90	20	inertial	inertial	ADJ
ajst-30221	90	21	components	component	NOUN
ajst-30221	90	22	for	for	ADP
ajst-30221	90	23	flight	flight	NOUN
ajst-30221	90	24	testing	testing	NOUN
ajst-30221	90	25	is	be	AUX
ajst-30221	90	26	subject	subject	ADJ
ajst-30221	90	27	to	to	ADP
ajst-30221	90	28	numerous	numerous	ADJ
ajst-30221	90	29	errors	error	NOUN
ajst-30221	90	30	.	.	PUNCT
ajst-30221	91	1	therefore	therefore	ADV
ajst-30221	91	2	,	,	PUNCT
ajst-30221	91	3	it	it	PRON
ajst-30221	91	4	is	be	AUX
ajst-30221	91	5	essential	essential	ADJ
ajst-30221	91	6	to	to	PART
ajst-30221	91	7	integrate	integrate	VERB
ajst-30221	91	8	the	the	DET
ajst-30221	91	9	actual	actual	ADJ
ajst-30221	91	10	conditions	condition	NOUN
ajst-30221	91	11	with	with	ADP
ajst-30221	91	12	an	an	DET
ajst-30221	91	13	ideal	ideal	ADJ
ajst-30221	91	14	trajectory	trajectory	NOUN
ajst-30221	91	15	simulation	simulation	NOUN
ajst-30221	91	16	by	by	ADP
ajst-30221	91	17	incorporating	incorporate	VERB
ajst-30221	91	18	the	the	DET
ajst-30221	91	19	relevant	relevant	ADJ
ajst-30221	91	20	error	error	NOUN
ajst-30221	91	21	models	model	NOUN
ajst-30221	91	22	.	.	PUNCT
ajst-30221	92	1	this	this	PRON
ajst-30221	92	2	includes	include	VERB
ajst-30221	92	3	the	the	DET
ajst-30221	92	4	zero	zero	NUM
ajst-30221	92	5	bias	bias	NOUN
ajst-30221	92	6	of	of	ADP
ajst-30221	92	7	the	the	DET
ajst-30221	92	8	gyroscope	gyroscope	NOUN
ajst-30221	92	9	,	,	PUNCT
ajst-30221	92	10	zero	zero	NUM
ajst-30221	92	11	bias	bias	NOUN
ajst-30221	92	12	of	of	ADP
ajst-30221	92	13	the	the	DET
ajst-30221	92	14	accelerometer	accelerometer	NOUN
ajst-30221	92	15	,	,	PUNCT
ajst-30221	92	16	random	random	ADJ
ajst-30221	92	17	drift	drift	NOUN
ajst-30221	92	18	of	of	ADP
ajst-30221	92	19	the	the	DET
ajst-30221	92	20	gyroscope	gyroscope	NOUN
ajst-30221	92	21	,	,	PUNCT
ajst-30221	92	22	random	random	ADJ
ajst-30221	92	23	drift	drift	NOUN
ajst-30221	92	24	of	of	ADP
ajst-30221	92	25	the	the	DET
ajst-30221	92	26	accelerometer	accelerometer	NOUN
ajst-30221	92	27	's	's	PART
ajst-30221	92	28	speed	speed	NOUN
ajst-30221	92	29	,	,	PUNCT
ajst-30221	92	30	as	as	ADV
ajst-30221	92	31	well	well	ADV
ajst-30221	92	32	as	as	ADP
ajst-30221	92	33	the	the	DET
ajst-30221	92	34	initial	initial	ADJ
ajst-30221	92	35	trajectory	trajectory	NOUN
ajst-30221	92	36	misalignment	misalignment	NOUN
ajst-30221	92	37	angle	angle	NOUN
ajst-30221	92	38	error	error	NOUN
ajst-30221	92	39	,	,	PUNCT
ajst-30221	92	40	speed	speed	NOUN
ajst-30221	92	41	error	error	NOUN
ajst-30221	92	42	,	,	PUNCT
ajst-30221	92	43	position	position	NOUN
ajst-30221	92	44	error	error	NOUN
ajst-30221	92	45	,	,	PUNCT
ajst-30221	92	46	and	and	CCONJ
ajst-30221	92	47	other	other	ADJ
ajst-30221	92	48	error	error	NOUN
ajst-30221	92	49	terms	term	NOUN
ajst-30221	92	50	to	to	PART
ajst-30221	92	51	accurately	accurately	ADV
ajst-30221	92	52	replicate	replicate	VERB
ajst-30221	92	53	the	the	DET
ajst-30221	92	54	authentic	authentic	ADJ
ajst-30221	92	55	flight	flight	NOUN
ajst-30221	92	56	environment	environment	NOUN
ajst-30221	92	57	.	.	PUNCT
ajst-30221	93	1	the	the	DET
ajst-30221	93	2	flight	flight	NOUN
ajst-30221	93	3	path	path	NOUN
ajst-30221	93	4	is	be	AUX
ajst-30221	93	5	depicted	depict	VERB
ajst-30221	93	6	in	in	ADP
ajst-30221	93	7	fig	fig	NOUN
ajst-30221	93	8	.	.	PUNCT
ajst-30221	94	1	4	4	NUM
ajst-30221	94	2	.	.	X
ajst-30221	94	3	282	282	NUM
ajst-30221	94	4	figure	figure	NOUN
ajst-30221	94	5	4	4	NUM
ajst-30221	94	6	.	.	PUNCT
ajst-30221	94	7	inertial	inertial	ADJ
ajst-30221	94	8	navigation	navigation	NOUN
ajst-30221	94	9	flight	flight	NOUN
ajst-30221	94	10	trajectory	trajectory	NOUN
ajst-30221	94	11	3.2	3.2	NUM
ajst-30221	94	12	.	.	PUNCT
ajst-30221	95	1	prior	prior	ADJ
ajst-30221	95	2	information	information	NOUN
ajst-30221	95	3	processing	process	VERB
ajst-30221	95	4	a	a	DET
ajst-30221	95	5	second	second	ADJ
ajst-30221	95	6	-	-	PUNCT
ajst-30221	95	7	order	order	NOUN
ajst-30221	95	8	butterworth	butterworth	ADJ
ajst-30221	95	9	low	low	ADJ
ajst-30221	95	10	-	-	PUNCT
ajst-30221	95	11	pass	pass	NOUN
ajst-30221	95	12	filter	filter	NOUN
ajst-30221	95	13	is	be	AUX
ajst-30221	95	14	employed	employ	VERB
ajst-30221	95	15	to	to	PART
ajst-30221	95	16	handle	handle	VERB
ajst-30221	95	17	the	the	DET
ajst-30221	95	18	imu	imu	NOUN
ajst-30221	95	19	data	datum	NOUN
ajst-30221	95	20	,	,	PUNCT
ajst-30221	95	21	effectively	effectively	ADV
ajst-30221	95	22	eliminating	eliminate	VERB
ajst-30221	95	23	high	high	ADJ
ajst-30221	95	24	-	-	PUNCT
ajst-30221	95	25	frequency	frequency	NOUN
ajst-30221	95	26	noise	noise	NOUN
ajst-30221	95	27	interference	interference	NOUN
ajst-30221	95	28	.	.	PUNCT
ajst-30221	96	1	the	the	DET
ajst-30221	96	2	filter	filter	NOUN
ajst-30221	96	3	cut	cut	VERB
ajst-30221	96	4	-	-	PUNCT
ajst-30221	96	5	off	off	ADP
ajst-30221	96	6	frequency	frequency	NOUN
ajst-30221	96	7	correlates	correlate	VERB
ajst-30221	96	8	with	with	ADP
ajst-30221	96	9	the	the	DET
ajst-30221	96	10	fft	fft	NOUN
ajst-30221	96	11	of	of	ADP
ajst-30221	96	12	the	the	DET
ajst-30221	96	13	original	original	ADJ
ajst-30221	96	14	data	datum	NOUN
ajst-30221	96	15	;	;	PUNCT
ajst-30221	96	16	based	base	VERB
ajst-30221	96	17	on	on	ADP
ajst-30221	96	18	empirical	empirical	ADJ
ajst-30221	96	19	evidence	evidence	NOUN
ajst-30221	96	20	,	,	PUNCT
ajst-30221	96	21	attempt	attempt	VERB
ajst-30221	96	22	to	to	PART
ajst-30221	96	23	establish	establish	VERB
ajst-30221	96	24	cut	cut	VERB
ajst-30221	96	25	-	-	PUNCT
ajst-30221	96	26	off	off	ADP
ajst-30221	96	27	frequencies	frequency	NOUN
ajst-30221	96	28	of	of	ADP
ajst-30221	96	29	30	30	NUM
ajst-30221	96	30	hz	hz	VERB
ajst-30221	96	31	,	,	PUNCT
ajst-30221	96	32	40	40	NUM
ajst-30221	96	33	hz	hz	VERB
ajst-30221	96	34	,	,	PUNCT
ajst-30221	96	35	50	50	NUM
ajst-30221	96	36	hz	hz	NOUN
ajst-30221	96	37	,	,	PUNCT
ajst-30221	96	38	and	and	CCONJ
ajst-30221	96	39	60	60	NUM
ajst-30221	96	40	hz	hz	VERB
ajst-30221	96	41	to	to	PART
ajst-30221	96	42	filter	filter	VERB
ajst-30221	96	43	the	the	DET
ajst-30221	96	44	data	datum	NOUN
ajst-30221	96	45	,	,	PUNCT
ajst-30221	96	46	compare	compare	VERB
ajst-30221	96	47	the	the	DET
ajst-30221	96	48	results	result	NOUN
ajst-30221	96	49	from	from	ADP
ajst-30221	96	50	these	these	DET
ajst-30221	96	51	four	four	NUM
ajst-30221	96	52	trials	trial	NOUN
ajst-30221	96	53	,	,	PUNCT
ajst-30221	96	54	and	and	CCONJ
ajst-30221	96	55	ascertain	ascertain	VERB
ajst-30221	96	56	the	the	DET
ajst-30221	96	57	optimal	optimal	ADJ
ajst-30221	96	58	cut	cut	NOUN
ajst-30221	96	59	-	-	PUNCT
ajst-30221	96	60	off	off	ADP
ajst-30221	96	61	frequency	frequency	NOUN
ajst-30221	96	62	.	.	PUNCT
ajst-30221	97	1	the	the	DET
ajst-30221	97	2	experimental	experimental	ADJ
ajst-30221	97	3	sampling	sampling	NOUN
ajst-30221	97	4	frequency	frequency	NOUN
ajst-30221	97	5	is	be	AUX
ajst-30221	97	6	200	200	NUM
ajst-30221	97	7	hz	hz	NOUN
ajst-30221	97	8	,	,	PUNCT
ajst-30221	97	9	the	the	DET
ajst-30221	97	10	cut	cut	VERB
ajst-30221	97	11	-	-	PUNCT
ajst-30221	97	12	off	off	ADP
ajst-30221	97	13	frequency	frequency	NOUN
ajst-30221	97	14	is	be	AUX
ajst-30221	97	15	60	60	NUM
ajst-30221	97	16	hz	hz	ADJ
ajst-30221	97	17	,	,	PUNCT
ajst-30221	97	18	and	and	CCONJ
ajst-30221	97	19	a	a	DET
ajst-30221	97	20	second	second	ADJ
ajst-30221	97	21	-	-	PUNCT
ajst-30221	97	22	order	order	NOUN
ajst-30221	97	23	butterworth	butterworth	NOUN
ajst-30221	97	24	filter	filter	NOUN
ajst-30221	97	25	is	be	AUX
ajst-30221	97	26	employed	employ	VERB
ajst-30221	97	27	to	to	PART
ajst-30221	97	28	process	process	VERB
ajst-30221	97	29	the	the	DET
ajst-30221	97	30	imu	imu	ADJ
ajst-30221	97	31	raw	raw	ADJ
ajst-30221	97	32	data	datum	NOUN
ajst-30221	97	33	.	.	PUNCT
ajst-30221	98	1	figure	figure	NOUN
ajst-30221	98	2	5	5	NUM
ajst-30221	98	3	illustrates	illustrate	VERB
ajst-30221	98	4	the	the	DET
ajst-30221	98	5	outcomes	outcome	NOUN
ajst-30221	98	6	of	of	ADP
ajst-30221	98	7	the	the	DET
ajst-30221	98	8	imu	imu	NOUN
ajst-30221	98	9	data	datum	NOUN
ajst-30221	98	10	processed	process	VERB
ajst-30221	98	11	using	use	VERB
ajst-30221	98	12	the	the	DET
ajst-30221	98	13	secondorder	secondorder	ADJ
ajst-30221	98	14	butterworth	butterworth	PROPN
ajst-30221	98	15	filter	filter	PROPN
ajst-30221	98	16	.	.	PUNCT
ajst-30221	99	1	figure	figure	NOUN
ajst-30221	99	2	5	5	NUM
ajst-30221	99	3	.	.	PUNCT
ajst-30221	99	4	second	second	ADJ
ajst-30221	99	5	-	-	PUNCT
ajst-30221	99	6	order	order	NOUN
ajst-30221	99	7	butterworth	butterworth	ADJ
ajst-30221	99	8	low	low	ADJ
ajst-30221	99	9	-	-	PUNCT
ajst-30221	99	10	pass	pass	NOUN
ajst-30221	99	11	filtering	filtering	NOUN
ajst-30221	99	12	results	result	NOUN
ajst-30221	99	13	3.3	3.3	NUM
ajst-30221	99	14	.	.	PUNCT
ajst-30221	100	1	prior	prior	ADJ
ajst-30221	100	2	information	information	NOUN
ajst-30221	100	3	aided	aid	VERB
ajst-30221	100	4	pins	pin	NOUN
ajst-30221	100	5	/	/	SYM
ajst-30221	100	6	gnss	gnss	NOUN
ajst-30221	100	7	integrated	integrate	VERB
ajst-30221	100	8	navigation	navigation	NOUN
ajst-30221	100	9	the	the	DET
ajst-30221	100	10	flight	flight	NOUN
ajst-30221	100	11	path	path	NOUN
ajst-30221	100	12	analyzed	analyze	VERB
ajst-30221	100	13	by	by	ADP
ajst-30221	100	14	combined	combined	ADJ
ajst-30221	100	15	navigation	navigation	NOUN
ajst-30221	100	16	is	be	AUX
ajst-30221	100	17	depicted	depict	VERB
ajst-30221	100	18	in	in	ADP
ajst-30221	100	19	fig	fig	NOUN
ajst-30221	100	20	.	.	PUNCT
ajst-30221	101	1	6	6	NUM
ajst-30221	101	2	.	.	X
ajst-30221	102	1	in	in	ADP
ajst-30221	102	2	comparison	comparison	NOUN
ajst-30221	102	3	to	to	ADP
ajst-30221	102	4	the	the	DET
ajst-30221	102	5	flight	flight	NOUN
ajst-30221	102	6	trajectory	trajectory	NOUN
ajst-30221	102	7	of	of	ADP
ajst-30221	102	8	inertial	inertial	ADJ
ajst-30221	102	9	navigation	navigation	NOUN
ajst-30221	102	10	,	,	PUNCT
ajst-30221	102	11	combined	combine	VERB
ajst-30221	102	12	navigation	navigation	NOUN
ajst-30221	102	13	exhibits	exhibit	VERB
ajst-30221	102	14	superior	superior	ADJ
ajst-30221	102	15	corrective	corrective	ADJ
ajst-30221	102	16	efficacy	efficacy	NOUN
ajst-30221	102	17	,	,	PUNCT
ajst-30221	102	18	aligning	align	VERB
ajst-30221	102	19	more	more	ADV
ajst-30221	102	20	closely	closely	ADV
ajst-30221	102	21	with	with	ADP
ajst-30221	102	22	the	the	DET
ajst-30221	102	23	ideal	ideal	ADJ
ajst-30221	102	24	flying	flying	NOUN
ajst-30221	102	25	trajectory	trajectory	NOUN
ajst-30221	102	26	.	.	PUNCT
ajst-30221	103	1	283	283	NUM
ajst-30221	103	2	figure	figure	NOUN
ajst-30221	103	3	6	6	NUM
ajst-30221	103	4	.	.	PUNCT
ajst-30221	104	1	sins	sin	NOUN
ajst-30221	104	2	/	/	SYM
ajst-30221	104	3	gnss	gns	NOUN
ajst-30221	104	4	integrated	integrate	VERB
ajst-30221	104	5	navigation	navigation	NOUN
ajst-30221	104	6	flight	flight	NOUN
ajst-30221	104	7	trajectory	trajectory	NOUN
ajst-30221	104	8	the	the	DET
ajst-30221	104	9	second	second	ADJ
ajst-30221	104	10	-	-	PUNCT
ajst-30221	104	11	order	order	NOUN
ajst-30221	104	12	butterworth	butterworth	ADJ
ajst-30221	104	13	low	low	ADJ
ajst-30221	104	14	-	-	PUNCT
ajst-30221	104	15	pass	pass	NOUN
ajst-30221	104	16	filter	filter	NOUN
ajst-30221	104	17	effectively	effectively	ADV
ajst-30221	104	18	corrects	correct	VERB
ajst-30221	104	19	the	the	DET
ajst-30221	104	20	misalignment	misalignment	NOUN
ajst-30221	104	21	angle	angle	NOUN
ajst-30221	104	22	offset	offset	VERB
ajst-30221	104	23	in	in	ADP
ajst-30221	104	24	the	the	DET
ajst-30221	104	25	combined	combine	VERB
ajst-30221	104	26	sins	sin	NOUN
ajst-30221	104	27	/	/	SYM
ajst-30221	104	28	gnss	gnss	NOUN
ajst-30221	104	29	navigation	navigation	NOUN
ajst-30221	104	30	system	system	NOUN
ajst-30221	104	31	.	.	PUNCT
ajst-30221	105	1	figures	figure	NOUN
ajst-30221	105	2	7	7	NUM
ajst-30221	105	3	and	and	CCONJ
ajst-30221	105	4	8	8	NUM
ajst-30221	105	5	illustrate	illustrate	VERB
ajst-30221	105	6	the	the	DET
ajst-30221	105	7	changes	change	NOUN
ajst-30221	105	8	in	in	ADP
ajst-30221	105	9	misalignment	misalignment	ADJ
ajst-30221	105	10	angle	angle	NOUN
ajst-30221	105	11	in	in	ADP
ajst-30221	105	12	combined	combined	ADJ
ajst-30221	105	13	navigation	navigation	NOUN
ajst-30221	105	14	,	,	PUNCT
ajst-30221	105	15	both	both	PRON
ajst-30221	105	16	prior	prior	ADV
ajst-30221	105	17	to	to	ADP
ajst-30221	105	18	and	and	CCONJ
ajst-30221	105	19	following	follow	VERB
ajst-30221	105	20	the	the	DET
ajst-30221	105	21	filter	filter	NOUN
ajst-30221	105	22	processing	processing	NOUN
ajst-30221	105	23	.	.	PUNCT
ajst-30221	106	1	the	the	DET
ajst-30221	106	2	initial	initial	ADJ
ajst-30221	106	3	value	value	NOUN
ajst-30221	106	4	of	of	ADP
ajst-30221	106	5	the	the	DET
ajst-30221	106	6	misalignment	misalignment	NOUN
ajst-30221	106	7	angle	angle	NOUN
ajst-30221	106	8	is	be	AUX
ajst-30221	106	9	established	establish	VERB
ajst-30221	106	10	at	at	ADP
ajst-30221	106	11	20	20	NUM
ajst-30221	106	12	minutes	minute	NOUN
ajst-30221	106	13	.	.	PUNCT
ajst-30221	107	1	in	in	ADP
ajst-30221	107	2	the	the	DET
ajst-30221	107	3	combined	combined	ADJ
ajst-30221	107	4	navigation	navigation	NOUN
ajst-30221	107	5	prior	prior	ADV
ajst-30221	107	6	to	to	ADP
ajst-30221	107	7	filtering	filter	VERB
ajst-30221	107	8	,	,	PUNCT
ajst-30221	107	9	the	the	DET
ajst-30221	107	10	misalignment	misalignment	NOUN
ajst-30221	107	11	angle	angle	NOUN
ajst-30221	107	12	shows	show	VERB
ajst-30221	107	13	convergence	convergence	NOUN
ajst-30221	107	14	from	from	ADP
ajst-30221	107	15	this	this	DET
ajst-30221	107	16	initial	initial	ADJ
ajst-30221	107	17	value	value	NOUN
ajst-30221	107	18	after	after	ADP
ajst-30221	107	19	500	500	NUM
ajst-30221	107	20	seconds	second	NOUN
ajst-30221	107	21	,	,	PUNCT
ajst-30221	107	22	ultimately	ultimately	ADV
ajst-30221	107	23	reaching	reach	VERB
ajst-30221	107	24	a	a	DET
ajst-30221	107	25	peak	peak	NOUN
ajst-30221	107	26	of	of	ADP
ajst-30221	107	27	approximately	approximately	ADV
ajst-30221	107	28	26	26	NUM
ajst-30221	107	29	minutes	minute	NOUN
ajst-30221	107	30	.	.	PUNCT
ajst-30221	108	1	conversely	conversely	ADV
ajst-30221	108	2	,	,	PUNCT
ajst-30221	108	3	the	the	DET
ajst-30221	108	4	misalignment	misalignment	NOUN
ajst-30221	108	5	angle	angle	NOUN
ajst-30221	108	6	in	in	ADP
ajst-30221	108	7	the	the	DET
ajst-30221	108	8	combined	combined	ADJ
ajst-30221	108	9	navigation	navigation	NOUN
ajst-30221	108	10	post	post	ADJ
ajst-30221	108	11	-	-	ADJ
ajst-30221	108	12	filtering	filtering	ADJ
ajst-30221	108	13	converges	converge	NOUN
ajst-30221	108	14	after	after	ADP
ajst-30221	108	15	390	390	NUM
ajst-30221	108	16	seconds	second	NOUN
ajst-30221	108	17	,	,	PUNCT
ajst-30221	108	18	achieving	achieve	VERB
ajst-30221	108	19	a	a	DET
ajst-30221	108	20	maximum	maximum	ADJ
ajst-30221	108	21	value	value	NOUN
ajst-30221	108	22	of	of	ADP
ajst-30221	108	23	around	around	ADP
ajst-30221	108	24	22	22	NUM
ajst-30221	108	25	minutes	minute	NOUN
ajst-30221	108	26	.	.	PUNCT
ajst-30221	109	1	the	the	DET
ajst-30221	109	2	convergence	convergence	NOUN
ajst-30221	109	3	speed	speed	NOUN
ajst-30221	109	4	of	of	ADP
ajst-30221	109	5	the	the	DET
ajst-30221	109	6	misalignment	misalignment	NOUN
ajst-30221	109	7	angle	angle	NOUN
ajst-30221	109	8	after	after	ADP
ajst-30221	109	9	filtering	filtering	NOUN
ajst-30221	109	10	shows	show	VERB
ajst-30221	109	11	a	a	DET
ajst-30221	109	12	30	30	NUM
ajst-30221	109	13	%	%	NOUN
ajst-30221	109	14	increase	increase	NOUN
ajst-30221	109	15	compared	compare	VERB
ajst-30221	109	16	to	to	ADP
ajst-30221	109	17	the	the	DET
ajst-30221	109	18	misalignment	misalignment	NOUN
ajst-30221	109	19	angle	angle	NOUN
ajst-30221	109	20	of	of	ADP
ajst-30221	109	21	the	the	DET
ajst-30221	109	22	combined	combined	ADJ
ajst-30221	109	23	navigation	navigation	NOUN
ajst-30221	109	24	prior	prior	ADV
ajst-30221	109	25	to	to	ADP
ajst-30221	109	26	filtering	filter	VERB
ajst-30221	109	27	,	,	PUNCT
ajst-30221	109	28	indicating	indicate	VERB
ajst-30221	109	29	a	a	DET
ajst-30221	109	30	significant	significant	ADJ
ajst-30221	109	31	enhancement	enhancement	NOUN
ajst-30221	109	32	in	in	ADP
ajst-30221	109	33	convergence	convergence	NOUN
ajst-30221	109	34	speed	speed	NOUN
ajst-30221	109	35	.	.	PUNCT
ajst-30221	110	1	figure	figure	VERB
ajst-30221	110	2	7	7	NUM
ajst-30221	110	3	.	.	PUNCT
ajst-30221	111	1	the	the	DET
ajst-30221	111	2	variation	variation	NOUN
ajst-30221	111	3	of	of	ADP
ajst-30221	111	4	misalignment	misalignment	ADJ
ajst-30221	111	5	angle	angle	NOUN
ajst-30221	111	6	error	error	NOUN
ajst-30221	111	7	of	of	ADP
ajst-30221	111	8	the	the	DET
ajst-30221	111	9	original	original	ADJ
ajst-30221	111	10	integrated	integrate	VERB
ajst-30221	111	11	navigation	navigation	NOUN
ajst-30221	111	12	figure	figure	NOUN
ajst-30221	111	13	8	8	NUM
ajst-30221	111	14	.	.	PUNCT
ajst-30221	112	1	the	the	DET
ajst-30221	112	2	variation	variation	NOUN
ajst-30221	112	3	of	of	ADP
ajst-30221	112	4	misalignment	misalignment	ADJ
ajst-30221	112	5	angle	angle	NOUN
ajst-30221	112	6	error	error	NOUN
ajst-30221	112	7	of	of	ADP
ajst-30221	112	8	integrated	integrate	VERB
ajst-30221	112	9	navigation	navigation	NOUN
ajst-30221	112	10	solution	solution	NOUN
ajst-30221	112	11	with	with	ADP
ajst-30221	112	12	prior	prior	ADJ
ajst-30221	112	13	information	information	NOUN
ajst-30221	112	14	the	the	DET
ajst-30221	112	15	alterations	alteration	NOUN
ajst-30221	112	16	in	in	ADP
ajst-30221	112	17	combined	combine	VERB
ajst-30221	112	18	navigation	navigation	NOUN
ajst-30221	112	19	velocity	velocity	NOUN
ajst-30221	112	20	errors	error	NOUN
ajst-30221	112	21	prior	prior	ADV
ajst-30221	112	22	to	to	ADP
ajst-30221	112	23	and	and	CCONJ
ajst-30221	112	24	following	follow	VERB
ajst-30221	112	25	the	the	DET
ajst-30221	112	26	filtering	filtering	NOUN
ajst-30221	112	27	of	of	ADP
ajst-30221	112	28	imu	imu	NOUN
ajst-30221	112	29	data	datum	NOUN
ajst-30221	112	30	are	be	AUX
ajst-30221	112	31	illustrated	illustrate	VERB
ajst-30221	112	32	in	in	ADP
ajst-30221	112	33	figs	fig	NOUN
ajst-30221	112	34	.	.	PUNCT
ajst-30221	113	1	9	9	NUM
ajst-30221	113	2	and	and	CCONJ
ajst-30221	113	3	10	10	NUM
ajst-30221	113	4	.	.	PUNCT
ajst-30221	114	1	the	the	DET
ajst-30221	114	2	eastward	eastward	ADJ
ajst-30221	114	3	velocity	velocity	NOUN
ajst-30221	114	4	error	error	NOUN
ajst-30221	114	5	prior	prior	ADV
ajst-30221	114	6	to	to	ADP
ajst-30221	114	7	filtering	filtering	NOUN
ajst-30221	114	8	stabilizes	stabilize	VERB
ajst-30221	114	9	after	after	ADP
ajst-30221	114	10	493	493	NUM
ajst-30221	114	11	seconds	second	NOUN
ajst-30221	114	12	,	,	PUNCT
ajst-30221	114	13	consistently	consistently	ADV
ajst-30221	114	14	falling	fall	VERB
ajst-30221	114	15	within	within	ADP
ajst-30221	114	16	the	the	DET
ajst-30221	114	17	interval	interval	NOUN
ajst-30221	114	18	of	of	ADP
ajst-30221	114	19	[	[	X
ajst-30221	114	20	-0.04	-0.04	NUM
ajst-30221	114	21	,	,	PUNCT
ajst-30221	114	22	0.04	0.04	NUM
ajst-30221	114	23	]	]	PUNCT
ajst-30221	114	24	m	m	PROPN
ajst-30221	114	25	/	/	SYM
ajst-30221	114	26	s.	s.	PROPN
ajst-30221	114	27	similarly	similarly	ADV
ajst-30221	114	28	,	,	PUNCT
ajst-30221	114	29	the	the	DET
ajst-30221	114	30	northward	northward	ADJ
ajst-30221	114	31	velocity	velocity	NOUN
ajst-30221	114	32	error	error	NOUN
ajst-30221	114	33	reaches	reach	VERB
ajst-30221	114	34	convergence	convergence	NOUN
ajst-30221	114	35	after	after	ADP
ajst-30221	114	36	440	440	NUM
ajst-30221	114	37	seconds	second	NOUN
ajst-30221	114	38	,	,	PUNCT
ajst-30221	114	39	also	also	ADV
ajst-30221	114	40	remaining	remain	VERB
ajst-30221	114	41	within	within	ADP
ajst-30221	114	42	the	the	DET
ajst-30221	114	43	range	range	NOUN
ajst-30221	114	44	of	of	ADP
ajst-30221	114	45	[	[	X
ajst-30221	114	46	-0.04	-0.04	NUM
ajst-30221	114	47	,	,	PUNCT
ajst-30221	114	48	0.04	0.04	NUM
ajst-30221	114	49	]	]	X
ajst-30221	114	50	m	m	PROPN
ajst-30221	114	51	/	/	SYM
ajst-30221	114	52	s.	s.	PROPN
ajst-30221	114	53	the	the	DET
ajst-30221	114	54	skyward	skyward	ADJ
ajst-30221	114	55	velocity	velocity	NOUN
ajst-30221	114	56	error	error	NOUN
ajst-30221	114	57	achieves	achieve	VERB
ajst-30221	114	58	convergence	convergence	NOUN
ajst-30221	114	59	after	after	ADP
ajst-30221	114	60	413	413	NUM
ajst-30221	114	61	seconds	second	NOUN
ajst-30221	114	62	.	.	PUNCT
ajst-30221	115	1	the	the	DET
ajst-30221	115	2	values	value	NOUN
ajst-30221	115	3	converge	converge	VERB
ajst-30221	115	4	and	and	CCONJ
ajst-30221	115	5	continue	continue	VERB
ajst-30221	115	6	to	to	PART
ajst-30221	115	7	fluctuate	fluctuate	VERB
ajst-30221	115	8	within	within	ADP
ajst-30221	115	9	the	the	DET
ajst-30221	115	10	range	range	NOUN
ajst-30221	115	11	of	of	ADP
ajst-30221	115	12	[	[	X
ajst-30221	115	13	-0.01	-0.01	NUM
ajst-30221	115	14	,	,	PUNCT
ajst-30221	115	15	0.01	0.01	NUM
ajst-30221	115	16	]	]	X
ajst-30221	115	17	m	m	PROPN
ajst-30221	115	18	/	/	SYM
ajst-30221	115	19	s	s	PROPN
ajst-30221	115	20	,	,	PUNCT
ajst-30221	115	21	while	while	SCONJ
ajst-30221	115	22	the	the	DET
ajst-30221	115	23	upward	upward	ADJ
ajst-30221	115	24	velocity	velocity	NOUN
ajst-30221	115	25	error	error	NOUN
ajst-30221	115	26	stabilizes	stabilize	VERB
ajst-30221	115	27	after	after	ADP
ajst-30221	115	28	413	413	NUM
ajst-30221	115	29	seconds	second	NOUN
ajst-30221	115	30	,	,	PUNCT
ajst-30221	115	31	maintaining	maintain	VERB
ajst-30221	115	32	variations	variation	NOUN
ajst-30221	115	33	within	within	ADP
ajst-30221	115	34	the	the	DET
ajst-30221	115	35	same	same	ADJ
ajst-30221	115	36	range	range	NOUN
ajst-30221	115	37	of	of	ADP
ajst-30221	115	38	[	[	X
ajst-30221	115	39	0.01	0.01	NUM
ajst-30221	115	40	,	,	PUNCT
ajst-30221	115	41	0.01	0.01	NUM
ajst-30221	115	42	]	]	X
ajst-30221	115	43	m	m	PROPN
ajst-30221	115	44	/	/	SYM
ajst-30221	115	45	s.	s.	PROPN
ajst-30221	115	46	the	the	DET
ajst-30221	115	47	filtered	filter	VERB
ajst-30221	115	48	combined	combine	VERB
ajst-30221	115	49	navigation	navigation	NOUN
ajst-30221	115	50	results	result	VERB
ajst-30221	115	51	284	284	NUM
ajst-30221	115	52	show	show	NOUN
ajst-30221	115	53	convergence	convergence	NOUN
ajst-30221	115	54	after	after	ADP
ajst-30221	115	55	300	300	NUM
ajst-30221	115	56	seconds	second	NOUN
ajst-30221	115	57	for	for	ADP
ajst-30221	115	58	the	the	DET
ajst-30221	115	59	eastward	eastward	ADJ
ajst-30221	115	60	velocity	velocity	NOUN
ajst-30221	115	61	error	error	NOUN
ajst-30221	115	62	,	,	PUNCT
ajst-30221	115	63	maintaining	maintain	VERB
ajst-30221	115	64	a	a	DET
ajst-30221	115	65	variation	variation	NOUN
ajst-30221	115	66	within	within	ADP
ajst-30221	115	67	the	the	DET
ajst-30221	115	68	range	range	NOUN
ajst-30221	115	69	of	of	ADP
ajst-30221	115	70	[	[	X
ajst-30221	115	71	-0.04	-0.04	NUM
ajst-30221	115	72	,	,	PUNCT
ajst-30221	115	73	0.04	0.04	NUM
ajst-30221	115	74	]	]	PUNCT
ajst-30221	115	75	m	m	PROPN
ajst-30221	115	76	/	/	SYM
ajst-30221	115	77	s.	s.	PROPN
ajst-30221	115	78	convergence	convergence	PROPN
ajst-30221	115	79	occurs	occur	VERB
ajst-30221	115	80	after	after	ADP
ajst-30221	115	81	410	410	NUM
ajst-30221	115	82	seconds	second	NOUN
ajst-30221	115	83	for	for	ADP
ajst-30221	115	84	the	the	DET
ajst-30221	115	85	northward	northward	ADJ
ajst-30221	115	86	velocity	velocity	NOUN
ajst-30221	115	87	error	error	NOUN
ajst-30221	115	88	,	,	PUNCT
ajst-30221	115	89	with	with	SCONJ
ajst-30221	115	90	variations	variation	NOUN
ajst-30221	115	91	in	in	ADP
ajst-30221	115	92	the	the	DET
ajst-30221	115	93	range	range	NOUN
ajst-30221	115	94	of	of	ADP
ajst-30221	115	95	[	[	X
ajst-30221	115	96	-0.03	-0.03	NOUN
ajst-30221	115	97	,	,	PUNCT
ajst-30221	115	98	0.04	0.04	NUM
ajst-30221	115	99	]	]	X
ajst-30221	115	100	m	m	PROPN
ajst-30221	115	101	/	/	SYM
ajst-30221	115	102	s.	s.	PROPN
ajst-30221	115	103	finally	finally	ADV
ajst-30221	115	104	,	,	PUNCT
ajst-30221	115	105	convergence	convergence	NOUN
ajst-30221	115	106	is	be	AUX
ajst-30221	115	107	achieved	achieve	VERB
ajst-30221	115	108	after	after	ADP
ajst-30221	115	109	443	443	NUM
ajst-30221	115	110	seconds	second	NOUN
ajst-30221	115	111	for	for	ADP
ajst-30221	115	112	the	the	DET
ajst-30221	115	113	skyward	skyward	ADJ
ajst-30221	115	114	velocity	velocity	NOUN
ajst-30221	115	115	error	error	NOUN
ajst-30221	115	116	,	,	PUNCT
ajst-30221	115	117	which	which	PRON
ajst-30221	115	118	varies	vary	VERB
ajst-30221	115	119	within	within	ADP
ajst-30221	115	120	the	the	DET
ajst-30221	115	121	range	range	NOUN
ajst-30221	115	122	of	of	ADP
ajst-30221	115	123	[	[	X
ajst-30221	115	124	0.01	0.01	NUM
ajst-30221	115	125	,	,	PUNCT
ajst-30221	115	126	0.01	0.01	NUM
ajst-30221	115	127	]	]	X
ajst-30221	115	128	m	m	PROPN
ajst-30221	115	129	/	/	SYM
ajst-30221	115	130	s.	s.	PROPN
ajst-30221	115	131	the	the	DET
ajst-30221	115	132	navigation	navigation	NOUN
ajst-30221	115	133	velocity	velocity	NOUN
ajst-30221	115	134	error	error	NOUN
ajst-30221	115	135	,	,	PUNCT
ajst-30221	115	136	once	once	ADV
ajst-30221	115	137	filtered	filter	VERB
ajst-30221	115	138	,	,	PUNCT
ajst-30221	115	139	demonstrates	demonstrate	VERB
ajst-30221	115	140	a	a	DET
ajst-30221	115	141	quicker	quick	ADJ
ajst-30221	115	142	convergence	convergence	NOUN
ajst-30221	115	143	and	and	CCONJ
ajst-30221	115	144	exhibits	exhibit	VERB
ajst-30221	115	145	a	a	DET
ajst-30221	115	146	reduced	reduced	ADJ
ajst-30221	115	147	oscillation	oscillation	NOUN
ajst-30221	115	148	range	range	NOUN
ajst-30221	115	149	.	.	PUNCT
ajst-30221	116	1	figure	figure	NOUN
ajst-30221	116	2	9	9	NUM
ajst-30221	116	3	.	.	PUNCT
ajst-30221	117	1	the	the	DET
ajst-30221	117	2	variation	variation	NOUN
ajst-30221	117	3	of	of	ADP
ajst-30221	117	4	velocity	velocity	NOUN
ajst-30221	117	5	error	error	NOUN
ajst-30221	117	6	in	in	ADP
ajst-30221	117	7	the	the	DET
ajst-30221	117	8	original	original	ADJ
ajst-30221	117	9	integrated	integrate	VERB
ajst-30221	117	10	navigation	navigation	NOUN
ajst-30221	117	11	solution	solution	NOUN
ajst-30221	117	12	figure	figure	NOUN
ajst-30221	117	13	10	10	NUM
ajst-30221	117	14	.	.	PUNCT
ajst-30221	118	1	the	the	DET
ajst-30221	118	2	variation	variation	NOUN
ajst-30221	118	3	of	of	ADP
ajst-30221	118	4	velocity	velocity	NOUN
ajst-30221	118	5	error	error	NOUN
ajst-30221	118	6	in	in	ADP
ajst-30221	118	7	the	the	DET
ajst-30221	118	8	integrated	integrate	VERB
ajst-30221	118	9	navigation	navigation	NOUN
ajst-30221	118	10	solution	solution	NOUN
ajst-30221	118	11	with	with	ADP
ajst-30221	118	12	prior	prior	ADJ
ajst-30221	118	13	information	information	NOUN
ajst-30221	118	14	the	the	DET
ajst-30221	118	15	variations	variation	NOUN
ajst-30221	118	16	in	in	ADP
ajst-30221	118	17	position	position	NOUN
ajst-30221	118	18	inaccuracy	inaccuracy	NOUN
ajst-30221	118	19	are	be	AUX
ajst-30221	118	20	illustrated	illustrate	VERB
ajst-30221	118	21	in	in	ADP
ajst-30221	118	22	figures	figure	NOUN
ajst-30221	118	23	111	111	NUM
ajst-30221	118	24	and	and	CCONJ
ajst-30221	118	25	12	12	NUM
ajst-30221	118	26	.	.	PUNCT
ajst-30221	119	1	the	the	DET
ajst-30221	119	2	positions	position	NOUN
ajst-30221	119	3	of	of	ADP
ajst-30221	119	4	combined	combined	ADJ
ajst-30221	119	5	navigation	navigation	NOUN
ajst-30221	119	6	exhibited	exhibit	VERB
ajst-30221	119	7	continuous	continuous	ADJ
ajst-30221	119	8	fluctuations	fluctuation	NOUN
ajst-30221	119	9	before	before	ADP
ajst-30221	119	10	and	and	CCONJ
ajst-30221	119	11	after	after	ADP
ajst-30221	119	12	filtering	filter	VERB
ajst-30221	119	13	,	,	PUNCT
ajst-30221	119	14	following	follow	VERB
ajst-30221	119	15	rapid	rapid	ADJ
ajst-30221	119	16	convergence	convergence	NOUN
ajst-30221	119	17	;	;	PUNCT
ajst-30221	119	18	however	however	ADV
ajst-30221	119	19	,	,	PUNCT
ajst-30221	119	20	the	the	DET
ajst-30221	119	21	fluctuation	fluctuation	NOUN
ajst-30221	119	22	ranges	range	VERB
ajst-30221	119	23	differed	differ	VERB
ajst-30221	119	24	.	.	PUNCT
ajst-30221	120	1	prior	prior	ADV
ajst-30221	120	2	to	to	ADP
ajst-30221	120	3	data	datum	NOUN
ajst-30221	120	4	filtering	filtering	NOUN
ajst-30221	120	5	,	,	PUNCT
ajst-30221	120	6	the	the	DET
ajst-30221	120	7	initial	initial	ADJ
ajst-30221	120	8	error	error	NOUN
ajst-30221	120	9	in	in	ADP
ajst-30221	120	10	the	the	DET
ajst-30221	120	11	elevation	elevation	NOUN
ajst-30221	120	12	direction	direction	NOUN
ajst-30221	120	13	reached	reach	VERB
ajst-30221	120	14	4	4	NUM
ajst-30221	120	15	m	m	NOUN
ajst-30221	120	16	,	,	PUNCT
ajst-30221	120	17	oscillating	oscillate	VERB
ajst-30221	120	18	within	within	ADP
ajst-30221	120	19	the	the	DET
ajst-30221	120	20	range	range	NOUN
ajst-30221	120	21	of	of	ADP
ajst-30221	120	22	[	[	X
ajst-30221	120	23	-1.8	-1.8	PROPN
ajst-30221	120	24	,	,	PUNCT
ajst-30221	120	25	1.5]m	1.5]m	NUM
ajst-30221	120	26	post	post	NOUN
ajst-30221	120	27	-	-	NOUN
ajst-30221	120	28	convergence	convergence	NOUN
ajst-30221	120	29	.	.	PUNCT
ajst-30221	121	1	in	in	ADP
ajst-30221	121	2	contrast	contrast	NOUN
ajst-30221	121	3	,	,	PUNCT
ajst-30221	121	4	the	the	DET
ajst-30221	121	5	elevation	elevation	NOUN
ajst-30221	121	6	direction	direction	NOUN
ajst-30221	121	7	error	error	NOUN
ajst-30221	121	8	of	of	ADP
ajst-30221	121	9	the	the	DET
ajst-30221	121	10	combined	combined	ADJ
ajst-30221	121	11	navigation	navigation	NOUN
ajst-30221	121	12	subjected	subject	VERB
ajst-30221	121	13	to	to	ADP
ajst-30221	121	14	filtering	filter	VERB
ajst-30221	121	15	oscillated	oscillate	VERB
ajst-30221	121	16	within	within	ADP
ajst-30221	121	17	[	[	X
ajst-30221	121	18	-1.2	-1.2	ADJ
ajst-30221	121	19	,	,	PUNCT
ajst-30221	121	20	1.3]m	1.3]m	NUM
ajst-30221	121	21	.	.	PUNCT
ajst-30221	122	1	consequently	consequently	ADV
ajst-30221	122	2	,	,	PUNCT
ajst-30221	122	3	the	the	DET
ajst-30221	122	4	fluctuation	fluctuation	NOUN
ajst-30221	122	5	of	of	ADP
ajst-30221	122	6	the	the	DET
ajst-30221	122	7	combined	combined	ADJ
ajst-30221	122	8	navigation	navigation	NOUN
ajst-30221	122	9	position	position	NOUN
ajst-30221	122	10	error	error	NOUN
ajst-30221	122	11	was	be	AUX
ajst-30221	122	12	reduced	reduce	VERB
ajst-30221	122	13	by	by	ADP
ajst-30221	122	14	75.76	75.76	NUM
ajst-30221	122	15	%	%	NOUN
ajst-30221	122	16	after	after	ADP
ajst-30221	122	17	the	the	DET
ajst-30221	122	18	filtering	filtering	NOUN
ajst-30221	122	19	process	process	NOUN
ajst-30221	122	20	.	.	PUNCT
ajst-30221	123	1	the	the	DET
ajst-30221	123	2	combined	combined	ADJ
ajst-30221	123	3	navigation	navigation	NOUN
ajst-30221	123	4	elevation	elevation	NOUN
ajst-30221	123	5	direction	direction	NOUN
ajst-30221	123	6	error	error	NOUN
ajst-30221	123	7	post	post	ADJ
ajst-30221	123	8	-	-	ADJ
ajst-30221	123	9	filtering	filtering	ADJ
ajst-30221	123	10	oscillates	oscillate	NOUN
ajst-30221	123	11	between	between	ADP
ajst-30221	123	12	[	[	X
ajst-30221	123	13	1.2	1.2	NUM
ajst-30221	123	14	,	,	PUNCT
ajst-30221	123	15	1.3]m	1.3]m	NUM
ajst-30221	123	16	,	,	PUNCT
ajst-30221	123	17	while	while	SCONJ
ajst-30221	123	18	the	the	DET
ajst-30221	123	19	variation	variation	NOUN
ajst-30221	123	20	of	of	ADP
ajst-30221	123	21	the	the	DET
ajst-30221	123	22	combined	combined	ADJ
ajst-30221	123	23	navigation	navigation	NOUN
ajst-30221	123	24	position	position	NOUN
ajst-30221	123	25	error	error	NOUN
ajst-30221	123	26	is	be	AUX
ajst-30221	123	27	diminished	diminish	VERB
ajst-30221	123	28	by	by	ADP
ajst-30221	123	29	75.76	75.76	NUM
ajst-30221	123	30	%	%	NOUN
ajst-30221	123	31	following	follow	VERB
ajst-30221	123	32	the	the	DET
ajst-30221	123	33	filtering	filtering	NOUN
ajst-30221	123	34	process	process	NOUN
ajst-30221	123	35	.	.	PUNCT
ajst-30221	124	1	figure	figure	VERB
ajst-30221	124	2	11	11	NUM
ajst-30221	124	3	.	.	PUNCT
ajst-30221	125	1	the	the	DET
ajst-30221	125	2	variation	variation	NOUN
ajst-30221	125	3	of	of	ADP
ajst-30221	125	4	position	position	NOUN
ajst-30221	125	5	error	error	NOUN
ajst-30221	125	6	in	in	ADP
ajst-30221	125	7	the	the	DET
ajst-30221	125	8	original	original	ADJ
ajst-30221	125	9	integrated	integrate	VERB
ajst-30221	125	10	navigation	navigation	NOUN
ajst-30221	125	11	solution	solution	NOUN
ajst-30221	125	12	figure	figure	NOUN
ajst-30221	125	13	12	12	NUM
ajst-30221	125	14	.	.	PUNCT
ajst-30221	126	1	the	the	DET
ajst-30221	126	2	variation	variation	NOUN
ajst-30221	126	3	of	of	ADP
ajst-30221	126	4	position	position	NOUN
ajst-30221	126	5	error	error	NOUN
ajst-30221	126	6	in	in	ADP
ajst-30221	126	7	the	the	DET
ajst-30221	126	8	integrated	integrate	VERB
ajst-30221	126	9	navigation	navigation	NOUN
ajst-30221	126	10	solution	solution	NOUN
ajst-30221	126	11	with	with	ADP
ajst-30221	126	12	prior	prior	ADJ
ajst-30221	126	13	information	information	NOUN
ajst-30221	126	14	285	285	NUM
ajst-30221	126	15	in	in	ADP
ajst-30221	126	16	the	the	DET
ajst-30221	126	17	context	context	NOUN
ajst-30221	126	18	of	of	ADP
ajst-30221	126	19	sins	sin	NOUN
ajst-30221	126	20	/	/	SYM
ajst-30221	126	21	gnss	gnss	NOUN
ajst-30221	126	22	loose	loose	ADJ
ajst-30221	126	23	combination	combination	NOUN
ajst-30221	126	24	navigation	navigation	NOUN
ajst-30221	126	25	,	,	PUNCT
ajst-30221	126	26	employing	employ	VERB
ajst-30221	126	27	a	a	DET
ajst-30221	126	28	second	second	ADJ
ajst-30221	126	29	-	-	PUNCT
ajst-30221	126	30	order	order	NOUN
ajst-30221	126	31	butterworth	butterworth	ADJ
ajst-30221	126	32	low	low	ADJ
ajst-30221	126	33	-	-	PUNCT
ajst-30221	126	34	pass	pass	NOUN
ajst-30221	126	35	filter	filter	NOUN
ajst-30221	126	36	to	to	PART
ajst-30221	126	37	process	process	VERB
ajst-30221	126	38	the	the	DET
ajst-30221	126	39	initial	initial	ADJ
ajst-30221	126	40	imu	imu	NOUN
ajst-30221	126	41	data	datum	NOUN
ajst-30221	126	42	significantly	significantly	ADV
ajst-30221	126	43	influences	influence	VERB
ajst-30221	126	44	the	the	DET
ajst-30221	126	45	navigation	navigation	NOUN
ajst-30221	126	46	outcomes	outcome	NOUN
ajst-30221	126	47	.	.	PUNCT
ajst-30221	127	1	simulation	simulation	NOUN
ajst-30221	127	2	results	result	NOUN
ajst-30221	127	3	indicate	indicate	VERB
ajst-30221	127	4	that	that	SCONJ
ajst-30221	127	5	the	the	DET
ajst-30221	127	6	original	original	ADJ
ajst-30221	127	7	sins	sin	NOUN
ajst-30221	127	8	/	/	SYM
ajst-30221	127	9	gnss	gnss	NOUN
ajst-30221	127	10	combination	combination	NOUN
ajst-30221	127	11	navigation	navigation	NOUN
ajst-30221	127	12	results	result	NOUN
ajst-30221	127	13	,	,	PUNCT
ajst-30221	127	14	following	follow	VERB
ajst-30221	127	15	the	the	DET
ajst-30221	127	16	a	a	DET
ajst-30221	127	17	priori	priori	X
ajst-30221	127	18	information	information	NOUN
ajst-30221	127	19	processing	processing	NOUN
ajst-30221	127	20	of	of	ADP
ajst-30221	127	21	the	the	DET
ajst-30221	127	22	navigation	navigation	NOUN
ajst-30221	127	23	misalignment	misalignment	NOUN
ajst-30221	127	24	angle	angle	NOUN
ajst-30221	127	25	,	,	PUNCT
ajst-30221	127	26	exhibit	exhibit	VERB
ajst-30221	127	27	a	a	DET
ajst-30221	127	28	30	30	NUM
ajst-30221	127	29	%	%	NOUN
ajst-30221	127	30	increase	increase	NOUN
ajst-30221	127	31	in	in	ADP
ajst-30221	127	32	convergence	convergence	NOUN
ajst-30221	127	33	speed	speed	NOUN
ajst-30221	127	34	,	,	PUNCT
ajst-30221	127	35	demonstrating	demonstrate	VERB
ajst-30221	127	36	a	a	DET
ajst-30221	127	37	marked	mark	VERB
ajst-30221	127	38	enhancement	enhancement	NOUN
ajst-30221	127	39	in	in	ADP
ajst-30221	127	40	convergence	convergence	NOUN
ajst-30221	127	41	rate	rate	NOUN
ajst-30221	127	42	.	.	PUNCT
ajst-30221	128	1	the	the	DET
ajst-30221	128	2	convergence	convergence	NOUN
ajst-30221	128	3	speed	speed	NOUN
ajst-30221	128	4	of	of	ADP
ajst-30221	128	5	the	the	DET
ajst-30221	128	6	speed	speed	NOUN
ajst-30221	128	7	error	error	NOUN
ajst-30221	128	8	is	be	AUX
ajst-30221	128	9	typically	typically	ADV
ajst-30221	128	10	enhanced	enhance	VERB
ajst-30221	128	11	,	,	PUNCT
ajst-30221	128	12	the	the	DET
ajst-30221	128	13	oscillation	oscillation	NOUN
ajst-30221	128	14	range	range	NOUN
ajst-30221	128	15	is	be	AUX
ajst-30221	128	16	diminished	diminish	VERB
ajst-30221	128	17	,	,	PUNCT
ajst-30221	128	18	and	and	CCONJ
ajst-30221	128	19	the	the	DET
ajst-30221	128	20	position	position	NOUN
ajst-30221	128	21	error	error	NOUN
ajst-30221	128	22	fluctuation	fluctuation	NOUN
ajst-30221	128	23	is	be	AUX
ajst-30221	128	24	reduced	reduce	VERB
ajst-30221	128	25	by	by	ADP
ajst-30221	128	26	75.76	75.76	NUM
ajst-30221	128	27	%	%	NOUN
ajst-30221	128	28	.	.	PUNCT
ajst-30221	129	1	4	4	X
ajst-30221	129	2	.	.	X
ajst-30221	129	3	conclusion	conclusion	NOUN
ajst-30221	129	4	this	this	DET
ajst-30221	129	5	work	work	NOUN
ajst-30221	129	6	examines	examine	VERB
ajst-30221	129	7	the	the	DET
ajst-30221	129	8	pretreatment	pretreatment	NOUN
ajst-30221	129	9	of	of	ADP
ajst-30221	129	10	imu	imu	PROPN
ajst-30221	129	11	data	datum	NOUN
ajst-30221	129	12	to	to	PART
ajst-30221	129	13	produce	produce	VERB
ajst-30221	129	14	a	a	DET
ajst-30221	129	15	priori	priori	ADJ
ajst-30221	129	16	knowledge	knowledge	NOUN
ajst-30221	129	17	within	within	ADP
ajst-30221	129	18	the	the	DET
ajst-30221	129	19	context	context	NOUN
ajst-30221	129	20	of	of	ADP
ajst-30221	129	21	sins	sin	NOUN
ajst-30221	129	22	/	/	SYM
ajst-30221	129	23	gnss	gnss	NOUN
ajst-30221	129	24	combined	combine	VERB
ajst-30221	129	25	navigation	navigation	NOUN
ajst-30221	129	26	,	,	PUNCT
ajst-30221	129	27	evaluates	evaluate	VERB
ajst-30221	129	28	its	its	PRON
ajst-30221	129	29	influence	influence	NOUN
ajst-30221	129	30	on	on	ADP
ajst-30221	129	31	the	the	DET
ajst-30221	129	32	navigation	navigation	NOUN
ajst-30221	129	33	outcomes	outcome	NOUN
ajst-30221	129	34	,	,	PUNCT
ajst-30221	129	35	and	and	CCONJ
ajst-30221	129	36	analyzes	analyze	VERB
ajst-30221	129	37	the	the	DET
ajst-30221	129	38	results	result	NOUN
ajst-30221	129	39	of	of	ADP
ajst-30221	129	40	sins	sin	NOUN
ajst-30221	129	41	/	/	SYM
ajst-30221	129	42	gnss	gnss	NOUN
ajst-30221	129	43	loose	loose	ADJ
ajst-30221	129	44	combined	combine	VERB
ajst-30221	129	45	navigation	navigation	NOUN
ajst-30221	129	46	solutions	solution	NOUN
ajst-30221	129	47	both	both	CCONJ
ajst-30221	129	48	before	before	ADP
ajst-30221	129	49	to	to	ADP
ajst-30221	129	50	and	and	CCONJ
ajst-30221	129	51	following	follow	VERB
ajst-30221	129	52	filter	filter	NOUN
ajst-30221	129	53	processing	processing	NOUN
ajst-30221	129	54	.	.	PUNCT
ajst-30221	130	1	the	the	DET
ajst-30221	130	2	simulation	simulation	NOUN
ajst-30221	130	3	findings	finding	NOUN
ajst-30221	130	4	indicate	indicate	VERB
ajst-30221	130	5	that	that	SCONJ
ajst-30221	130	6	the	the	DET
ajst-30221	130	7	sins	sin	NOUN
ajst-30221	130	8	/	/	SYM
ajst-30221	130	9	gnss	gnss	NOUN
ajst-30221	130	10	integrated	integrate	VERB
ajst-30221	130	11	navigation	navigation	NOUN
ajst-30221	130	12	utilizing	utilize	VERB
ajst-30221	130	13	a	a	DET
ajst-30221	130	14	priori	priori	ADJ
ajst-30221	130	15	information	information	NOUN
ajst-30221	130	16	may	may	AUX
ajst-30221	130	17	proficiently	proficiently	ADV
ajst-30221	130	18	rectify	rectify	VERB
ajst-30221	130	19	the	the	DET
ajst-30221	130	20	flight	flight	NOUN
ajst-30221	130	21	trajectory	trajectory	NOUN
ajst-30221	130	22	.	.	PUNCT
ajst-30221	131	1	in	in	ADP
ajst-30221	131	2	comparison	comparison	NOUN
ajst-30221	131	3	to	to	ADP
ajst-30221	131	4	the	the	DET
ajst-30221	131	5	original	original	ADJ
ajst-30221	131	6	combined	combine	VERB
ajst-30221	131	7	navigation	navigation	NOUN
ajst-30221	131	8	results	result	NOUN
ajst-30221	131	9	,	,	PUNCT
ajst-30221	131	10	the	the	DET
ajst-30221	131	11	combined	combined	ADJ
ajst-30221	131	12	navigation	navigation	NOUN
ajst-30221	131	13	utilizing	utilize	VERB
ajst-30221	131	14	a	a	DET
ajst-30221	131	15	priori	priori	ADJ
ajst-30221	131	16	information	information	NOUN
ajst-30221	131	17	exhibits	exhibit	VERB
ajst-30221	131	18	expedited	expedite	VERB
ajst-30221	131	19	convergence	convergence	NOUN
ajst-30221	131	20	of	of	ADP
ajst-30221	131	21	the	the	DET
ajst-30221	131	22	misalignment	misalignment	NOUN
ajst-30221	131	23	angle	angle	NOUN
ajst-30221	131	24	error	error	NOUN
ajst-30221	131	25	,	,	PUNCT
ajst-30221	131	26	enhanced	enhance	VERB
ajst-30221	131	27	convergence	convergence	NOUN
ajst-30221	131	28	of	of	ADP
ajst-30221	131	29	the	the	DET
ajst-30221	131	30	velocity	velocity	NOUN
ajst-30221	131	31	error	error	NOUN
ajst-30221	131	32	across	across	ADP
ajst-30221	131	33	the	the	DET
ajst-30221	131	34	three	three	NUM
ajst-30221	131	35	northeast	northeast	ADJ
ajst-30221	131	36	sky	sky	NOUN
ajst-30221	131	37	directions	direction	NOUN
ajst-30221	131	38	,	,	PUNCT
ajst-30221	131	39	reduced	reduce	VERB
ajst-30221	131	40	fluctuation	fluctuation	NOUN
ajst-30221	131	41	range	range	NOUN
ajst-30221	131	42	of	of	ADP
ajst-30221	131	43	the	the	DET
ajst-30221	131	44	position	position	NOUN
ajst-30221	131	45	error	error	NOUN
ajst-30221	131	46	,	,	PUNCT
ajst-30221	131	47	and	and	CCONJ
ajst-30221	131	48	a	a	DET
ajst-30221	131	49	significant	significant	ADJ
ajst-30221	131	50	enhancement	enhancement	NOUN
ajst-30221	131	51	in	in	ADP
ajst-30221	131	52	navigation	navigation	NOUN
ajst-30221	131	53	accuracy	accuracy	NOUN
ajst-30221	131	54	.	.	PUNCT
ajst-30221	132	1	5	5	X
ajst-30221	132	2	.	.	X
ajst-30221	132	3	conflicts	conflict	NOUN
ajst-30221	132	4	of	of	ADP
ajst-30221	132	5	interest	interest	NOUN
ajst-30221	132	6	the	the	DET
ajst-30221	132	7	authors	author	NOUN
ajst-30221	132	8	declare	declare	VERB
ajst-30221	132	9	no	no	DET
ajst-30221	132	10	conflict	conflict	NOUN
ajst-30221	132	11	of	of	ADP
ajst-30221	132	12	interest	interest	NOUN
ajst-30221	132	13	.	.	PUNCT
ajst-30221	133	1	references	reference	NOUN
ajst-30221	133	2	[	[	X
ajst-30221	133	3	1	1	NUM
ajst-30221	133	4	]	]	PUNCT
ajst-30221	133	5	borodacz	borodacz	NOUN
ajst-30221	133	6	,	,	PUNCT
ajst-30221	133	7	k.	k.	PROPN
ajst-30221	133	8	,	,	PUNCT
ajst-30221	133	9	szczepański	szczepański	PROPN
ajst-30221	133	10	,	,	PUNCT
ajst-30221	133	11	c.	c.	PROPN
ajst-30221	133	12	,	,	PUNCT
ajst-30221	133	13	&	&	CCONJ
ajst-30221	133	14	popowski	popowski	PROPN
ajst-30221	133	15	,	,	PUNCT
ajst-30221	133	16	s.	s.	PROPN
ajst-30221	133	17	(	(	PUNCT
ajst-30221	133	18	2021	2021	NUM
ajst-30221	133	19	)	)	PUNCT
ajst-30221	133	20	.	.	PUNCT
ajst-30221	134	1	review	review	NOUN
ajst-30221	134	2	and	and	CCONJ
ajst-30221	134	3	selection	selection	NOUN
ajst-30221	134	4	of	of	ADP
ajst-30221	134	5	commercially	commercially	ADV
ajst-30221	134	6	available	available	ADJ
ajst-30221	134	7	imu	imu	NOUN
ajst-30221	134	8	for	for	ADP
ajst-30221	134	9	a	a	DET
ajst-30221	134	10	short	short	ADJ
ajst-30221	134	11	time	time	NOUN
ajst-30221	134	12	inertial	inertial	ADJ
ajst-30221	134	13	navigation	navigation	NOUN
ajst-30221	134	14	.	.	PUNCT
ajst-30221	135	1	aircraft	aircraft	NOUN
ajst-30221	135	2	engineering	engineering	NOUN
ajst-30221	135	3	and	and	CCONJ
ajst-30221	135	4	aerospace	aerospace	NOUN
ajst-30221	135	5	technology	technology	NOUN
ajst-30221	135	6	.	.	PUNCT
ajst-30221	136	1	[	[	X
ajst-30221	136	2	2	2	X
ajst-30221	136	3	]	]	X
ajst-30221	136	4	lyu	lyu	NOUN
ajst-30221	136	5	p.	p.	PROPN
ajst-30221	136	6	,	,	PUNCT
ajst-30221	136	7	wang	wang	PROPN
ajst-30221	136	8	b.	b.	PROPN
ajst-30221	136	9	,	,	PUNCT
ajst-30221	136	10	lai	lai	PROPN
ajst-30221	136	11	j.	j.	PROPN
ajst-30221	136	12	,	,	PUNCT
ajst-30221	136	13	bai	bai	PROPN
ajst-30221	136	14	s.	s.	PROPN
ajst-30221	136	15	,	,	PUNCT
ajst-30221	136	16	liu	liu	PROPN
ajst-30221	136	17	m.	m.	PROPN
ajst-30221	136	18	,	,	PUNCT
ajst-30221	136	19	yu	yu	PROPN
ajst-30221	136	20	w.	w.	PROPN
ajst-30221	136	21	(	(	PUNCT
ajst-30221	136	22	2023	2023	NUM
ajst-30221	136	23	)	)	PUNCT
ajst-30221	136	24	,	,	PUNCT
ajst-30221	136	25	a	a	DET
ajst-30221	136	26	factor	factor	NOUN
ajst-30221	136	27	graph	graph	NOUN
ajst-30221	136	28	optimization	optimization	NOUN
ajst-30221	136	29	method	method	NOUN
ajst-30221	136	30	for	for	ADP
ajst-30221	136	31	high	high	ADJ
ajst-30221	136	32	-	-	PUNCT
ajst-30221	136	33	precision	precision	NOUN
ajst-30221	136	34	imu	imu	NOUN
ajst-30221	136	35	-	-	PUNCT
ajst-30221	136	36	based	base	VERB
ajst-30221	136	37	navigation	navigation	NOUN
ajst-30221	136	38	system	system	NOUN
ajst-30221	136	39	,	,	PUNCT
ajst-30221	136	40	ieee	ieee	NOUN
ajst-30221	136	41	transactions	transaction	NOUN
ajst-30221	136	42	on	on	ADP
ajst-30221	136	43	instrumentation	instrumentation	NOUN
ajst-30221	136	44	and	and	CCONJ
ajst-30221	136	45	measurement	measurement	NOUN
ajst-30221	136	46	,	,	PUNCT
ajst-30221	136	47	vol	vol	NOUN
ajst-30221	136	48	.	.	PROPN
ajst-30221	136	49	72	72	NUM
ajst-30221	136	50	,	,	PUNCT
ajst-30221	136	51	pp	pp	ADJ
ajst-30221	136	52	.	.	PUNCT
ajst-30221	137	1	1	1	NUM
ajst-30221	137	2	-	-	SYM
ajst-30221	137	3	12	12	NUM
ajst-30221	137	4	.	.	PUNCT
ajst-30221	138	1	[	[	X
ajst-30221	138	2	3	3	NUM
ajst-30221	138	3	]	]	X
ajst-30221	138	4	mahdi	mahdi	PROPN
ajst-30221	138	5	a.	a.	PROPN
ajst-30221	138	6	e.	e.	PROPN
ajst-30221	138	7	,	,	PUNCT
ajst-30221	138	8	azouz	azouz	PROPN
ajst-30221	138	9	a.	a.	PROPN
ajst-30221	138	10	,	,	PUNCT
ajst-30221	138	11	abdalla	abdalla	PROPN
ajst-30221	138	12	a.	a.	PROPN
ajst-30221	138	13	e.	e.	PROPN
ajst-30221	138	14	,	,	PUNCT
ajst-30221	138	15	abosekeen	abosekeen	PROPN
ajst-30221	138	16	a.	a.	NOUN
ajst-30221	138	17	(	(	PUNCT
ajst-30221	138	18	2022	2022	NUM
ajst-30221	138	19	)	)	PUNCT
ajst-30221	138	20	,	,	PUNCT
ajst-30221	138	21	imu	imu	NOUN
ajst-30221	138	22	-	-	PUNCT
ajst-30221	138	23	error	error	NOUN
ajst-30221	138	24	estimation	estimation	NOUN
ajst-30221	138	25	and	and	CCONJ
ajst-30221	138	26	cancellation	cancellation	NOUN
ajst-30221	138	27	using	use	VERB
ajst-30221	138	28	anfis	anfis	PROPN
ajst-30221	138	29	for	for	ADP
ajst-30221	138	30	improved	improved	ADJ
ajst-30221	138	31	uav	uav	PROPN
ajst-30221	138	32	navigation	navigation	NOUN
ajst-30221	138	33	,	,	PUNCT
ajst-30221	138	34	proceedings	proceeding	NOUN
ajst-30221	138	35	of	of	ADP
ajst-30221	138	36	the	the	DET
ajst-30221	138	37	2022	2022	NUM
ajst-30221	138	38	13th	13th	NOUN
ajst-30221	138	39	international	international	ADJ
ajst-30221	138	40	conference	conference	NOUN
ajst-30221	138	41	on	on	ADP
ajst-30221	138	42	electrical	electrical	ADJ
ajst-30221	138	43	engineering	engineering	NOUN
ajst-30221	138	44	(	(	PUNCT
ajst-30221	138	45	iceeng	iceeng	PROPN
ajst-30221	138	46	)	)	PUNCT
ajst-30221	138	47	,	,	PUNCT
ajst-30221	138	48	pp	pp	ADP
ajst-30221	138	49	.	.	PUNCT
ajst-30221	139	1	120	120	NUM
ajst-30221	139	2	-	-	SYM
ajst-30221	139	3	124	124	NUM
ajst-30221	139	4	.	.	PUNCT
ajst-30221	140	1	[	[	X
ajst-30221	140	2	4	4	X
ajst-30221	140	3	]	]	X
ajst-30221	140	4	sun	sun	NOUN
ajst-30221	140	5	m.	m.	NOUN
ajst-30221	140	6	,	,	PUNCT
ajst-30221	140	7	wang	wang	PROPN
ajst-30221	140	8	y.	y.	PROPN
ajst-30221	140	9	,	,	PUNCT
ajst-30221	140	10	joseph	joseph	PROPN
ajst-30221	140	11	w.	w.	PROPN
ajst-30221	140	12	,	,	PUNCT
ajst-30221	140	13	plets	plets	PROPN
ajst-30221	140	14	d.	d.	PROPN
ajst-30221	140	15	(	(	PUNCT
ajst-30221	140	16	2022	2022	NUM
ajst-30221	140	17	)	)	PUNCT
ajst-30221	140	18	,	,	PUNCT
ajst-30221	140	19	indoor	indoor	ADJ
ajst-30221	140	20	localization	localization	NOUN
ajst-30221	140	21	using	use	VERB
ajst-30221	140	22	mind	mind	NOUN
ajst-30221	140	23	evolutionary	evolutionary	ADJ
ajst-30221	140	24	algorithm	algorithm	NOUN
ajst-30221	140	25	-	-	PUNCT
ajst-30221	140	26	based	base	VERB
ajst-30221	140	27	geomagnetic	geomagnetic	ADJ
ajst-30221	140	28	positioning	positioning	NOUN
ajst-30221	140	29	and	and	CCONJ
ajst-30221	140	30	smartphone	smartphone	ADJ
ajst-30221	140	31	imu	imu	NOUN
ajst-30221	140	32	sensors	sensor	NOUN
ajst-30221	140	33	,	,	PUNCT
ajst-30221	140	34	ieee	ieee	NOUN
ajst-30221	140	35	sensors	sensor	NOUN
ajst-30221	140	36	journal	journal	PROPN
ajst-30221	140	37	,	,	PUNCT
ajst-30221	140	38	vol	vol	NOUN
ajst-30221	140	39	.	.	PROPN
ajst-30221	140	40	22	22	NUM
ajst-30221	140	41	,	,	PUNCT
ajst-30221	140	42	no	no	INTJ
ajst-30221	140	43	.	.	NOUN
ajst-30221	140	44	7	7	NUM
ajst-30221	140	45	,	,	PUNCT
ajst-30221	140	46	pp	pp	ADJ
ajst-30221	140	47	.	.	PUNCT
ajst-30221	141	1	7130	7130	NUM
ajst-30221	141	2	-	-	SYM
ajst-30221	141	3	7141	7141	NUM
ajst-30221	141	4	.	.	PUNCT
ajst-30221	142	1	[	[	X
ajst-30221	142	2	5	5	NUM
ajst-30221	142	3	]	]	PUNCT
ajst-30221	142	4	xu	xu	PROPN
ajst-30221	142	5	r.	r.	PROPN
ajst-30221	142	6	,	,	PUNCT
ajst-30221	142	7	chen	chen	PROPN
ajst-30221	142	8	s.	s.	PROPN
ajst-30221	142	9	,	,	PUNCT
ajst-30221	142	10	bai	bai	PROPN
ajst-30221	142	11	s.	s.	PROPN
ajst-30221	142	12	,	,	PUNCT
ajst-30221	142	13	wen	wen	PROPN
ajst-30221	142	14	w.	w.	PROPN
ajst-30221	142	15	(	(	PUNCT
ajst-30221	142	16	2024	2024	NUM
ajst-30221	142	17	)	)	PUNCT
ajst-30221	142	18	,	,	PUNCT
ajst-30221	142	19	nonlinearity	nonlinearity	NOUN
ajst-30221	142	20	-	-	PUNCT
ajst-30221	142	21	aware	aware	ADJ
ajst-30221	142	22	zupt	zupt	NOUN
ajst-30221	142	23	-	-	PUNCT
ajst-30221	142	24	aided	aid	VERB
ajst-30221	142	25	pedestrian	pedestrian	NOUN
ajst-30221	142	26	inertial	inertial	NOUN
ajst-30221	142	27	navigation	navigation	NOUN
ajst-30221	142	28	based	base	VERB
ajst-30221	142	29	on	on	ADP
ajst-30221	142	30	cubature	cubature	ADJ
ajst-30221	142	31	kalman	kalman	PROPN
ajst-30221	142	32	filter	filter	PROPN
ajst-30221	142	33	in	in	ADP
ajst-30221	142	34	urban	urban	ADJ
ajst-30221	142	35	canyons	canyon	NOUN
ajst-30221	142	36	,	,	PUNCT
ajst-30221	142	37	ieee	ieee	NOUN
ajst-30221	142	38	transactions	transaction	NOUN
ajst-30221	142	39	on	on	ADP
ajst-30221	142	40	instrumentation	instrumentation	NOUN
ajst-30221	142	41	and	and	CCONJ
ajst-30221	142	42	measurement	measurement	NOUN
ajst-30221	142	43	,	,	PUNCT
ajst-30221	142	44	vol	vol	NOUN
ajst-30221	142	45	.	.	PROPN
ajst-30221	143	1	73	73	NUM
ajst-30221	143	2	,	,	PUNCT
ajst-30221	143	3	pp	pp	ADJ
ajst-30221	143	4	.	.	PUNCT
ajst-30221	144	1	1	1	NUM
ajst-30221	144	2	-	-	SYM
ajst-30221	144	3	15	15	NUM
ajst-30221	144	4	.	.	PUNCT
ajst-30221	145	1	[	[	X
ajst-30221	145	2	6	6	X
ajst-30221	145	3	]	]	X
ajst-30221	145	4	ibrahim	ibrahim	PROPN
ajst-30221	145	5	a.	a.	PROPN
ajst-30221	145	6	,	,	PUNCT
ajst-30221	145	7	abosekeen	abosekeen	PROPN
ajst-30221	145	8	a.	a.	PROPN
ajst-30221	145	9	,	,	PUNCT
ajst-30221	145	10	azouz	azouz	PROPN
ajst-30221	145	11	a.	a.	NOUN
ajst-30221	145	12	,	,	PUNCT
ajst-30221	145	13	noureldin	noureldin	VERB
ajst-30221	145	14	a.	a.	NOUN
ajst-30221	145	15	(	(	PUNCT
ajst-30221	145	16	2023	2023	NUM
ajst-30221	145	17	)	)	PUNCT
ajst-30221	145	18	,	,	PUNCT
ajst-30221	145	19	enhanced	enhance	VERB
ajst-30221	145	20	autonomous	autonomous	ADJ
ajst-30221	145	21	vehicle	vehicle	NOUN
ajst-30221	145	22	positioning	positioning	NOUN
ajst-30221	145	23	using	use	VERB
ajst-30221	145	24	a	a	DET
ajst-30221	145	25	loosely	loosely	ADV
ajst-30221	145	26	coupled	couple	VERB
ajst-30221	145	27	ins	in	NOUN
ajst-30221	145	28	/	/	SYM
ajst-30221	145	29	gnss	gnss	NOUN
ajst-30221	145	30	-	-	PUNCT
ajst-30221	145	31	based	base	VERB
ajst-30221	145	32	invariant	invariant	ADJ
ajst-30221	145	33	-	-	PUNCT
ajst-30221	145	34	ekf	ekf	NOUN
ajst-30221	145	35	integration	integration	NOUN
ajst-30221	145	36	,	,	PUNCT
ajst-30221	145	37	sensors	sensor	NOUN
ajst-30221	145	38	,	,	PUNCT
ajst-30221	145	39	vol	vol	NOUN
ajst-30221	145	40	.	.	PROPN
ajst-30221	145	41	23	23	NUM
ajst-30221	145	42	,	,	PUNCT
ajst-30221	145	43	no	no	INTJ
ajst-30221	145	44	.	.	NOUN
ajst-30221	145	45	13	13	NUM
ajst-30221	145	46	,	,	PUNCT
ajst-30221	145	47	article	article	NOUN
ajst-30221	145	48	no	no	NOUN
ajst-30221	145	49	.	.	PROPN
ajst-30221	145	50	6097	6097	NUM
ajst-30221	145	51	.	.	PUNCT
ajst-30221	146	1	[	[	X
ajst-30221	146	2	7	7	X
ajst-30221	146	3	]	]	X
ajst-30221	146	4	zhu	zhu	PROPN
ajst-30221	146	5	f.	f.	PROPN
ajst-30221	146	6	,	,	PUNCT
ajst-30221	146	7	cai	cai	PROPN
ajst-30221	146	8	q.	q.	PROPN
ajst-30221	146	9	,	,	PUNCT
ajst-30221	146	10	tao	tao	PROPN
ajst-30221	146	11	x.	x.	PROPN
ajst-30221	146	12	,	,	PUNCT
ajst-30221	146	13	zhang	zhang	PROPN
ajst-30221	146	14	x.	x.	PROPN
ajst-30221	146	15	,	,	PUNCT
ajst-30221	146	16	liu	liu	PROPN
ajst-30221	146	17	w.	w.	PROPN
ajst-30221	146	18	(	(	PUNCT
ajst-30221	146	19	2024	2024	NUM
ajst-30221	146	20	)	)	PUNCT
ajst-30221	146	21	,	,	PUNCT
ajst-30221	146	22	posmind	posmind	NOUN
ajst-30221	146	23	:	:	PUNCT
ajst-30221	146	24	developing	develop	VERB
ajst-30221	146	25	a	a	DET
ajst-30221	146	26	hierarchical	hierarchical	ADJ
ajst-30221	146	27	gnss	gnss	NOUN
ajst-30221	146	28	/	/	SYM
ajst-30221	146	29	sins	sin	VERB
ajst-30221	146	30	post	post	ADJ
ajst-30221	146	31	-	-	ADJ
ajst-30221	146	32	processing	processing	ADJ
ajst-30221	146	33	service	service	NOUN
ajst-30221	146	34	system	system	NOUN
ajst-30221	146	35	for	for	ADP
ajst-30221	146	36	precise	precise	ADJ
ajst-30221	146	37	position	position	NOUN
ajst-30221	146	38	and	and	CCONJ
ajst-30221	146	39	attitude	attitude	NOUN
ajst-30221	146	40	determination	determination	NOUN
ajst-30221	146	41	,	,	PUNCT
ajst-30221	146	42	gps	gps	PROPN
ajst-30221	146	43	solut	solut	PROPN
ajst-30221	146	44	.	.	PUNCT
ajst-30221	146	45	,	,	PUNCT
ajst-30221	146	46	vol	vol	NOUN
ajst-30221	146	47	.	.	PROPN
ajst-30221	146	48	28	28	NUM
ajst-30221	146	49	,	,	PUNCT
ajst-30221	146	50	no	no	INTJ
ajst-30221	146	51	.	.	NOUN
ajst-30221	146	52	3	3	NUM
ajst-30221	146	53	,	,	PUNCT
ajst-30221	146	54	pp	pp	ADJ
ajst-30221	146	55	.	.	PUNCT
ajst-30221	147	1	1	1	NUM
ajst-30221	147	2	-	-	SYM
ajst-30221	147	3	21	21	NUM
ajst-30221	147	4	.	.	PUNCT
ajst-30221	148	1	[	[	X
ajst-30221	148	2	8	8	X
ajst-30221	148	3	]	]	X
ajst-30221	148	4	chen	chen	PROPN
ajst-30221	148	5	q.	q.	PROPN
ajst-30221	148	6	,	,	PUNCT
ajst-30221	148	7	zhang	zhang	PROPN
ajst-30221	148	8	q.	q.	PROPN
ajst-30221	148	9	,	,	PUNCT
ajst-30221	148	10	niu	niu	PROPN
ajst-30221	148	11	x.	x.	PROPN
ajst-30221	148	12	,	,	PUNCT
ajst-30221	148	13	liu	liu	PROPN
ajst-30221	148	14	j.	j.	PROPN
ajst-30221	148	15	n.	n.	PROPN
ajst-30221	148	16	(	(	PUNCT
ajst-30221	148	17	2021	2021	NUM
ajst-30221	148	18	)	)	PUNCT
ajst-30221	148	19	,	,	PUNCT
ajst-30221	148	20	semi	semi	ADJ
ajst-30221	148	21	-	-	ADJ
ajst-30221	148	22	analytical	analytical	ADJ
ajst-30221	148	23	assessment	assessment	NOUN
ajst-30221	148	24	of	of	ADP
ajst-30221	148	25	the	the	DET
ajst-30221	148	26	relative	relative	ADJ
ajst-30221	148	27	accuracy	accuracy	NOUN
ajst-30221	148	28	of	of	ADP
ajst-30221	148	29	the	the	DET
ajst-30221	148	30	gnss	gnss	NOUN
ajst-30221	148	31	/	/	SYM
ajst-30221	148	32	ins	in	NOUN
ajst-30221	148	33	in	in	ADP
ajst-30221	148	34	railway	railway	NOUN
ajst-30221	148	35	track	track	NOUN
ajst-30221	148	36	irregularity	irregularity	NOUN
ajst-30221	148	37	measurements	measurement	NOUN
ajst-30221	148	38	,	,	PUNCT
ajst-30221	148	39	satellite	satellite	NOUN
ajst-30221	148	40	navigation	navigation	NOUN
ajst-30221	148	41	,	,	PUNCT
ajst-30221	148	42	vol	vol	NOUN
ajst-30221	148	43	.	.	PROPN
ajst-30221	148	44	2	2	NUM
ajst-30221	148	45	,	,	PUNCT
ajst-30221	148	46	pp	pp	ADJ
ajst-30221	148	47	.	.	PUNCT
ajst-30221	149	1	1	1	NUM
ajst-30221	149	2	-	-	SYM
ajst-30221	149	3	16	16	NUM
ajst-30221	149	4	.	.	PUNCT
ajst-30221	150	1	[	[	X
ajst-30221	150	2	9	9	NUM
ajst-30221	150	3	]	]	X
ajst-30221	150	4	yao	yao	NOUN
ajst-30221	150	5	y.	y.	PROPN
ajst-30221	150	6	,	,	PUNCT
ajst-30221	150	7	xu	xu	PROPN
ajst-30221	150	8	x.	x.	PROPN
ajst-30221	150	9	,	,	PUNCT
ajst-30221	150	10	zhu	zhu	PROPN
ajst-30221	150	11	c.	c.	PROPN
ajst-30221	150	12	,	,	PUNCT
ajst-30221	150	13	chan	chan	PROPN
ajst-30221	150	14	c.-y	c.-y	NOUN
ajst-30221	150	15	.	.	PUNCT
ajst-30221	151	1	(	(	PUNCT
ajst-30221	151	2	2017	2017	NUM
ajst-30221	151	3	)	)	PUNCT
ajst-30221	151	4	,	,	PUNCT
ajst-30221	151	5	a	a	DET
ajst-30221	151	6	hybrid	hybrid	ADJ
ajst-30221	151	7	fusion	fusion	NOUN
ajst-30221	151	8	algorithm	algorithm	NOUN
ajst-30221	151	9	for	for	ADP
ajst-30221	151	10	gps	gps	PROPN
ajst-30221	151	11	/	/	SYM
ajst-30221	151	12	ins	in	NOUN
ajst-30221	151	13	integration	integration	NOUN
ajst-30221	151	14	during	during	ADP
ajst-30221	151	15	gps	gps	PROPN
ajst-30221	151	16	outages	outage	NOUN
ajst-30221	151	17	,	,	PUNCT
ajst-30221	151	18	measurement	measurement	NOUN
ajst-30221	151	19	,	,	PUNCT
ajst-30221	151	20	vol	vol	NOUN
ajst-30221	151	21	.	.	PROPN
ajst-30221	151	22	103	103	NUM
ajst-30221	151	23	,	,	PUNCT
ajst-30221	151	24	pp	pp	ADJ
ajst-30221	151	25	.	.	PUNCT
ajst-30221	152	1	42	42	NUM
ajst-30221	152	2	-	-	SYM
ajst-30221	152	3	51	51	NUM
ajst-30221	152	4	.	.	PUNCT
ajst-30221	153	1	[	[	X
ajst-30221	153	2	10	10	NUM
ajst-30221	153	3	]	]	X
ajst-30221	153	4	mahdi	mahdi	PROPN
ajst-30221	153	5	a.	a.	PROPN
ajst-30221	153	6	e.	e.	PROPN
ajst-30221	153	7	,	,	PUNCT
ajst-30221	153	8	azouz	azouz	PROPN
ajst-30221	153	9	a.	a.	PROPN
ajst-30221	153	10	,	,	PUNCT
ajst-30221	153	11	abdalla	abdalla	PROPN
ajst-30221	153	12	a.	a.	PROPN
ajst-30221	153	13	e.	e.	PROPN
ajst-30221	153	14	,	,	PUNCT
ajst-30221	153	15	abosekeen	abosekeen	PROPN
ajst-30221	153	16	a.	a.	NOUN
ajst-30221	153	17	(	(	PUNCT
ajst-30221	153	18	2022	2022	NUM
ajst-30221	153	19	)	)	PUNCT
ajst-30221	153	20	,	,	PUNCT
ajst-30221	153	21	a	a	DET
ajst-30221	153	22	machine	machine	NOUN
ajst-30221	153	23	learning	learn	VERB
ajst-30221	153	24	approach	approach	NOUN
ajst-30221	153	25	for	for	ADP
ajst-30221	153	26	an	an	DET
ajst-30221	153	27	improved	improved	ADJ
ajst-30221	153	28	inertial	inertial	ADJ
ajst-30221	153	29	navigation	navigation	NOUN
ajst-30221	153	30	system	system	NOUN
ajst-30221	153	31	solution	solution	NOUN
ajst-30221	153	32	,	,	PUNCT
ajst-30221	153	33	sensors	sensor	NOUN
ajst-30221	153	34	,	,	PUNCT
ajst-30221	153	35	vol	vol	NOUN
ajst-30221	153	36	.	.	PROPN
ajst-30221	153	37	22	22	NUM
ajst-30221	153	38	,	,	PUNCT
ajst-30221	153	39	no	no	INTJ
ajst-30221	153	40	.	.	NOUN
ajst-30221	153	41	4	4	NUM
ajst-30221	153	42	,	,	PUNCT
ajst-30221	153	43	article	article	NOUN
ajst-30221	153	44	no	no	NOUN
ajst-30221	153	45	.	.	PROPN
ajst-30221	153	46	1687	1687	NUM
ajst-30221	153	47	.	.	PUNCT
ajst-30221	154	1	[	[	X
ajst-30221	154	2	11	11	NUM
ajst-30221	154	3	]	]	PUNCT
ajst-30221	154	4	damagatla	damagatla	PROPN
ajst-30221	154	5	r.	r.	PROPN
ajst-30221	154	6	k.	k.	PROPN
ajst-30221	154	7	,	,	PUNCT
ajst-30221	154	8	atia	atia	PROPN
ajst-30221	154	9	m.	m.	PROPN
ajst-30221	154	10	(	(	PUNCT
ajst-30221	154	11	2024	2024	NUM
ajst-30221	154	12	)	)	PUNCT
ajst-30221	154	13	,	,	PUNCT
ajst-30221	154	14	improving	improve	VERB
ajst-30221	154	15	ekf	ekf	PROPN
ajst-30221	154	16	-	-	PUNCT
ajst-30221	154	17	based	base	VERB
ajst-30221	154	18	imu	imu	NOUN
ajst-30221	154	19	/	/	SYM
ajst-30221	154	20	gnss	gnss	NOUN
ajst-30221	154	21	fusion	fusion	NOUN
ajst-30221	154	22	using	use	VERB
ajst-30221	154	23	machine	machine	NOUN
ajst-30221	154	24	learning	learning	NOUN
ajst-30221	154	25	for	for	ADP
ajst-30221	154	26	imu	imu	NOUN
ajst-30221	154	27	denoising	denoising	NOUN
ajst-30221	154	28	,	,	PUNCT
ajst-30221	154	29	ieee	ieee	NOUN
ajst-30221	154	30	access	access	NOUN
ajst-30221	154	31	,	,	PUNCT
ajst-30221	154	32	vol	vol	NOUN
ajst-30221	154	33	.	.	PROPN
ajst-30221	154	34	12	12	NUM
ajst-30221	154	35	,	,	PUNCT
ajst-30221	154	36	pp	pp	ADJ
ajst-30221	154	37	.	.	PUNCT
ajst-30221	154	38	114358	114358	NUM
ajst-30221	154	39	-	-	SYM
ajst-30221	154	40	114369	114369	NUM
ajst-30221	154	41	.	.	PUNCT
ajst-30221	155	1	[	[	X
ajst-30221	155	2	12	12	NUM
ajst-30221	155	3	]	]	X
ajst-30221	155	4	liu	liu	PROPN
ajst-30221	155	5	j.	j.	PROPN
ajst-30221	155	6	,	,	PUNCT
ajst-30221	155	7	guo	guo	PROPN
ajst-30221	155	8	g.	g.	PROPN
ajst-30221	155	9	(	(	PUNCT
ajst-30221	155	10	2021	2021	NUM
ajst-30221	155	11	)	)	PUNCT
ajst-30221	155	12	,	,	PUNCT
ajst-30221	155	13	vehicle	vehicle	NOUN
ajst-30221	155	14	localization	localization	NOUN
ajst-30221	155	15	during	during	ADP
ajst-30221	155	16	gps	gps	NOUN
ajst-30221	155	17	outages	outage	NOUN
ajst-30221	155	18	with	with	ADP
ajst-30221	155	19	extended	extended	ADJ
ajst-30221	155	20	kalman	kalman	NOUN
ajst-30221	155	21	filter	filter	NOUN
ajst-30221	155	22	and	and	CCONJ
ajst-30221	155	23	deep	deep	ADJ
ajst-30221	155	24	learning	learning	NOUN
ajst-30221	155	25	,	,	PUNCT
ajst-30221	155	26	ieee	ieee	NOUN
ajst-30221	155	27	transactions	transaction	NOUN
ajst-30221	155	28	on	on	ADP
ajst-30221	155	29	instrumentation	instrumentation	NOUN
ajst-30221	155	30	and	and	CCONJ
ajst-30221	155	31	measurement	measurement	NOUN
ajst-30221	155	32	,	,	PUNCT
ajst-30221	155	33	vol	vol	NOUN
ajst-30221	155	34	.	.	PROPN
ajst-30221	155	35	70	70	NUM
ajst-30221	155	36	,	,	PUNCT
ajst-30221	155	37	pp	pp	ADJ
ajst-30221	155	38	.	.	PUNCT
ajst-30221	156	1	1	1	NUM
ajst-30221	156	2	-	-	SYM
ajst-30221	156	3	10	10	NUM
ajst-30221	156	4	.	.	PUNCT
ajst-30221	157	1	[	[	X
ajst-30221	157	2	13	13	NUM
ajst-30221	157	3	]	]	X
ajst-30221	157	4	iyer	iyer	PROPN
ajst-30221	157	5	k.	k.	PROPN
ajst-30221	157	6	,	,	PUNCT
ajst-30221	157	7	dey	dey	PROPN
ajst-30221	157	8	a.	a.	PROPN
ajst-30221	157	9	,	,	PUNCT
ajst-30221	157	10	xu	xu	PROPN
ajst-30221	157	11	b.	b.	PROPN
ajst-30221	157	12	,	,	PUNCT
ajst-30221	157	13	sharma	sharma	PROPN
ajst-30221	157	14	n.	n.	PROPN
ajst-30221	157	15	,	,	PUNCT
ajst-30221	157	16	hsu	hsu	PROPN
ajst-30221	157	17	l.-t	l.-t	PROPN
ajst-30221	157	18	.	.	PUNCT
ajst-30221	158	1	(	(	PUNCT
ajst-30221	158	2	2024	2024	NUM
ajst-30221	158	3	)	)	PUNCT
ajst-30221	158	4	,	,	PUNCT
ajst-30221	158	5	enhancing	enhance	VERB
ajst-30221	158	6	positioning	positioning	NOUN
ajst-30221	158	7	in	in	ADP
ajst-30221	158	8	gnss	gnss	NOUN
ajst-30221	158	9	denied	deny	VERB
ajst-30221	158	10	environments	environment	NOUN
ajst-30221	158	11	based	base	VERB
ajst-30221	158	12	on	on	ADP
ajst-30221	158	13	an	an	DET
ajst-30221	158	14	extended	extended	ADJ
ajst-30221	158	15	kalman	kalman	NOUN
ajst-30221	158	16	filter	filter	NOUN
ajst-30221	158	17	using	use	VERB
ajst-30221	158	18	past	past	ADJ
ajst-30221	158	19	gnss	gnss	NOUN
ajst-30221	158	20	measurements	measurement	NOUN
ajst-30221	158	21	and	and	CCONJ
ajst-30221	158	22	imu	imu	NOUN
ajst-30221	158	23	,	,	PUNCT
ajst-30221	158	24	ieee	ieee	NOUN
ajst-30221	158	25	transactions	transaction	NOUN
ajst-30221	158	26	on	on	ADP
ajst-30221	158	27	vehicular	vehicular	ADJ
ajst-30221	158	28	technology	technology	NOUN
ajst-30221	158	29	,	,	PUNCT
ajst-30221	158	30	vol	vol	NOUN
ajst-30221	158	31	.	.	PROPN
ajst-30221	159	1	73	73	NUM
ajst-30221	159	2	,	,	PUNCT
ajst-30221	159	3	no	no	INTJ
ajst-30221	159	4	.	.	NOUN
ajst-30221	159	5	6	6	NUM
ajst-30221	159	6	,	,	PUNCT
ajst-30221	159	7	pp	pp	ADJ
ajst-30221	159	8	.	.	PUNCT
ajst-30221	160	1	7908	7908	NUM
ajst-30221	160	2	-	-	SYM
ajst-30221	160	3	7924	7924	NUM
ajst-30221	160	4	.	.	PUNCT
ajst-30221	161	1	[	[	X
ajst-30221	161	2	14	14	NUM
ajst-30221	161	3	]	]	PUNCT
ajst-30221	161	4	groves	grove	NOUN
ajst-30221	161	5	p.	p.	NOUN
ajst-30221	161	6	(	(	PUNCT
ajst-30221	161	7	2007	2007	NUM
ajst-30221	161	8	)	)	PUNCT
ajst-30221	161	9	,	,	PUNCT
ajst-30221	161	10	principles	principle	NOUN
ajst-30221	161	11	of	of	ADP
ajst-30221	161	12	gnss	gnss	NOUN
ajst-30221	161	13	,	,	PUNCT
ajst-30221	161	14	inertial	inertial	NOUN
ajst-30221	161	15	,	,	PUNCT
ajst-30221	161	16	and	and	CCONJ
ajst-30221	161	17	multisensor	multisensor	NOUN
ajst-30221	161	18	integrated	integrate	VERB
ajst-30221	161	19	navigation	navigation	NOUN
ajst-30221	161	20	systems	system	NOUN
ajst-30221	161	21	.	.	PUNCT
ajst-30221	162	1	[	[	X
ajst-30221	162	2	15	15	NUM
ajst-30221	162	3	]	]	X
ajst-30221	162	4	chang	chang	PROPN
ajst-30221	162	5	l.	l.	PROPN
ajst-30221	162	6	,	,	PUNCT
ajst-30221	162	7	luo	luo	PROPN
ajst-30221	162	8	y.	y.	PROPN
ajst-30221	162	9	(	(	PUNCT
ajst-30221	162	10	2023	2023	NUM
ajst-30221	162	11	)	)	PUNCT
ajst-30221	162	12	,	,	PUNCT
ajst-30221	162	13	log	log	NOUN
ajst-30221	162	14	-	-	PUNCT
ajst-30221	162	15	linear	linear	NOUN
ajst-30221	162	16	error	error	NOUN
ajst-30221	162	17	state	state	NOUN
ajst-30221	162	18	model	model	NOUN
ajst-30221	162	19	derivation	derivation	NOUN
ajst-30221	162	20	without	without	ADP
ajst-30221	162	21	approximation	approximation	NOUN
ajst-30221	162	22	for	for	ADP
ajst-30221	162	23	ins	in	NOUN
ajst-30221	162	24	,	,	PUNCT
ajst-30221	162	25	ieee	ieee	NOUN
ajst-30221	162	26	transactions	transaction	NOUN
ajst-30221	162	27	on	on	ADP
ajst-30221	162	28	aerospace	aerospace	NOUN
ajst-30221	162	29	and	and	CCONJ
ajst-30221	162	30	electronic	electronic	ADJ
ajst-30221	162	31	systems	system	NOUN
ajst-30221	162	32	,	,	PUNCT
ajst-30221	162	33	vol	vol	NOUN
ajst-30221	162	34	.	.	PROPN
ajst-30221	162	35	59	59	NUM
ajst-30221	162	36	,	,	PUNCT
ajst-30221	162	37	no	no	INTJ
ajst-30221	162	38	.	.	NOUN
ajst-30221	162	39	2	2	NUM
ajst-30221	162	40	,	,	PUNCT
ajst-30221	162	41	pp	pp	ADJ
ajst-30221	162	42	.	.	PUNCT
ajst-30221	163	1	2029	2029	NUM
ajst-30221	163	2	-	-	SYM
ajst-30221	163	3	2035	2035	NUM
ajst-30221	163	4	.	.	PUNCT
ajst-30221	164	1	[	[	X
ajst-30221	164	2	16	16	NUM
ajst-30221	164	3	]	]	X
ajst-30221	164	4	luo	luo	PROPN
ajst-30221	164	5	y.	y.	PROPN
ajst-30221	164	6	,	,	PUNCT
ajst-30221	164	7	lu	lu	PROPN
ajst-30221	164	8	f.	f.	PROPN
ajst-30221	164	9	,	,	PUNCT
ajst-30221	164	10	guo	guo	PROPN
ajst-30221	164	11	c.	c.	PROPN
ajst-30221	164	12	,	,	PUNCT
ajst-30221	164	13	liu	liu	PROPN
ajst-30221	164	14	j.	j.	PROPN
ajst-30221	164	15	(	(	PUNCT
ajst-30221	164	16	2024	2024	NUM
ajst-30221	164	17	)	)	PUNCT
ajst-30221	164	18	,	,	PUNCT
ajst-30221	164	19	matrix	matrix	NOUN
ajst-30221	164	20	lie	lie	NOUN
ajst-30221	164	21	group	group	NOUN
ajst-30221	164	22	-	-	PUNCT
ajst-30221	164	23	based	base	VERB
ajst-30221	164	24	extended	extended	ADJ
ajst-30221	164	25	kalman	kalman	NOUN
ajst-30221	164	26	filtering	filter	VERB
ajst-30221	164	27	for	for	ADP
ajst-30221	164	28	inertial	inertial	NOUN
ajst-30221	164	29	-	-	PUNCT
ajst-30221	164	30	integrated	integrate	VERB
ajst-30221	164	31	navigation	navigation	NOUN
ajst-30221	164	32	in	in	ADP
ajst-30221	164	33	the	the	DET
ajst-30221	164	34	navigation	navigation	NOUN
ajst-30221	164	35	frame	frame	NOUN
ajst-30221	164	36	,	,	PUNCT
ajst-30221	164	37	ieee	ieee	NOUN
ajst-30221	164	38	transactions	transaction	NOUN
ajst-30221	164	39	on	on	ADP
ajst-30221	164	40	instrumentation	instrumentation	NOUN
ajst-30221	164	41	and	and	CCONJ
ajst-30221	164	42	measurement	measurement	NOUN
ajst-30221	164	43	,	,	PUNCT
ajst-30221	164	44	vol	vol	NOUN
ajst-30221	164	45	.	.	PROPN
ajst-30221	164	46	73	73	NUM
ajst-30221	164	47	,	,	PUNCT
ajst-30221	164	48	pp	pp	ADJ
ajst-30221	164	49	.	.	PUNCT
ajst-30221	165	1	1	1	NUM
ajst-30221	165	2	-	-	SYM
ajst-30221	165	3	16	16	NUM
ajst-30221	165	4	.	.	PUNCT
ajst-30221	166	1	[	[	X
ajst-30221	166	2	17	17	NUM
ajst-30221	166	3	]	]	X
ajst-30221	166	4	wang	wang	PROPN
ajst-30221	166	5	j.	j.	PROPN
ajst-30221	166	6	,	,	PUNCT
ajst-30221	166	7	chen	chen	PROPN
ajst-30221	166	8	w.	w.	PROPN
ajst-30221	166	9	,	,	PUNCT
ajst-30221	166	10	weng	weng	PROPN
ajst-30221	166	11	d.	d.	PROPN
ajst-30221	166	12	(	(	PUNCT
ajst-30221	166	13	2025	2025	NUM
ajst-30221	166	14	)	)	PUNCT
ajst-30221	166	15	,	,	PUNCT
ajst-30221	166	16	gnss	gnss	NOUN
ajst-30221	166	17	/	/	SYM
ajst-30221	166	18	imu	imu	NOUN
ajst-30221	166	19	/	/	SYM
ajst-30221	166	20	mapmatching	mapmatche	VERB
ajst-30221	166	21	feedback	feedback	NOUN
ajst-30221	166	22	integration	integration	NOUN
ajst-30221	166	23	with	with	ADP
ajst-30221	166	24	adaptive	adaptive	ADJ
ajst-30221	166	25	gnss	gnss	NOUN
ajst-30221	166	26	accuracy	accuracy	NOUN
ajst-30221	166	27	estimation	estimation	NOUN
ajst-30221	166	28	by	by	ADP
ajst-30221	166	29	using	use	VERB
ajst-30221	166	30	low	low	ADJ
ajst-30221	166	31	-	-	PUNCT
ajst-30221	166	32	quality	quality	NOUN
ajst-30221	166	33	sensors	sensor	NOUN
ajst-30221	166	34	for	for	ADP
ajst-30221	166	35	vehicle	vehicle	NOUN
ajst-30221	166	36	localization	localization	NOUN
ajst-30221	166	37	in	in	ADP
ajst-30221	166	38	urban	urban	ADJ
ajst-30221	166	39	canyon	canyon	PROPN
ajst-30221	166	40	,	,	PUNCT
ajst-30221	166	41	measurement	measurement	NOUN
ajst-30221	166	42	,	,	PUNCT
ajst-30221	166	43	vol	vol	NOUN
ajst-30221	166	44	.	.	PROPN
ajst-30221	166	45	240	240	NUM
ajst-30221	166	46	,	,	PUNCT
ajst-30221	166	47	pp	pp	ADJ
ajst-30221	166	48	.	.	PUNCT
ajst-30221	166	49	115541	115541	NUM
ajst-30221	166	50	.	.	PUNCT
ajst-30221	167	1	[	[	X
ajst-30221	167	2	18	18	NUM
ajst-30221	167	3	]	]	PUNCT
ajst-30221	167	4	nassar	nassar	PROPN
ajst-30221	167	5	s.	s.	PROPN
ajst-30221	167	6	,	,	PUNCT
ajst-30221	167	7	el	el	PROPN
ajst-30221	167	8	-	-	PUNCT
ajst-30221	167	9	sheimy	sheimy	PROPN
ajst-30221	167	10	n.	n.	NOUN
ajst-30221	167	11	(	(	PUNCT
ajst-30221	167	12	2006	2006	NUM
ajst-30221	167	13	)	)	PUNCT
ajst-30221	167	14	,	,	PUNCT
ajst-30221	167	15	a	a	DET
ajst-30221	167	16	combined	combined	ADJ
ajst-30221	167	17	algorithm	algorithm	NOUN
ajst-30221	167	18	of	of	ADP
ajst-30221	167	19	improving	improve	VERB
ajst-30221	167	20	ins	in	NOUN
ajst-30221	167	21	error	error	NOUN
ajst-30221	167	22	modeling	modeling	NOUN
ajst-30221	167	23	and	and	CCONJ
ajst-30221	167	24	sensor	sensor	NOUN
ajst-30221	167	25	measurements	measurement	NOUN
ajst-30221	167	26	for	for	ADP
ajst-30221	167	27	accurate	accurate	ADJ
ajst-30221	167	28	ins	in	NOUN
ajst-30221	167	29	/	/	SYM
ajst-30221	167	30	gps	gps	PROPN
ajst-30221	167	31	navigation	navigation	NOUN
ajst-30221	167	32	,	,	PUNCT
ajst-30221	167	33	gps	gps	PROPN
ajst-30221	167	34	solutions	solution	NOUN
ajst-30221	167	35	,	,	PUNCT
ajst-30221	167	36	vol	vol	NOUN
ajst-30221	167	37	.	.	PROPN
ajst-30221	167	38	10	10	NUM
ajst-30221	167	39	,	,	PUNCT
ajst-30221	167	40	pp	pp	ADJ
ajst-30221	167	41	.	.	PUNCT
ajst-30221	168	1	2939	2939	NUM
ajst-30221	168	2	.	.	PUNCT
ajst-30221	169	1	[	[	X
ajst-30221	169	2	19	19	NUM
ajst-30221	169	3	]	]	X
ajst-30221	169	4	lyu	lyu	NOUN
ajst-30221	169	5	p.	p.	PROPN
ajst-30221	169	6	,	,	PUNCT
ajst-30221	169	7	wang	wang	PROPN
ajst-30221	169	8	b.	b.	PROPN
ajst-30221	169	9	,	,	PUNCT
ajst-30221	169	10	lai	lai	PROPN
ajst-30221	169	11	j.	j.	PROPN
ajst-30221	169	12	,	,	PUNCT
ajst-30221	169	13	bai	bai	PROPN
ajst-30221	169	14	s.	s.	PROPN
ajst-30221	169	15	,	,	PUNCT
ajst-30221	169	16	liu	liu	PROPN
ajst-30221	169	17	m.	m.	PROPN
ajst-30221	169	18	,	,	PUNCT
ajst-30221	169	19	yu	yu	PROPN
ajst-30221	169	20	w.	w.	PROPN
ajst-30221	169	21	(	(	PUNCT
ajst-30221	169	22	2023	2023	NUM
ajst-30221	169	23	)	)	PUNCT
ajst-30221	169	24	,	,	PUNCT
ajst-30221	169	25	a	a	DET
ajst-30221	169	26	factor	factor	NOUN
ajst-30221	169	27	graph	graph	NOUN
ajst-30221	169	28	optimization	optimization	NOUN
ajst-30221	169	29	method	method	NOUN
ajst-30221	169	30	for	for	ADP
ajst-30221	169	31	high	high	ADJ
ajst-30221	169	32	-	-	PUNCT
ajst-30221	169	33	precision	precision	NOUN
ajst-30221	169	34	imu	imu	NOUN
ajst-30221	169	35	-	-	PUNCT
ajst-30221	169	36	based	base	VERB
ajst-30221	169	37	navigation	navigation	NOUN
ajst-30221	169	38	system	system	NOUN
ajst-30221	169	39	,	,	PUNCT
ajst-30221	169	40	ieee	ieee	NOUN
ajst-30221	169	41	transactions	transaction	NOUN
ajst-30221	169	42	on	on	ADP
ajst-30221	169	43	instrumentation	instrumentation	NOUN
ajst-30221	169	44	and	and	CCONJ
ajst-30221	169	45	measurement	measurement	NOUN
ajst-30221	169	46	,	,	PUNCT
ajst-30221	169	47	vol	vol	NOUN
ajst-30221	169	48	.	.	PROPN
ajst-30221	169	49	72	72	NUM
ajst-30221	169	50	,	,	PUNCT
ajst-30221	169	51	pp	pp	ADJ
ajst-30221	169	52	.	.	PUNCT
ajst-30221	170	1	1	1	NUM
ajst-30221	170	2	-	-	SYM
ajst-30221	170	3	12	12	NUM
ajst-30221	170	4	.	.	PUNCT
ajst-30221	171	1	[	[	X
ajst-30221	171	2	20	20	NUM
ajst-30221	171	3	]	]	X
ajst-30221	171	4	tang	tang	PROPN
ajst-30221	171	5	j.	j.	PROPN
ajst-30221	171	6	,	,	PUNCT
ajst-30221	171	7	bian	bian	PROPN
ajst-30221	171	8	h.	h.	PROPN
ajst-30221	171	9	,	,	PUNCT
ajst-30221	171	10	ma	ma	PROPN
ajst-30221	171	11	h.	h.	PROPN
ajst-30221	171	12	,	,	PUNCT
ajst-30221	171	13	wang	wang	PROPN
ajst-30221	171	14	r.	r.	PROPN
ajst-30221	171	15	(	(	PUNCT
ajst-30221	171	16	2024	2024	NUM
ajst-30221	171	17	)	)	PUNCT
ajst-30221	171	18	,	,	PUNCT
ajst-30221	171	19	sins	sin	VERB
ajst-30221	171	20	/	/	SYM
ajst-30221	171	21	gnss	gnss	NOUN
ajst-30221	171	22	integrated	integrate	VERB
ajst-30221	171	23	navigation	navigation	NOUN
ajst-30221	171	24	based	base	VERB
ajst-30221	171	25	on	on	ADP
ajst-30221	171	26	invariant	invariant	ADJ
ajst-30221	171	27	error	error	NOUN
ajst-30221	171	28	models	model	NOUN
ajst-30221	171	29	in	in	ADP
ajst-30221	171	30	inertial	inertial	ADJ
ajst-30221	171	31	frame	frame	NOUN
ajst-30221	171	32	,	,	PUNCT
ajst-30221	171	33	ieee	ieee	NOUN
ajst-30221	171	34	sensors	sensor	NOUN
ajst-30221	171	35	journal	journal	PROPN
ajst-30221	171	36	,	,	PUNCT
ajst-30221	171	37	vol	vol	NOUN
ajst-30221	171	38	.	.	PUNCT