id	sid	tid	token	lemma	pos
ajst-6858	1	1	academic	academic	ADJ
ajst-6858	1	2	journal	journal	NOUN
ajst-6858	1	3	of	of	ADP
ajst-6858	1	4	science	science	NOUN
ajst-6858	1	5	and	and	CCONJ
ajst-6858	1	6	technology	technology	NOUN
ajst-6858	1	7	issn	issn	NOUN
ajst-6858	1	8	:	:	PUNCT
ajst-6858	1	9	2771	2771	NUM
ajst-6858	1	10	-	-	SYM
ajst-6858	1	11	3032	3032	NUM
ajst-6858	1	12	|	|	NOUN
ajst-6858	1	13	vol	vol	NOUN
ajst-6858	1	14	.	.	PROPN
ajst-6858	2	1	5	5	NUM
ajst-6858	2	2	,	,	PUNCT
ajst-6858	2	3	no	no	INTJ
ajst-6858	2	4	.	.	NOUN
ajst-6858	2	5	2	2	NUM
ajst-6858	2	6	,	,	PUNCT
ajst-6858	2	7	2023	2023	NUM
ajst-6858	2	8	174	174	NUM
ajst-6858	2	9	research	research	NOUN
ajst-6858	2	10	on	on	ADP
ajst-6858	2	11	a	a	DET
ajst-6858	2	12	gyro	gyro	NOUN
ajst-6858	2	13	error	error	NOUN
ajst-6858	2	14	calibration	calibration	NOUN
ajst-6858	2	15	method	method	NOUN
ajst-6858	2	16	based	base	VERB
ajst-6858	2	17	on	on	ADP
ajst-6858	2	18	dynamic	dynamic	ADJ
ajst-6858	2	19	compensation	compensation	PROPN
ajst-6858	2	20	xiaojuan	xiaojuan	PROPN
ajst-6858	2	21	jiang	jiang	PROPN
ajst-6858	2	22	and	and	CCONJ
ajst-6858	2	23	fuchao	fuchao	PROPN
ajst-6858	2	24	huang	huang	PROPN
ajst-6858	2	25	school	school	PROPN
ajst-6858	2	26	of	of	ADP
ajst-6858	2	27	chongqing	chongqing	PROPN
ajst-6858	2	28	,	,	PUNCT
ajst-6858	2	29	chongqing	chongqing	PROPN
ajst-6858	2	30	university	university	PROPN
ajst-6858	2	31	of	of	ADP
ajst-6858	2	32	posts	post	NOUN
ajst-6858	2	33	and	and	CCONJ
ajst-6858	2	34	telecommunications	telecommunication	NOUN
ajst-6858	2	35	,	,	PUNCT
ajst-6858	2	36	chongqing	chongqe	VERB
ajst-6858	2	37	400000	400000	NUM
ajst-6858	2	38	,	,	PUNCT
ajst-6858	2	39	china	china	PROPN
ajst-6858	2	40	abstract	abstract	NOUN
ajst-6858	2	41	:	:	PUNCT
ajst-6858	2	42	gyroscopes	gyroscope	NOUN
ajst-6858	2	43	in	in	ADP
ajst-6858	2	44	micro	micro	ADJ
ajst-6858	2	45	-	-	ADJ
ajst-6858	2	46	electro	electro	ADJ
ajst-6858	2	47	-	-	PUNCT
ajst-6858	2	48	mechanical	mechanical	ADJ
ajst-6858	2	49	systems	system	NOUN
ajst-6858	2	50	(	(	PUNCT
ajst-6858	2	51	mems	mem	NOUN
ajst-6858	2	52	)	)	PUNCT
ajst-6858	2	53	technology	technology	NOUN
ajst-6858	2	54	have	have	VERB
ajst-6858	2	55	high	high	ADJ
ajst-6858	2	56	accuracy	accuracy	NOUN
ajst-6858	2	57	,	,	PUNCT
ajst-6858	2	58	convenient	convenient	ADJ
ajst-6858	2	59	use	use	NOUN
ajst-6858	2	60	,	,	PUNCT
ajst-6858	2	61	and	and	CCONJ
ajst-6858	2	62	broad	broad	ADJ
ajst-6858	2	63	application	application	NOUN
ajst-6858	2	64	prospects	prospect	NOUN
ajst-6858	2	65	.	.	PUNCT
ajst-6858	3	1	in	in	ADP
ajst-6858	3	2	practical	practical	ADJ
ajst-6858	3	3	applications	application	NOUN
ajst-6858	3	4	,	,	PUNCT
ajst-6858	3	5	it	it	PRON
ajst-6858	3	6	is	be	AUX
ajst-6858	3	7	found	find	VERB
ajst-6858	3	8	that	that	SCONJ
ajst-6858	3	9	angular	angular	ADJ
ajst-6858	3	10	rate	rate	NOUN
ajst-6858	3	11	error	error	NOUN
ajst-6858	3	12	is	be	AUX
ajst-6858	3	13	one	one	NUM
ajst-6858	3	14	of	of	ADP
ajst-6858	3	15	the	the	DET
ajst-6858	3	16	main	main	ADJ
ajst-6858	3	17	reasons	reason	NOUN
ajst-6858	3	18	that	that	PRON
ajst-6858	3	19	affect	affect	VERB
ajst-6858	3	20	the	the	DET
ajst-6858	3	21	output	output	NOUN
ajst-6858	3	22	accuracy	accuracy	NOUN
ajst-6858	3	23	of	of	ADP
ajst-6858	3	24	gyroscopes	gyroscope	NOUN
ajst-6858	3	25	.	.	PUNCT
ajst-6858	4	1	in	in	ADP
ajst-6858	4	2	the	the	DET
ajst-6858	4	3	angular	angular	ADJ
ajst-6858	4	4	rate	rate	NOUN
ajst-6858	4	5	error	error	NOUN
ajst-6858	4	6	calibration	calibration	NOUN
ajst-6858	4	7	of	of	ADP
ajst-6858	4	8	mems	mem	NOUN
ajst-6858	4	9	gyroscopes	gyroscope	NOUN
ajst-6858	4	10	,	,	PUNCT
ajst-6858	4	11	the	the	DET
ajst-6858	4	12	method	method	NOUN
ajst-6858	4	13	of	of	ADP
ajst-6858	4	14	calibrating	calibrate	VERB
ajst-6858	4	15	the	the	DET
ajst-6858	4	16	gyroscopes	gyroscope	NOUN
ajst-6858	4	17	only	only	ADV
ajst-6858	4	18	by	by	ADP
ajst-6858	4	19	changing	change	VERB
ajst-6858	4	20	the	the	DET
ajst-6858	4	21	bias	bias	NOUN
ajst-6858	4	22	and	and	CCONJ
ajst-6858	4	23	scale	scale	NOUN
ajst-6858	4	24	coefficients	coefficient	NOUN
ajst-6858	4	25	obtained	obtain	VERB
ajst-6858	4	26	by	by	ADP
ajst-6858	4	27	fitting	fitting	ADJ
ajst-6858	4	28	can	can	AUX
ajst-6858	4	29	not	not	PART
ajst-6858	4	30	meet	meet	VERB
ajst-6858	4	31	the	the	DET
ajst-6858	4	32	angular	angular	ADJ
ajst-6858	4	33	rate	rate	NOUN
ajst-6858	4	34	error	error	NOUN
ajst-6858	4	35	calibration	calibration	NOUN
ajst-6858	4	36	of	of	ADP
ajst-6858	4	37	mems	mem	NOUN
ajst-6858	4	38	gyroscopes	gyroscope	NOUN
ajst-6858	4	39	whose	whose	DET
ajst-6858	4	40	dynamic	dynamic	ADJ
ajst-6858	4	41	range	range	NOUN
ajst-6858	4	42	exceeds	exceed	VERB
ajst-6858	4	43	100	100	NUM
ajst-6858	4	44	°	°	NUM
ajst-6858	4	45	/s	/	NOUN
ajst-6858	4	46	.	.	PUNCT
ajst-6858	5	1	therefore	therefore	ADV
ajst-6858	5	2	,	,	PUNCT
ajst-6858	5	3	the	the	DET
ajst-6858	5	4	research	research	NOUN
ajst-6858	5	5	proposes	propose	VERB
ajst-6858	5	6	an	an	DET
ajst-6858	5	7	improved	improved	ADJ
ajst-6858	5	8	calibration	calibration	NOUN
ajst-6858	5	9	method	method	NOUN
ajst-6858	5	10	to	to	PART
ajst-6858	5	11	solve	solve	VERB
ajst-6858	5	12	the	the	DET
ajst-6858	5	13	problem	problem	NOUN
ajst-6858	5	14	of	of	ADP
ajst-6858	5	15	angular	angular	ADJ
ajst-6858	5	16	rate	rate	NOUN
ajst-6858	5	17	error	error	NOUN
ajst-6858	5	18	,	,	PUNCT
ajst-6858	5	19	using	use	VERB
ajst-6858	5	20	dynamic	dynamic	ADJ
ajst-6858	5	21	compensation	compensation	NOUN
ajst-6858	5	22	algorithms	algorithm	NOUN
ajst-6858	5	23	to	to	PART
ajst-6858	5	24	achieve	achieve	VERB
ajst-6858	5	25	dynamic	dynamic	ADJ
ajst-6858	5	26	compensation	compensation	NOUN
ajst-6858	5	27	for	for	ADP
ajst-6858	5	28	the	the	DET
ajst-6858	5	29	angular	angular	ADJ
ajst-6858	5	30	rate	rate	NOUN
ajst-6858	5	31	of	of	ADP
ajst-6858	5	32	mems	mem	NOUN
ajst-6858	5	33	gyroscopes	gyroscope	NOUN
ajst-6858	5	34	.	.	PUNCT
ajst-6858	6	1	experiments	experiment	NOUN
ajst-6858	6	2	show	show	VERB
ajst-6858	6	3	that	that	SCONJ
ajst-6858	6	4	using	use	VERB
ajst-6858	6	5	the	the	DET
ajst-6858	6	6	dynamic	dynamic	ADJ
ajst-6858	6	7	compensation	compensation	NOUN
ajst-6858	6	8	calibration	calibration	NOUN
ajst-6858	6	9	method	method	NOUN
ajst-6858	6	10	proposed	propose	VERB
ajst-6858	6	11	in	in	ADP
ajst-6858	6	12	this	this	DET
ajst-6858	6	13	paper	paper	NOUN
ajst-6858	6	14	,	,	PUNCT
ajst-6858	6	15	the	the	DET
ajst-6858	6	16	root	root	NOUN
ajst-6858	6	17	mean	mean	VERB
ajst-6858	6	18	square	square	ADJ
ajst-6858	6	19	error	error	NOUN
ajst-6858	6	20	of	of	ADP
ajst-6858	6	21	the	the	DET
ajst-6858	6	22	angular	angular	ADJ
ajst-6858	6	23	rate	rate	NOUN
ajst-6858	6	24	of	of	ADP
ajst-6858	6	25	mems	mem	NOUN
ajst-6858	6	26	gyroscopes	gyroscope	NOUN
ajst-6858	6	27	has	have	AUX
ajst-6858	6	28	decreased	decrease	VERB
ajst-6858	6	29	by	by	ADP
ajst-6858	6	30	52.37	52.37	NUM
ajst-6858	6	31	%	%	NOUN
ajst-6858	6	32	compared	compare	VERB
ajst-6858	6	33	to	to	ADP
ajst-6858	6	34	the	the	DET
ajst-6858	6	35	previous	previous	ADJ
ajst-6858	6	36	one	one	NOUN
ajst-6858	6	37	,	,	PUNCT
ajst-6858	6	38	verifying	verify	VERB
ajst-6858	6	39	the	the	DET
ajst-6858	6	40	feasibility	feasibility	NOUN
ajst-6858	6	41	of	of	ADP
ajst-6858	6	42	this	this	DET
ajst-6858	6	43	method	method	NOUN
ajst-6858	6	44	.	.	PUNCT
ajst-6858	7	1	keywords	keyword	NOUN
ajst-6858	7	2	:	:	PUNCT
ajst-6858	7	3	mems	mems	PROPN
ajst-6858	7	4	gyroscope	gyroscope	NOUN
ajst-6858	7	5	,	,	PUNCT
ajst-6858	7	6	angular	angular	ADJ
ajst-6858	7	7	rate	rate	NOUN
ajst-6858	7	8	error	error	NOUN
ajst-6858	7	9	,	,	PUNCT
ajst-6858	7	10	dynamic	dynamic	ADJ
ajst-6858	7	11	compensation	compensation	NOUN
ajst-6858	7	12	.	.	PUNCT
ajst-6858	8	1	1	1	X
ajst-6858	8	2	.	.	X
ajst-6858	8	3	introduction	introduction	NOUN
ajst-6858	8	4	mems	mem	NOUN
ajst-6858	8	5	gyroscope	gyroscope	NOUN
ajst-6858	8	6	is	be	AUX
ajst-6858	8	7	an	an	DET
ajst-6858	8	8	essential	essential	ADJ
ajst-6858	8	9	inertial	inertial	ADJ
ajst-6858	8	10	device	device	NOUN
ajst-6858	8	11	in	in	ADP
ajst-6858	8	12	inertial	inertial	ADJ
ajst-6858	8	13	navigation	navigation	NOUN
ajst-6858	8	14	systems	system	NOUN
ajst-6858	8	15	,	,	PUNCT
ajst-6858	8	16	and	and	CCONJ
ajst-6858	8	17	plays	play	VERB
ajst-6858	8	18	a	a	DET
ajst-6858	8	19	very	very	ADV
ajst-6858	8	20	important	important	ADJ
ajst-6858	8	21	role	role	NOUN
ajst-6858	8	22	in	in	ADP
ajst-6858	8	23	the	the	DET
ajst-6858	8	24	navigation	navigation	NOUN
ajst-6858	8	25	and	and	CCONJ
ajst-6858	8	26	guidance	guidance	NOUN
ajst-6858	8	27	process	process	NOUN
ajst-6858	8	28	[	[	X
ajst-6858	8	29	1	1	NUM
ajst-6858	8	30	,	,	PUNCT
ajst-6858	8	31	2	2	NUM
ajst-6858	8	32	]	]	PUNCT
ajst-6858	8	33	.	.	PUNCT
ajst-6858	9	1	at	at	ADP
ajst-6858	9	2	the	the	DET
ajst-6858	9	3	same	same	ADJ
ajst-6858	9	4	time	time	NOUN
ajst-6858	9	5	,	,	PUNCT
ajst-6858	9	6	compared	compare	VERB
ajst-6858	9	7	to	to	ADP
ajst-6858	9	8	traditional	traditional	ADJ
ajst-6858	9	9	mechanical	mechanical	ADJ
ajst-6858	9	10	gyroscopes	gyroscope	NOUN
ajst-6858	9	11	,	,	PUNCT
ajst-6858	9	12	mems	mem	NOUN
ajst-6858	9	13	gyroscopes	gyroscope	NOUN
ajst-6858	9	14	have	have	VERB
ajst-6858	9	15	the	the	DET
ajst-6858	9	16	advantages	advantage	NOUN
ajst-6858	9	17	of	of	ADP
ajst-6858	9	18	small	small	ADJ
ajst-6858	9	19	size	size	NOUN
ajst-6858	9	20	,	,	PUNCT
ajst-6858	9	21	low	low	ADJ
ajst-6858	9	22	cost	cost	NOUN
ajst-6858	9	23	,	,	PUNCT
ajst-6858	9	24	high	high	ADJ
ajst-6858	9	25	reliability	reliability	NOUN
ajst-6858	9	26	,	,	PUNCT
ajst-6858	9	27	and	and	CCONJ
ajst-6858	9	28	large	large	ADJ
ajst-6858	9	29	measurement	measurement	NOUN
ajst-6858	9	30	range	range	NOUN
ajst-6858	10	1	[	[	X
ajst-6858	10	2	3	3	NUM
ajst-6858	10	3	,	,	PUNCT
ajst-6858	10	4	4	4	NUM
ajst-6858	10	5	]	]	PUNCT
ajst-6858	10	6	.	.	PUNCT
ajst-6858	11	1	in	in	ADP
ajst-6858	11	2	inertial	inertial	ADJ
ajst-6858	11	3	navigation	navigation	NOUN
ajst-6858	11	4	system	system	NOUN
ajst-6858	11	5	technology	technology	NOUN
ajst-6858	11	6	,	,	PUNCT
ajst-6858	11	7	the	the	DET
ajst-6858	11	8	scale	scale	NOUN
ajst-6858	11	9	factor	factor	NOUN
ajst-6858	11	10	,	,	PUNCT
ajst-6858	11	11	bias	bias	NOUN
ajst-6858	11	12	,	,	PUNCT
ajst-6858	11	13	and	and	CCONJ
ajst-6858	11	14	installation	installation	NOUN
ajst-6858	11	15	errors	error	NOUN
ajst-6858	11	16	of	of	ADP
ajst-6858	11	17	mems	mem	NOUN
ajst-6858	11	18	gyroscopes	gyroscope	NOUN
ajst-6858	11	19	have	have	VERB
ajst-6858	11	20	a	a	DET
ajst-6858	11	21	significant	significant	ADJ
ajst-6858	11	22	impact	impact	NOUN
ajst-6858	11	23	on	on	ADP
ajst-6858	11	24	the	the	DET
ajst-6858	11	25	accuracy	accuracy	NOUN
ajst-6858	11	26	of	of	ADP
ajst-6858	11	27	inertial	inertial	ADJ
ajst-6858	11	28	measurement	measurement	NOUN
ajst-6858	11	29	units	unit	NOUN
ajst-6858	11	30	[	[	X
ajst-6858	11	31	5	5	NUM
ajst-6858	11	32	,	,	PUNCT
ajst-6858	11	33	6	6	NUM
ajst-6858	11	34	]	]	PUNCT
ajst-6858	11	35	.	.	PUNCT
ajst-6858	12	1	at	at	ADP
ajst-6858	12	2	the	the	DET
ajst-6858	12	3	same	same	ADJ
ajst-6858	12	4	time	time	NOUN
ajst-6858	12	5	,	,	PUNCT
ajst-6858	12	6	in	in	ADP
ajst-6858	12	7	practical	practical	ADJ
ajst-6858	12	8	applications	application	NOUN
ajst-6858	12	9	,	,	PUNCT
ajst-6858	12	10	there	there	PRON
ajst-6858	12	11	is	be	VERB
ajst-6858	12	12	a	a	DET
ajst-6858	12	13	coupling	coupling	NOUN
ajst-6858	12	14	effect	effect	NOUN
ajst-6858	12	15	between	between	ADP
ajst-6858	12	16	various	various	ADJ
ajst-6858	12	17	sensitive	sensitive	ADJ
ajst-6858	12	18	axes	axis	NOUN
ajst-6858	12	19	[	[	X
ajst-6858	12	20	7	7	NUM
ajst-6858	12	21	]	]	PUNCT
ajst-6858	12	22	.	.	PUNCT
ajst-6858	13	1	especially	especially	ADV
ajst-6858	13	2	for	for	ADP
ajst-6858	13	3	highprecision	highprecision	NOUN
ajst-6858	13	4	mems	mem	NOUN
ajst-6858	13	5	gyroscopes	gyroscope	NOUN
ajst-6858	13	6	,	,	PUNCT
ajst-6858	13	7	even	even	ADV
ajst-6858	13	8	small	small	ADJ
ajst-6858	13	9	errors	error	NOUN
ajst-6858	13	10	can	can	AUX
ajst-6858	13	11	seriously	seriously	ADV
ajst-6858	13	12	reduce	reduce	VERB
ajst-6858	13	13	the	the	DET
ajst-6858	13	14	measurement	measurement	NOUN
ajst-6858	13	15	accuracy	accuracy	NOUN
ajst-6858	13	16	of	of	ADP
ajst-6858	13	17	the	the	DET
ajst-6858	13	18	gyroscope	gyroscope	NOUN
ajst-6858	13	19	[	[	X
ajst-6858	13	20	8	8	NUM
ajst-6858	13	21	]	]	PUNCT
ajst-6858	13	22	.	.	PUNCT
ajst-6858	14	1	therefore	therefore	ADV
ajst-6858	14	2	,	,	PUNCT
ajst-6858	14	3	how	how	SCONJ
ajst-6858	14	4	to	to	PART
ajst-6858	14	5	more	more	ADV
ajst-6858	14	6	accurately	accurately	ADV
ajst-6858	14	7	calibrate	calibrate	VERB
ajst-6858	14	8	the	the	DET
ajst-6858	14	9	angular	angular	ADJ
ajst-6858	14	10	rate	rate	NOUN
ajst-6858	14	11	error	error	NOUN
ajst-6858	14	12	of	of	ADP
ajst-6858	14	13	the	the	DET
ajst-6858	14	14	gyroscope	gyroscope	NOUN
ajst-6858	14	15	has	have	AUX
ajst-6858	14	16	become	become	VERB
ajst-6858	14	17	a	a	DET
ajst-6858	14	18	relatively	relatively	ADV
ajst-6858	14	19	important	important	ADJ
ajst-6858	14	20	research	research	NOUN
ajst-6858	14	21	content	content	NOUN
ajst-6858	14	22	in	in	ADP
ajst-6858	14	23	the	the	DET
ajst-6858	14	24	field	field	NOUN
ajst-6858	14	25	of	of	ADP
ajst-6858	14	26	inertial	inertial	ADJ
ajst-6858	14	27	navigation	navigation	NOUN
ajst-6858	14	28	system	system	NOUN
ajst-6858	14	29	technology	technology	NOUN
ajst-6858	14	30	.	.	PUNCT
ajst-6858	15	1	2	2	X
ajst-6858	15	2	.	.	X
ajst-6858	15	3	error	error	NOUN
ajst-6858	15	4	model	model	NOUN
ajst-6858	15	5	of	of	ADP
ajst-6858	15	6	three	three	NUM
ajst-6858	15	7	axis	axis	ADJ
ajst-6858	15	8	gyroscope	gyroscope	NOUN
ajst-6858	15	9	in	in	ADP
ajst-6858	15	10	the	the	DET
ajst-6858	15	11	attitude	attitude	NOUN
ajst-6858	15	12	inertial	inertial	ADJ
ajst-6858	15	13	measurement	measurement	NOUN
ajst-6858	15	14	system	system	NOUN
ajst-6858	15	15	,	,	PUNCT
ajst-6858	15	16	due	due	ADP
ajst-6858	15	17	to	to	ADP
ajst-6858	15	18	the	the	DET
ajst-6858	15	19	deviation	deviation	NOUN
ajst-6858	15	20	between	between	ADP
ajst-6858	15	21	the	the	DET
ajst-6858	15	22	installation	installation	NOUN
ajst-6858	15	23	directions	direction	NOUN
ajst-6858	15	24	of	of	ADP
ajst-6858	15	25	the	the	DET
ajst-6858	15	26	gyroscope	gyroscope	NOUN
ajst-6858	15	27	in	in	ADP
ajst-6858	15	28	the	the	DET
ajst-6858	15	29	three	three	NUM
ajst-6858	15	30	axes	axis	NOUN
ajst-6858	15	31	of	of	ADP
ajst-6858	15	32	the	the	DET
ajst-6858	15	33	inertial	inertial	ADJ
ajst-6858	15	34	device	device	NOUN
ajst-6858	15	35	and	and	CCONJ
ajst-6858	15	36	the	the	DET
ajst-6858	15	37	carrier	carrier	NOUN
ajst-6858	15	38	attitude	attitude	NOUN
ajst-6858	15	39	coordinate	coordinate	NOUN
ajst-6858	15	40	direction	direction	NOUN
ajst-6858	15	41	,	,	PUNCT
ajst-6858	15	42	each	each	DET
ajst-6858	15	43	axis	axis	NOUN
ajst-6858	15	44	of	of	ADP
ajst-6858	15	45	the	the	DET
ajst-6858	15	46	inertial	inertial	ADJ
ajst-6858	15	47	device	device	NOUN
ajst-6858	15	48	forms	form	VERB
ajst-6858	15	49	a	a	DET
ajst-6858	15	50	deviation	deviation	NOUN
ajst-6858	15	51	angle	angle	NOUN
ajst-6858	15	52	of	of	ADP
ajst-6858	15	53	different	different	ADJ
ajst-6858	15	54	sizes	size	NOUN
ajst-6858	15	55	.	.	PUNCT
ajst-6858	16	1	due	due	ADP
ajst-6858	16	2	to	to	ADP
ajst-6858	16	3	the	the	DET
ajst-6858	16	4	different	different	ADJ
ajst-6858	16	5	deviation	deviation	NOUN
ajst-6858	16	6	angles	angle	VERB
ajst-6858	16	7	,	,	PUNCT
ajst-6858	16	8	the	the	DET
ajst-6858	16	9	coordinate	coordinate	NOUN
ajst-6858	16	10	system	system	NOUN
ajst-6858	16	11	composed	compose	VERB
ajst-6858	16	12	of	of	ADP
ajst-6858	16	13	three	three	NUM
ajst-6858	16	14	axis	axis	ADJ
ajst-6858	16	15	inertial	inertial	ADJ
ajst-6858	16	16	devices	device	NOUN
ajst-6858	16	17	is	be	AUX
ajst-6858	16	18	not	not	PART
ajst-6858	16	19	an	an	DET
ajst-6858	16	20	orthogonal	orthogonal	ADJ
ajst-6858	16	21	coordinate	coordinate	NOUN
ajst-6858	16	22	system	system	NOUN
ajst-6858	16	23	.	.	PUNCT
ajst-6858	17	1	as	as	SCONJ
ajst-6858	17	2	shown	show	VERB
ajst-6858	17	3	in	in	ADP
ajst-6858	17	4	fig	fig	NOUN
ajst-6858	17	5	.	.	PUNCT
ajst-6858	18	1	1	1	NUM
ajst-6858	18	2	,	,	PUNCT
ajst-6858	18	3	g	g	PROPN
ajst-6858	18	4	g	g	PROPN
ajst-6858	18	5	gox	gox	PROPN
ajst-6858	18	6	y	y	PROPN
ajst-6858	18	7	z	z	PROPN
ajst-6858	18	8	is	be	AUX
ajst-6858	18	9	the	the	DET
ajst-6858	18	10	coordinate	coordinate	NOUN
ajst-6858	18	11	system	system	NOUN
ajst-6858	18	12	of	of	ADP
ajst-6858	18	13	a	a	DET
ajst-6858	18	14	three	three	NUM
ajst-6858	18	15	axis	axis	ADJ
ajst-6858	18	16	mems	mem	NOUN
ajst-6858	18	17	gyroscope	gyroscope	NOUN
ajst-6858	18	18	,	,	PUNCT
ajst-6858	18	19	and	and	CCONJ
ajst-6858	18	20	b	b	PROPN
ajst-6858	18	21	b	b	PROPN
ajst-6858	18	22	box	box	PROPN
ajst-6858	18	23	y	y	PROPN
ajst-6858	18	24	z	z	PROPN
ajst-6858	18	25	is	be	AUX
ajst-6858	18	26	the	the	DET
ajst-6858	18	27	carrier	carrier	NOUN
ajst-6858	18	28	coordinate	coordinate	NOUN
ajst-6858	18	29	system	system	NOUN
ajst-6858	18	30	.	.	PUNCT
ajst-6858	19	1	figure	figure	NOUN
ajst-6858	19	2	1	1	NUM
ajst-6858	19	3	.	.	PUNCT
ajst-6858	19	4	three	three	NUM
ajst-6858	19	5	-	-	PUNCT
ajst-6858	19	6	axis	axis	NOUN
ajst-6858	19	7	mems	mem	NOUN
ajst-6858	19	8	gyroscope	gyroscope	NOUN
ajst-6858	19	9	coordinate	coordinate	NOUN
ajst-6858	19	10	system	system	NOUN
ajst-6858	19	11	the	the	DET
ajst-6858	19	12	relationship	relationship	NOUN
ajst-6858	19	13	between	between	ADP
ajst-6858	19	14	them	they	PRON
ajst-6858	19	15	is	be	AUX
ajst-6858	19	16	represented	represent	VERB
ajst-6858	19	17	by	by	ADP
ajst-6858	19	18	a	a	DET
ajst-6858	19	19	coordinate	coordinate	NOUN
ajst-6858	19	20	transformation	transformation	NOUN
ajst-6858	19	21	matrix	matrix	NOUN
ajst-6858	20	1	[	[	X
ajst-6858	20	2	10	10	NUM
ajst-6858	20	3	]	]	PUNCT
ajst-6858	20	4	,	,	PUNCT
ajst-6858	20	5	as	as	SCONJ
ajst-6858	20	6	shown	show	VERB
ajst-6858	20	7	in	in	ADP
ajst-6858	20	8	equation	equation	NOUN
ajst-6858	20	9	(	(	PUNCT
ajst-6858	20	10	1	1	NUM
ajst-6858	20	11	)	)	PUNCT
ajst-6858	20	12	.	.	PUNCT
ajst-6858	21	1			PROPN
ajst-6858	21	2			PROPN
ajst-6858	22	1			PROPN
ajst-6858	22	2			NOUN
ajst-6858	23	1			PROPN
ajst-6858	24	1			PROPN
ajst-6858	25	1			PROPN
ajst-6858	25	2			PROPN
ajst-6858	26	1			PROPN
ajst-6858	26	2			NOUN
ajst-6858	26	3			ADV
ajst-6858	26	4			PROPN
ajst-6858	26	5			PROPN
ajst-6858	27	1			PROPN
ajst-6858	27	2			X
ajst-6858	28	1			X
ajst-6858	28	2	coscoscossin	coscoscossin	NOUN
ajst-6858	28	3	-	-	PUNCT
ajst-6858	28	4	sin	sin	NOUN
ajst-6858	28	5	cossinsinsincossinsinsin	cossinsinsincossinsinsin	NOUN
ajst-6858	28	6	-	-	PUNCT
ajst-6858	28	7	coscossincossinsincossincos	coscossincossinsincossinco	NOUN
ajst-6858	28	8	-	-	PUNCT
ajst-6858	28	9	cossincossinsincoscos	cossincossinsincoscos	PROPN
ajst-6858	28	10	g	g	PROPN
ajst-6858	28	11	bc	bc	PROPN
ajst-6858	28	12	(	(	PUNCT
ajst-6858	28	13	1	1	NUM
ajst-6858	28	14	)	)	PUNCT
ajst-6858	28	15	175	175	NUM
ajst-6858	28	16	if	if	SCONJ
ajst-6858	28	17	the	the	DET
ajst-6858	28	18	input	input	NOUN
ajst-6858	28	19	angular	angular	ADJ
ajst-6858	28	20	rate	rate	NOUN
ajst-6858	28	21	of	of	ADP
ajst-6858	28	22	the	the	DET
ajst-6858	28	23	attitude	attitude	NOUN
ajst-6858	28	24	meter	meter	NOUN
ajst-6858	28	25	is	be	AUX
ajst-6858	28	26	b	b	PROPN
ajst-6858	28	27	ib	ib	PROPN
ajst-6858	28	28	,	,	PUNCT
ajst-6858	28	29	the	the	DET
ajst-6858	28	30	output	output	NOUN
ajst-6858	28	31	of	of	ADP
ajst-6858	28	32	the	the	DET
ajst-6858	28	33	three	three	NUM
ajst-6858	28	34	-	-	PUNCT
ajst-6858	28	35	axis	axis	NOUN
ajst-6858	28	36	mems	mem	NOUN
ajst-6858	28	37	gyroscope	gyroscope	NOUN
ajst-6858	28	38	is	be	AUX
ajst-6858	28	39	as	as	SCONJ
ajst-6858	28	40	shown	show	VERB
ajst-6858	28	41	in	in	ADP
ajst-6858	28	42	equation	equation	NOUN
ajst-6858	28	43	(	(	PUNCT
ajst-6858	28	44	2	2	NUM
ajst-6858	28	45	)	)	PUNCT
ajst-6858	28	46	.	.	PUNCT
ajst-6858	29	1	b	b	X
ajst-6858	29	2	ib	ib	VERB
ajst-6858	29	3	g	g	PROPN
ajst-6858	29	4	b	b	PROPN
ajst-6858	29	5	g	g	PROPN
ajst-6858	29	6	ig	ig	PROPN
ajst-6858	29	7	c	c	X
ajst-6858	29	8			PUNCT
ajst-6858	29	9	=	=	PUNCT
ajst-6858	29	10	(	(	PUNCT
ajst-6858	29	11	2	2	NUM
ajst-6858	29	12	)	)	PUNCT
ajst-6858	29	13	at	at	ADP
ajst-6858	29	14	the	the	DET
ajst-6858	29	15	same	same	ADJ
ajst-6858	29	16	time	time	NOUN
ajst-6858	29	17	,	,	PUNCT
ajst-6858	29	18	simplify	simplify	VERB
ajst-6858	29	19	the	the	DET
ajst-6858	29	20	transformation	transformation	NOUN
ajst-6858	29	21	matrix	matrix	NOUN
ajst-6858	29	22	,	,	PUNCT
ajst-6858	29	23	as	as	SCONJ
ajst-6858	29	24	shown	show	VERB
ajst-6858	29	25	in	in	ADP
ajst-6858	29	26	equation	equation	NOUN
ajst-6858	29	27	(	(	PUNCT
ajst-6858	29	28	3	3	NUM
ajst-6858	29	29	)	)	PUNCT
ajst-6858	29	30	.	.	PUNCT
ajst-6858	30	1			PROPN
ajst-6858	30	2			PROPN
ajst-6858	31	1			PROPN
ajst-6858	31	2			NOUN
ajst-6858	32	1			PROPN
ajst-6858	33	1			PROPN
ajst-6858	34	1			PROPN
ajst-6858	34	2			PROPN
ajst-6858	35	1			PROPN
ajst-6858	35	2			NOUN
ajst-6858	35	3			PROPN
ajst-6858	35	4	zzyzxz	zzyzxz	PROPN
ajst-6858	35	5	zyyyxy	zyyyxy	PROPN
ajst-6858	35	6	zxyxxx	zxyxxx	PROPN
ajst-6858	35	7	g	g	PROPN
ajst-6858	35	8	b	b	PROPN
ajst-6858	35	9	bbb	bbb	PROPN
ajst-6858	35	10	bbb	bbb	PROPN
ajst-6858	35	11	bbb	bbb	PROPN
ajst-6858	35	12	c	c	PROPN
ajst-6858	35	13	(	(	PUNCT
ajst-6858	35	14	3	3	NUM
ajst-6858	35	15	)	)	PUNCT
ajst-6858	35	16	therefore	therefore	ADV
ajst-6858	35	17	,	,	PUNCT
ajst-6858	35	18	the	the	DET
ajst-6858	35	19	output	output	NOUN
ajst-6858	35	20	of	of	ADP
ajst-6858	35	21	a	a	DET
ajst-6858	35	22	three	three	NUM
ajst-6858	35	23	axis	axis	NOUN
ajst-6858	35	24	mems	mem	NOUN
ajst-6858	35	25	gyroscope	gyroscope	NOUN
ajst-6858	35	26	integrated	integrate	VERB
ajst-6858	35	27	with	with	ADP
ajst-6858	35	28	equations	equation	NOUN
ajst-6858	35	29	(	(	PUNCT
ajst-6858	35	30	1	1	NUM
ajst-6858	35	31	)	)	PUNCT
ajst-6858	35	32	,	,	PUNCT
ajst-6858	35	33	(	(	PUNCT
ajst-6858	35	34	2	2	NUM
ajst-6858	35	35	)	)	PUNCT
ajst-6858	35	36	,	,	PUNCT
ajst-6858	35	37	and	and	CCONJ
ajst-6858	35	38	(	(	PUNCT
ajst-6858	35	39	3	3	X
ajst-6858	35	40	)	)	PUNCT
ajst-6858	35	41	is	be	AUX
ajst-6858	35	42	shown	show	VERB
ajst-6858	35	43	in	in	ADP
ajst-6858	35	44	equation	equation	NOUN
ajst-6858	35	45	(	(	PUNCT
ajst-6858	35	46	4	4	NUM
ajst-6858	35	47	)	)	PUNCT
ajst-6858	35	48	.	.	PUNCT
ajst-6858	36	1			PROPN
ajst-6858	36	2			PROPN
ajst-6858	37	1			PROPN
ajst-6858	37	2			NOUN
ajst-6858	38	1			PROPN
ajst-6858	39	1			PROPN
ajst-6858	40	1			PROPN
ajst-6858	40	2			PROPN
ajst-6858	41	1			PROPN
ajst-6858	41	2			NOUN
ajst-6858	41	3			PROPN
ajst-6858	42	1			PROPN
ajst-6858	43	1			PROPN
ajst-6858	43	2			NOUN
ajst-6858	44	1			PROPN
ajst-6858	45	1			PROPN
ajst-6858	46	1			PROPN
ajst-6858	46	2			PROPN
ajst-6858	47	1			PROPN
ajst-6858	47	2			NOUN
ajst-6858	47	3			PROPN
ajst-6858	48	1			PROPN
ajst-6858	48	2			PROPN
ajst-6858	49	1			PROPN
ajst-6858	49	2			NOUN
ajst-6858	50	1			PROPN
ajst-6858	51	1			PROPN
ajst-6858	52	1			PROPN
ajst-6858	52	2			PROPN
ajst-6858	53	1			PROPN
ajst-6858	53	2			NOUN
ajst-6858	53	3	zb	zb	PROPN
ajst-6858	53	4	yb	yb	PROPN
ajst-6858	53	5	xb	xb	PROPN
ajst-6858	53	6	zzyzxz	zzyzxz	PROPN
ajst-6858	53	7	zyyyxy	zyyyxy	PROPN
ajst-6858	53	8	zxyxxx	zxyxxx	PROPN
ajst-6858	53	9	zzg	zzg	INTJ
ajst-6858	54	1	yyg	yyg	PROPN
ajst-6858	54	2	xxg	xxg	PROPN
ajst-6858	54	3	bbb	bbb	PROPN
ajst-6858	54	4	bbb	bbb	PROPN
ajst-6858	54	5	bbb	bbb	PROPN
ajst-6858	54	6			X
ajst-6858	54	7			X
ajst-6858	54	8			X
ajst-6858	54	9			X
ajst-6858	54	10			X
ajst-6858	54	11			X
ajst-6858	54	12	0	0	NUM
ajst-6858	54	13	0	0	NUM
ajst-6858	54	14	0	0	NUM
ajst-6858	54	15	(	(	PUNCT
ajst-6858	54	16	4	4	NUM
ajst-6858	54	17	)	)	PUNCT
ajst-6858	54	18	where	where	SCONJ
ajst-6858	54	19	,	,	PUNCT
ajst-6858	54	20	xg	xg	PROPN
ajst-6858	54	21	yg	yg	PROPN
ajst-6858	54	22	zg	zg	PROPN
ajst-6858	54	23			X
ajst-6858	54	24			X
ajst-6858	54	25	,	,	PUNCT
ajst-6858	54	26	,	,	PUNCT
ajst-6858	54	27	is	be	AUX
ajst-6858	54	28	the	the	DET
ajst-6858	54	29	measured	measure	VERB
ajst-6858	54	30	value	value	NOUN
ajst-6858	54	31	of	of	ADP
ajst-6858	54	32	a	a	DET
ajst-6858	54	33	three	three	NUM
ajst-6858	54	34	axis	axis	NOUN
ajst-6858	54	35	mems	mem	NOUN
ajst-6858	54	36	gyroscope	gyroscope	NOUN
ajst-6858	54	37	,	,	PUNCT
ajst-6858	54	38	xb	xb	PROPN
ajst-6858	54	39	yb	yb	PROPN
ajst-6858	54	40	zb	zb	PROPN
ajst-6858	54	41			PROPN
ajst-6858	54	42			PROPN
ajst-6858	54	43	,	,	PUNCT
ajst-6858	54	44	,	,	PUNCT
ajst-6858	54	45	is	be	AUX
ajst-6858	54	46	the	the	DET
ajst-6858	54	47	input	input	NOUN
ajst-6858	54	48	angular	angular	ADJ
ajst-6858	54	49	rate	rate	NOUN
ajst-6858	54	50	of	of	ADP
ajst-6858	54	51	the	the	DET
ajst-6858	54	52	three	three	NUM
ajst-6858	54	53	axis	axis	ADJ
ajst-6858	54	54	mems	mem	NOUN
ajst-6858	54	55	gyroscope	gyroscope	NOUN
ajst-6858	54	56	,	,	PUNCT
ajst-6858	54	57	and	and	CCONJ
ajst-6858	54	58	0	0	NUM
ajst-6858	54	59	0	0	NUM
ajst-6858	54	60	0x	0x	NOUN
ajst-6858	54	61	y	y	PROPN
ajst-6858	54	62	z	z	PROPN
ajst-6858	55	1			PROPN
ajst-6858	55	2			PROPN
ajst-6858	55	3	,	,	PUNCT
ajst-6858	55	4	,	,	PUNCT
ajst-6858	55	5	is	be	AUX
ajst-6858	55	6	the	the	DET
ajst-6858	55	7	zero	zero	NUM
ajst-6858	55	8	offset	offset	NOUN
ajst-6858	55	9	of	of	ADP
ajst-6858	55	10	the	the	DET
ajst-6858	55	11	three	three	NUM
ajst-6858	55	12	axis	axis	ADJ
ajst-6858	55	13	mems	mem	NOUN
ajst-6858	55	14	gyroscope	gyroscope	NOUN
ajst-6858	55	15	,	,	PUNCT
ajst-6858	55	16	respectively	respectively	ADV
ajst-6858	55	17	.	.	PUNCT
ajst-6858	56	1	therefore	therefore	ADV
ajst-6858	56	2	,	,	PUNCT
ajst-6858	56	3	for	for	ADP
ajst-6858	56	4	the	the	DET
ajst-6858	56	5	calibration	calibration	NOUN
ajst-6858	56	6	of	of	ADP
ajst-6858	56	7	the	the	DET
ajst-6858	56	8	angular	angular	ADJ
ajst-6858	56	9	rate	rate	NOUN
ajst-6858	56	10	error	error	NOUN
ajst-6858	56	11	of	of	ADP
ajst-6858	56	12	mems	mem	NOUN
ajst-6858	56	13	gyroscopes	gyroscope	NOUN
ajst-6858	56	14	,	,	PUNCT
ajst-6858	56	15	it	it	PRON
ajst-6858	56	16	is	be	AUX
ajst-6858	56	17	only	only	ADV
ajst-6858	56	18	necessary	necessary	ADJ
ajst-6858	56	19	to	to	PART
ajst-6858	56	20	calculate	calculate	VERB
ajst-6858	56	21	the	the	DET
ajst-6858	56	22	xx	xx	NUM
ajst-6858	56	23	xy	xy	PROPN
ajst-6858	57	1	xz	xz	PROPN
ajst-6858	58	1	yx	yx	INTJ
ajst-6858	58	2	yy	yy	PROPN
ajst-6858	59	1	yz	yz	PROPN
ajst-6858	59	2	zx	zx	INTJ
ajst-6858	59	3	zy	zy	PROPN
ajst-6858	59	4	zzb	zzb	PROPN
ajst-6858	59	5	b	b	PROPN
ajst-6858	59	6	b	b	PROPN
ajst-6858	59	7	b	b	PROPN
ajst-6858	59	8	b	b	PROPN
ajst-6858	59	9	b	b	PROPN
ajst-6858	59	10	b	b	PROPN
ajst-6858	59	11	b	b	PROPN
ajst-6858	59	12	b	b	PROPN
ajst-6858	59	13	,	,	PUNCT
ajst-6858	59	14	,	,	PUNCT
ajst-6858	59	15	,	,	PUNCT
ajst-6858	59	16	,	,	PUNCT
ajst-6858	59	17	,	,	PUNCT
ajst-6858	59	18	,	,	PUNCT
ajst-6858	59	19	,	,	PUNCT
ajst-6858	59	20	,	,	PUNCT
ajst-6858	59	21	and	and	CCONJ
ajst-6858	59	22	the	the	DET
ajst-6858	59	23	0	0	NUM
ajst-6858	59	24	0	0	NUM
ajst-6858	59	25	0x	0x	NOUN
ajst-6858	59	26	y	y	PROPN
ajst-6858	59	27	z	z	PROPN
ajst-6858	60	1			PROPN
ajst-6858	61	1			PROPN
ajst-6858	61	2	,	,	PUNCT
ajst-6858	61	3	,	,	PUNCT
ajst-6858	61	4	,	,	PUNCT
ajst-6858	61	5	i.e.	i.e.	X
ajst-6858	61	6	,	,	PUNCT
ajst-6858	61	7	9	9	NUM
ajst-6858	61	8	proportional	proportional	ADJ
ajst-6858	61	9	coefficients	coefficient	NOUN
ajst-6858	61	10	and	and	CCONJ
ajst-6858	61	11	zero	zero	NUM
ajst-6858	61	12	bias	bias	NOUN
ajst-6858	61	13	.	.	PUNCT
ajst-6858	62	1	3	3	X
ajst-6858	62	2	.	.	X
ajst-6858	62	3	dynamic	dynamic	ADJ
ajst-6858	62	4	compensation	compensation	NOUN
ajst-6858	62	5	the	the	DET
ajst-6858	62	6	linear	linear	ADJ
ajst-6858	62	7	range	range	NOUN
ajst-6858	62	8	of	of	ADP
ajst-6858	62	9	a	a	DET
ajst-6858	62	10	mems	mem	NOUN
ajst-6858	62	11	gyroscope	gyroscope	NOUN
ajst-6858	62	12	is	be	AUX
ajst-6858	62	13	the	the	DET
ajst-6858	62	14	range	range	NOUN
ajst-6858	62	15	within	within	ADP
ajst-6858	62	16	which	which	PRON
ajst-6858	62	17	the	the	DET
ajst-6858	62	18	gyroscope	gyroscope	NOUN
ajst-6858	62	19	can	can	AUX
ajst-6858	62	20	measure	measure	VERB
ajst-6858	62	21	the	the	DET
ajst-6858	62	22	maximum	maximum	ADJ
ajst-6858	62	23	and	and	CCONJ
ajst-6858	62	24	minimum	minimum	ADJ
ajst-6858	62	25	angular	angular	ADJ
ajst-6858	62	26	rates	rate	NOUN
ajst-6858	62	27	,	,	PUNCT
ajst-6858	62	28	which	which	PRON
ajst-6858	62	29	objectively	objectively	ADV
ajst-6858	62	30	describes	describe	VERB
ajst-6858	62	31	the	the	DET
ajst-6858	62	32	gyroscope	gyroscope	NOUN
ajst-6858	62	33	's	's	PART
ajst-6858	62	34	ability	ability	NOUN
ajst-6858	62	35	to	to	PART
ajst-6858	62	36	measure	measure	VERB
ajst-6858	62	37	angular	angular	ADJ
ajst-6858	62	38	rates	rate	NOUN
ajst-6858	62	39	.	.	PUNCT
ajst-6858	63	1	the	the	PRON
ajst-6858	63	2	smaller	small	ADJ
ajst-6858	63	3	the	the	DET
ajst-6858	63	4	range	range	NOUN
ajst-6858	63	5	of	of	ADP
ajst-6858	63	6	angular	angular	ADJ
ajst-6858	63	7	rates	rate	NOUN
ajst-6858	63	8	that	that	PRON
ajst-6858	63	9	can	can	AUX
ajst-6858	63	10	be	be	AUX
ajst-6858	63	11	measured	measure	VERB
ajst-6858	63	12	,	,	PUNCT
ajst-6858	63	13	the	the	PRON
ajst-6858	63	14	higher	high	ADJ
ajst-6858	63	15	the	the	DET
ajst-6858	63	16	resolution	resolution	NOUN
ajst-6858	63	17	of	of	ADP
ajst-6858	63	18	the	the	DET
ajst-6858	63	19	mems	mem	NOUN
ajst-6858	63	20	gyroscope	gyroscope	NOUN
ajst-6858	63	21	,	,	PUNCT
ajst-6858	63	22	but	but	CCONJ
ajst-6858	63	23	the	the	PRON
ajst-6858	63	24	weaker	weak	ADJ
ajst-6858	63	25	its	its	PRON
ajst-6858	63	26	ability	ability	NOUN
ajst-6858	63	27	to	to	PART
ajst-6858	63	28	sense	sense	VERB
ajst-6858	63	29	rates	rate	NOUN
ajst-6858	63	30	accordingly	accordingly	ADV
ajst-6858	63	31	.	.	PUNCT
ajst-6858	64	1	therefore	therefore	ADV
ajst-6858	64	2	,	,	PUNCT
ajst-6858	64	3	in	in	ADP
ajst-6858	64	4	mems	mems	ADJ
ajst-6858	64	5	gyroscopes	gyroscope	NOUN
ajst-6858	64	6	with	with	ADP
ajst-6858	64	7	a	a	DET
ajst-6858	64	8	wide	wide	ADJ
ajst-6858	64	9	range	range	NOUN
ajst-6858	64	10	of	of	ADP
ajst-6858	64	11	linearity	linearity	NOUN
ajst-6858	64	12	and	and	CCONJ
ajst-6858	64	13	strong	strong	ADJ
ajst-6858	64	14	diagonal	diagonal	ADJ
ajst-6858	64	15	rate	rate	NOUN
ajst-6858	64	16	sensitivity	sensitivity	NOUN
ajst-6858	64	17	,	,	PUNCT
ajst-6858	64	18	when	when	SCONJ
ajst-6858	64	19	calibrating	calibrate	VERB
ajst-6858	64	20	angular	angular	ADJ
ajst-6858	64	21	rates	rate	NOUN
ajst-6858	64	22	that	that	PRON
ajst-6858	64	23	exceed	exceed	VERB
ajst-6858	64	24	100	100	NUM
ajst-6858	64	25	°	°	NUM
ajst-6858	64	26	/s	/	NOUN
ajst-6858	64	27	,	,	PUNCT
ajst-6858	64	28	it	it	PRON
ajst-6858	64	29	is	be	AUX
ajst-6858	64	30	not	not	PART
ajst-6858	64	31	possible	possible	ADJ
ajst-6858	64	32	to	to	PART
ajst-6858	64	33	rely	rely	VERB
ajst-6858	64	34	solely	solely	ADV
ajst-6858	64	35	on	on	ADP
ajst-6858	64	36	modifying	modify	VERB
ajst-6858	64	37	the	the	DET
ajst-6858	64	38	scale	scale	NOUN
ajst-6858	64	39	coefficient	coefficient	NOUN
ajst-6858	64	40	.	.	PUNCT
ajst-6858	65	1	because	because	SCONJ
ajst-6858	65	2	mems	mem	NOUN
ajst-6858	65	3	gyroscopes	gyroscope	NOUN
ajst-6858	65	4	are	be	AUX
ajst-6858	65	5	sensitive	sensitive	ADJ
ajst-6858	65	6	to	to	ADP
ajst-6858	65	7	angular	angular	ADJ
ajst-6858	65	8	velocity	velocity	NOUN
ajst-6858	65	9	at	at	ADP
ajst-6858	65	10	this	this	DET
ajst-6858	65	11	time	time	NOUN
ajst-6858	65	12	,	,	PUNCT
ajst-6858	65	13	modifying	modify	VERB
ajst-6858	65	14	the	the	DET
ajst-6858	65	15	scale	scale	NOUN
ajst-6858	65	16	coefficient	coefficient	NOUN
ajst-6858	65	17	may	may	AUX
ajst-6858	65	18	easily	easily	ADV
ajst-6858	65	19	cause	cause	VERB
ajst-6858	65	20	significant	significant	ADJ
ajst-6858	65	21	changes	change	NOUN
ajst-6858	65	22	in	in	ADP
ajst-6858	65	23	nearby	nearby	ADJ
ajst-6858	65	24	angular	angular	ADJ
ajst-6858	65	25	velocity	velocity	NOUN
ajst-6858	65	26	,	,	PUNCT
ajst-6858	65	27	and	and	CCONJ
ajst-6858	65	28	its	its	PRON
ajst-6858	65	29	accuracy	accuracy	NOUN
ajst-6858	65	30	error	error	NOUN
ajst-6858	65	31	can	can	AUX
ajst-6858	65	32	not	not	PART
ajst-6858	65	33	be	be	AUX
ajst-6858	65	34	well	well	ADV
ajst-6858	65	35	controlled	control	VERB
ajst-6858	65	36	.	.	PUNCT
ajst-6858	66	1	after	after	ADP
ajst-6858	66	2	obtaining	obtain	VERB
ajst-6858	66	3	the	the	DET
ajst-6858	66	4	scale	scale	NOUN
ajst-6858	66	5	coefficient	coefficient	NOUN
ajst-6858	66	6	and	and	CCONJ
ajst-6858	66	7	bias	bias	NOUN
ajst-6858	66	8	of	of	ADP
ajst-6858	66	9	the	the	DET
ajst-6858	66	10	mems	mem	NOUN
ajst-6858	66	11	gyroscope	gyroscope	NOUN
ajst-6858	66	12	,	,	PUNCT
ajst-6858	66	13	dynamic	dynamic	ADJ
ajst-6858	66	14	error	error	NOUN
ajst-6858	66	15	compensation	compensation	NOUN
ajst-6858	66	16	is	be	AUX
ajst-6858	66	17	performed	perform	VERB
ajst-6858	66	18	by	by	ADP
ajst-6858	66	19	fitting	fit	VERB
ajst-6858	66	20	the	the	DET
ajst-6858	66	21	angular	angular	ADJ
ajst-6858	66	22	rate	rate	NOUN
ajst-6858	66	23	input	input	NOUN
ajst-6858	66	24	of	of	ADP
ajst-6858	66	25	the	the	DET
ajst-6858	66	26	three	three	NUM
ajst-6858	66	27	-	-	PUNCT
ajst-6858	66	28	axis	axis	NOUN
ajst-6858	66	29	turntable	turntable	NOUN
ajst-6858	66	30	and	and	CCONJ
ajst-6858	66	31	the	the	DET
ajst-6858	66	32	actual	actual	ADJ
ajst-6858	66	33	output	output	NOUN
ajst-6858	66	34	value	value	NOUN
ajst-6858	66	35	of	of	ADP
ajst-6858	66	36	the	the	DET
ajst-6858	66	37	angular	angular	ADJ
ajst-6858	66	38	rate	rate	NOUN
ajst-6858	66	39	of	of	ADP
ajst-6858	66	40	the	the	DET
ajst-6858	66	41	gyroscope	gyroscope	NOUN
ajst-6858	66	42	through	through	ADP
ajst-6858	66	43	origin	origin	NOUN
ajst-6858	66	44	software	software	NOUN
ajst-6858	66	45	.	.	PUNCT
ajst-6858	67	1	segmentation	segmentation	NOUN
ajst-6858	67	2	is	be	AUX
ajst-6858	67	3	performed	perform	VERB
ajst-6858	67	4	according	accord	VERB
ajst-6858	67	5	to	to	ADP
ajst-6858	67	6	the	the	DET
ajst-6858	67	7	fitting	fitting	ADJ
ajst-6858	67	8	situation	situation	NOUN
ajst-6858	67	9	,	,	PUNCT
ajst-6858	67	10	and	and	CCONJ
ajst-6858	67	11	the	the	DET
ajst-6858	67	12	linear	linear	ADJ
ajst-6858	67	13	relationship	relationship	NOUN
ajst-6858	67	14	between	between	ADP
ajst-6858	67	15	the	the	DET
ajst-6858	67	16	actual	actual	ADJ
ajst-6858	67	17	output	output	NOUN
ajst-6858	67	18	value	value	NOUN
ajst-6858	67	19	of	of	ADP
ajst-6858	67	20	the	the	DET
ajst-6858	67	21	angular	angular	ADJ
ajst-6858	67	22	rate	rate	NOUN
ajst-6858	67	23	of	of	ADP
ajst-6858	67	24	each	each	DET
ajst-6858	67	25	segment	segment	NOUN
ajst-6858	67	26	of	of	ADP
ajst-6858	67	27	the	the	DET
ajst-6858	67	28	gyroscope	gyroscope	NOUN
ajst-6858	67	29	and	and	CCONJ
ajst-6858	67	30	the	the	DET
ajst-6858	67	31	error	error	NOUN
ajst-6858	67	32	(	(	PUNCT
ajst-6858	67	33	actual	actual	ADJ
ajst-6858	67	34	output	output	NOUN
ajst-6858	67	35	value	value	NOUN
ajst-6858	67	36	input	input	NOUN
ajst-6858	67	37	value	value	NOUN
ajst-6858	67	38	of	of	ADP
ajst-6858	67	39	the	the	DET
ajst-6858	67	40	three	three	NUM
ajst-6858	67	41	-	-	PUNCT
ajst-6858	67	42	axis	axis	NOUN
ajst-6858	67	43	turntable	turntable	NOUN
ajst-6858	67	44	)	)	PUNCT
ajst-6858	67	45	is	be	AUX
ajst-6858	67	46	obtained	obtain	VERB
ajst-6858	67	47	in	in	ADP
ajst-6858	67	48	turn	turn	NOUN
ajst-6858	67	49	,	,	PUNCT
ajst-6858	67	50	as	as	SCONJ
ajst-6858	67	51	shown	show	VERB
ajst-6858	67	52	in	in	ADP
ajst-6858	67	53	equations	equation	NOUN
ajst-6858	67	54	(	(	PUNCT
ajst-6858	67	55	5	5	NUM
ajst-6858	67	56	)	)	PUNCT
ajst-6858	67	57	and	and	CCONJ
ajst-6858	67	58	(	(	PUNCT
ajst-6858	67	59	6	6	NUM
ajst-6858	67	60	)	)	PUNCT
ajst-6858	67	61	.	.	PUNCT
ajst-6858	68	1	inoutover	inoutover	PROPN
ajst-6858	68	2	gyrgyrgyr	gyrgyrgyr	PROPN
ajst-6858	68	3	-=	-=	PROPN
ajst-6858	68	4	(	(	PUNCT
ajst-6858	68	5	5	5	NUM
ajst-6858	68	6	)	)	PUNCT
ajst-6858	68	7	bgyrkgyr	bgyrkgyr	NOUN
ajst-6858	68	8	outover	outover	NOUN
ajst-6858	68	9			PROPN
ajst-6858	68	10	(	(	PUNCT
ajst-6858	68	11	6	6	NUM
ajst-6858	68	12	)	)	PUNCT
ajst-6858	68	13	where	where	SCONJ
ajst-6858	68	14	,	,	PUNCT
ajst-6858	68	15	overgyr	overgyr	PROPN
ajst-6858	68	16	is	be	AUX
ajst-6858	68	17	the	the	DET
ajst-6858	68	18	error	error	NOUN
ajst-6858	68	19	,	,	PUNCT
ajst-6858	68	20	outgyr	outgyr	NOUN
ajst-6858	68	21	is	be	AUX
ajst-6858	68	22	the	the	DET
ajst-6858	68	23	actual	actual	ADJ
ajst-6858	68	24	output	output	NOUN
ajst-6858	68	25	value	value	NOUN
ajst-6858	68	26	of	of	ADP
ajst-6858	68	27	the	the	DET
ajst-6858	68	28	angular	angular	ADJ
ajst-6858	68	29	rate	rate	NOUN
ajst-6858	68	30	of	of	ADP
ajst-6858	68	31	the	the	DET
ajst-6858	68	32	mems	mem	NOUN
ajst-6858	68	33	gyroscope	gyroscope	NOUN
ajst-6858	68	34	,	,	PUNCT
ajst-6858	68	35	and	and	CCONJ
ajst-6858	68	36	ingyr	ingyr	PROPN
ajst-6858	68	37	is	be	AUX
ajst-6858	68	38	the	the	DET
ajst-6858	68	39	input	input	NOUN
ajst-6858	68	40	value	value	NOUN
ajst-6858	68	41	of	of	ADP
ajst-6858	68	42	the	the	DET
ajst-6858	68	43	three	three	NUM
ajst-6858	68	44	-	-	PUNCT
ajst-6858	68	45	axis	axis	NOUN
ajst-6858	68	46	turntable	turntable	NOUN
ajst-6858	68	47	.	.	PUNCT
ajst-6858	69	1	therefore	therefore	ADV
ajst-6858	69	2	,	,	PUNCT
ajst-6858	69	3	after	after	ADP
ajst-6858	69	4	obtaining	obtain	VERB
ajst-6858	69	5	the	the	DET
ajst-6858	69	6	k	k	NOUN
ajst-6858	69	7	and	and	CCONJ
ajst-6858	69	8	b	b	PROPN
ajst-6858	69	9	in	in	ADP
ajst-6858	69	10	the	the	DET
ajst-6858	69	11	linear	linear	PROPN
ajst-6858	69	12	relationship	relationship	NOUN
ajst-6858	69	13	,	,	PUNCT
ajst-6858	69	14	the	the	DET
ajst-6858	69	15	angular	angular	ADJ
ajst-6858	69	16	rate	rate	NOUN
ajst-6858	69	17	of	of	ADP
ajst-6858	69	18	the	the	DET
ajst-6858	69	19	final	final	ADJ
ajst-6858	69	20	output	output	NOUN
ajst-6858	69	21	of	of	ADP
ajst-6858	69	22	the	the	DET
ajst-6858	69	23	mems	mem	NOUN
ajst-6858	69	24	gyroscope	gyroscope	NOUN
ajst-6858	69	25	can	can	AUX
ajst-6858	69	26	be	be	AUX
ajst-6858	69	27	obtained	obtain	VERB
ajst-6858	69	28	by	by	ADP
ajst-6858	69	29	bringing	bring	VERB
ajst-6858	69	30	it	it	PRON
ajst-6858	69	31	into	into	ADP
ajst-6858	69	32	equation	equation	NOUN
ajst-6858	69	33	(	(	PUNCT
ajst-6858	69	34	7	7	NUM
ajst-6858	69	35	)	)	PUNCT
ajst-6858	69	36	.	.	PUNCT
ajst-6858	70	1	）	）	PUNCT
ajst-6858	70	2	（	（	PUNCT
ajst-6858	71	1	bgyrkgyrg	bgyrkgyrg	PROPN
ajst-6858	71	2	outoutout	outoutout	PROPN
ajst-6858	71	3			PROPN
ajst-6858	71	4	(	(	PUNCT
ajst-6858	71	5	7	7	NUM
ajst-6858	71	6	)	)	PUNCT
ajst-6858	71	7	where	where	SCONJ
ajst-6858	71	8	,	,	PUNCT
ajst-6858	71	9	outg	outg	NOUN
ajst-6858	71	10	is	be	AUX
ajst-6858	71	11	the	the	DET
ajst-6858	71	12	actual	actual	ADJ
ajst-6858	71	13	output	output	NOUN
ajst-6858	71	14	value	value	NOUN
ajst-6858	71	15	of	of	ADP
ajst-6858	71	16	the	the	DET
ajst-6858	71	17	angular	angular	ADJ
ajst-6858	71	18	rate	rate	NOUN
ajst-6858	71	19	of	of	ADP
ajst-6858	71	20	the	the	DET
ajst-6858	71	21	mems	mem	NOUN
ajst-6858	71	22	gyroscope	gyroscope	NOUN
ajst-6858	71	23	after	after	ADP
ajst-6858	71	24	dynamic	dynamic	ADJ
ajst-6858	71	25	compensation	compensation	NOUN
ajst-6858	71	26	.	.	PUNCT
ajst-6858	72	1	4	4	X
ajst-6858	72	2	.	.	X
ajst-6858	72	3	calibration	calibration	NOUN
ajst-6858	72	4	experiment	experiment	NOUN
ajst-6858	72	5	of	of	ADP
ajst-6858	72	6	mems	mems	ADJ
ajst-6858	72	7	gyro	gyro	NOUN
ajst-6858	72	8	4.1	4.1	NUM
ajst-6858	72	9	.	.	PUNCT
ajst-6858	73	1	attitude	attitude	NOUN
ajst-6858	73	2	meter	meter	NOUN
ajst-6858	73	3	the	the	DET
ajst-6858	73	4	attitude	attitude	NOUN
ajst-6858	73	5	meter	meter	NOUN
ajst-6858	73	6	integrates	integrate	VERB
ajst-6858	73	7	a	a	DET
ajst-6858	73	8	3	3	NUM
ajst-6858	73	9	-	-	PUNCT
ajst-6858	73	10	axis	axis	NOUN
ajst-6858	73	11	mems	mem	NOUN
ajst-6858	73	12	gyroscope	gyroscope	NOUN
ajst-6858	73	13	,	,	PUNCT
ajst-6858	73	14	a	a	DET
ajst-6858	73	15	3	3	NUM
ajst-6858	73	16	-	-	PUNCT
ajst-6858	73	17	axis	axis	NOUN
ajst-6858	73	18	mems	mem	NOUN
ajst-6858	73	19	accelerometer	accelerometer	NOUN
ajst-6858	73	20	,	,	PUNCT
ajst-6858	73	21	and	and	CCONJ
ajst-6858	73	22	a	a	DET
ajst-6858	73	23	3	3	NUM
ajst-6858	73	24	-	-	PUNCT
ajst-6858	73	25	axis	axis	NOUN
ajst-6858	73	26	magnetometer	magnetometer	NOUN
ajst-6858	73	27	,	,	PUNCT
ajst-6858	73	28	as	as	SCONJ
ajst-6858	73	29	shown	show	VERB
ajst-6858	73	30	in	in	ADP
ajst-6858	73	31	fig	fig	NOUN
ajst-6858	73	32	.	.	PUNCT
ajst-6858	74	1	2	2	X
ajst-6858	74	2	.	.	X
ajst-6858	74	3	figure	figure	NOUN
ajst-6858	74	4	2	2	NUM
ajst-6858	74	5	.	.	NOUN
ajst-6858	74	6	attitude	attitude	NOUN
ajst-6858	74	7	meter	meter	NOUN
ajst-6858	74	8	4.2	4.2	NUM
ajst-6858	74	9	.	.	PUNCT
ajst-6858	75	1	high	high	ADJ
ajst-6858	75	2	precision	precision	NOUN
ajst-6858	75	3	three	three	NUM
ajst-6858	75	4	-	-	PUNCT
ajst-6858	75	5	axis	axis	NOUN
ajst-6858	75	6	turntable	turntable	NOUN
ajst-6858	75	7	the	the	DET
ajst-6858	75	8	high	high	ADJ
ajst-6858	75	9	-	-	PUNCT
ajst-6858	75	10	precision	precision	NOUN
ajst-6858	75	11	three	three	NUM
ajst-6858	75	12	-	-	PUNCT
ajst-6858	75	13	axis	axis	NOUN
ajst-6858	75	14	turntable	turntable	NOUN
ajst-6858	75	15	is	be	AUX
ajst-6858	75	16	mainly	mainly	ADV
ajst-6858	75	17	used	use	VERB
ajst-6858	75	18	to	to	PART
ajst-6858	75	19	provide	provide	VERB
ajst-6858	75	20	different	different	ADJ
ajst-6858	75	21	attitudes	attitude	NOUN
ajst-6858	75	22	of	of	ADP
ajst-6858	75	23	the	the	DET
ajst-6858	75	24	attitude	attitude	NOUN
ajst-6858	75	25	meter	meter	NOUN
ajst-6858	75	26	.	.	PUNCT
ajst-6858	76	1	in	in	ADP
ajst-6858	76	2	the	the	DET
ajst-6858	76	3	rate	rate	NOUN
ajst-6858	76	4	mode	mode	NOUN
ajst-6858	76	5	,	,	PUNCT
ajst-6858	76	6	it	it	PRON
ajst-6858	76	7	provides	provide	VERB
ajst-6858	76	8	the	the	DET
ajst-6858	76	9	input	input	NOUN
ajst-6858	76	10	angular	angular	ADJ
ajst-6858	76	11	velocity	velocity	NOUN
ajst-6858	76	12	for	for	ADP
ajst-6858	76	13	the	the	DET
ajst-6858	76	14	attitude	attitude	NOUN
ajst-6858	76	15	meter	meter	NOUN
ajst-6858	76	16	,	,	PUNCT
ajst-6858	76	17	as	as	SCONJ
ajst-6858	76	18	shown	show	VERB
ajst-6858	76	19	in	in	ADP
ajst-6858	76	20	fig	fig	NOUN
ajst-6858	76	21	.	.	PUNCT
ajst-6858	77	1	3	3	X
ajst-6858	77	2	.	.	X
ajst-6858	77	3	figure	figure	NOUN
ajst-6858	77	4	3	3	NUM
ajst-6858	77	5	.	.	PUNCT
ajst-6858	77	6	high	high	ADJ
ajst-6858	77	7	precision	precision	NOUN
ajst-6858	77	8	three	three	NUM
ajst-6858	77	9	-	-	PUNCT
ajst-6858	77	10	axis	axis	NOUN
ajst-6858	77	11	turntable	turntable	NOUN
ajst-6858	77	12	176	176	NUM
ajst-6858	77	13	4.3	4.3	NUM
ajst-6858	77	14	.	.	PUNCT
ajst-6858	78	1	calibration	calibration	NOUN
ajst-6858	78	2	scheme	scheme	NOUN
ajst-6858	78	3	in	in	ADP
ajst-6858	78	4	order	order	NOUN
ajst-6858	78	5	to	to	PART
ajst-6858	78	6	ensure	ensure	VERB
ajst-6858	78	7	the	the	DET
ajst-6858	78	8	calibration	calibration	NOUN
ajst-6858	78	9	effect	effect	NOUN
ajst-6858	78	10	,	,	PUNCT
ajst-6858	78	11	this	this	DET
ajst-6858	78	12	paper	paper	NOUN
ajst-6858	78	13	uses	use	VERB
ajst-6858	78	14	a	a	DET
ajst-6858	78	15	high	high	ADJ
ajst-6858	78	16	-	-	PUNCT
ajst-6858	78	17	precision	precision	NOUN
ajst-6858	78	18	three	three	NUM
ajst-6858	78	19	-	-	PUNCT
ajst-6858	78	20	axis	axis	NOUN
ajst-6858	78	21	turntable	turntable	NOUN
ajst-6858	78	22	to	to	PART
ajst-6858	78	23	carry	carry	VERB
ajst-6858	78	24	out	out	ADP
ajst-6858	78	25	the	the	DET
ajst-6858	78	26	calibration	calibration	NOUN
ajst-6858	78	27	experiment	experiment	NOUN
ajst-6858	78	28	of	of	ADP
ajst-6858	78	29	mems	mem	NOUN
ajst-6858	78	30	gyroscope	gyroscope	NOUN
ajst-6858	78	31	.	.	PUNCT
ajst-6858	79	1	by	by	ADP
ajst-6858	79	2	rotating	rotate	VERB
ajst-6858	79	3	the	the	DET
ajst-6858	79	4	inner	inner	ADJ
ajst-6858	79	5	and	and	CCONJ
ajst-6858	79	6	middle	middle	ADJ
ajst-6858	79	7	rings	ring	NOUN
ajst-6858	79	8	of	of	ADP
ajst-6858	79	9	the	the	DET
ajst-6858	79	10	three	three	NUM
ajst-6858	79	11	-	-	PUNCT
ajst-6858	79	12	axis	axis	NOUN
ajst-6858	79	13	turntable	turntable	NOUN
ajst-6858	79	14	,	,	PUNCT
ajst-6858	79	15	the	the	DET
ajst-6858	79	16	input	input	NOUN
ajst-6858	79	17	angular	angular	ADJ
ajst-6858	79	18	rate	rate	NOUN
ajst-6858	79	19	is	be	AUX
ajst-6858	79	20	sequentially	sequentially	ADV
ajst-6858	79	21	provided	provide	VERB
ajst-6858	79	22	for	for	ADP
ajst-6858	79	23	the	the	DET
ajst-6858	79	24	three	three	NUM
ajst-6858	79	25	-	-	PUNCT
ajst-6858	79	26	axis	axis	NOUN
ajst-6858	79	27	mems	mem	NOUN
ajst-6858	79	28	gyroscope	gyroscope	NOUN
ajst-6858	79	29	.	.	PUNCT
ajst-6858	80	1	at	at	ADP
ajst-6858	80	2	the	the	DET
ajst-6858	80	3	same	same	ADJ
ajst-6858	80	4	time	time	NOUN
ajst-6858	80	5	,	,	PUNCT
ajst-6858	80	6	every	every	DET
ajst-6858	80	7	experiment	experiment	NOUN
ajst-6858	80	8	requires	require	VERB
ajst-6858	80	9	reinstalling	reinstall	VERB
ajst-6858	80	10	the	the	DET
ajst-6858	80	11	mems	mem	NOUN
ajst-6858	80	12	gyroscope	gyroscope	NOUN
ajst-6858	80	13	to	to	PART
ajst-6858	80	14	ensure	ensure	VERB
ajst-6858	80	15	that	that	SCONJ
ajst-6858	80	16	the	the	DET
ajst-6858	80	17	sensitive	sensitive	ADJ
ajst-6858	80	18	axis	axis	NOUN
ajst-6858	80	19	of	of	ADP
ajst-6858	80	20	the	the	DET
ajst-6858	80	21	gyroscope	gyroscope	NOUN
ajst-6858	80	22	is	be	AUX
ajst-6858	80	23	always	always	ADV
ajst-6858	80	24	perpendicular	perpendicular	ADJ
ajst-6858	80	25	to	to	ADP
ajst-6858	80	26	the	the	DET
ajst-6858	80	27	plane	plane	NOUN
ajst-6858	80	28	of	of	ADP
ajst-6858	80	29	the	the	DET
ajst-6858	80	30	turntable	turntable	ADJ
ajst-6858	80	31	spindle	spindle	NOUN
ajst-6858	80	32	.	.	PUNCT
ajst-6858	81	1	the	the	DET
ajst-6858	81	2	specific	specific	ADJ
ajst-6858	81	3	calibration	calibration	NOUN
ajst-6858	81	4	process	process	NOUN
ajst-6858	81	5	is	be	AUX
ajst-6858	81	6	as	as	SCONJ
ajst-6858	81	7	follows	follow	VERB
ajst-6858	81	8	:	:	PUNCT
ajst-6858	81	9	(	(	PUNCT
ajst-6858	81	10	1	1	X
ajst-6858	81	11	)	)	PUNCT
ajst-6858	81	12	install	install	VERB
ajst-6858	81	13	the	the	DET
ajst-6858	81	14	attitude	attitude	NOUN
ajst-6858	81	15	meter	meter	NOUN
ajst-6858	81	16	on	on	ADP
ajst-6858	81	17	the	the	DET
ajst-6858	81	18	turntable	turntable	ADJ
ajst-6858	81	19	plane	plane	NOUN
ajst-6858	81	20	,	,	PUNCT
ajst-6858	81	21	and	and	CCONJ
ajst-6858	81	22	use	use	VERB
ajst-6858	81	23	the	the	DET
ajst-6858	81	24	422	422	NUM
ajst-6858	81	25	interface	interface	NOUN
ajst-6858	81	26	to	to	PART
ajst-6858	81	27	connect	connect	VERB
ajst-6858	81	28	the	the	DET
ajst-6858	81	29	attitude	attitude	NOUN
ajst-6858	81	30	meter	meter	NOUN
ajst-6858	81	31	and	and	CCONJ
ajst-6858	81	32	the	the	DET
ajst-6858	81	33	upper	upper	ADJ
ajst-6858	81	34	computer	computer	NOUN
ajst-6858	81	35	.	.	PUNCT
ajst-6858	82	1	the	the	DET
ajst-6858	82	2	coordinate	coordinate	NOUN
ajst-6858	82	3	system	system	NOUN
ajst-6858	82	4	of	of	ADP
ajst-6858	82	5	the	the	DET
ajst-6858	82	6	attitude	attitude	NOUN
ajst-6858	82	7	meter	meter	NOUN
ajst-6858	82	8	is	be	AUX
ajst-6858	82	9	shown	show	VERB
ajst-6858	82	10	in	in	ADP
ajst-6858	82	11	fig	fig	NOUN
ajst-6858	82	12	4	4	NUM
ajst-6858	82	13	.	.	PUNCT
ajst-6858	82	14	figure	figure	VERB
ajst-6858	82	15	4	4	NUM
ajst-6858	82	16	.	.	NOUN
ajst-6858	82	17	attitude	attitude	NOUN
ajst-6858	82	18	meter	meter	NOUN
ajst-6858	82	19	coordinate	coordinate	NOUN
ajst-6858	82	20	system	system	NOUN
ajst-6858	82	21	note	note	NOUN
ajst-6858	82	22	:	:	PUNCT
ajst-6858	82	23	when	when	SCONJ
ajst-6858	82	24	installing	instal	VERB
ajst-6858	82	25	the	the	DET
ajst-6858	82	26	attitude	attitude	NOUN
ajst-6858	82	27	meter	meter	NOUN
ajst-6858	82	28	,	,	PUNCT
ajst-6858	82	29	make	make	VERB
ajst-6858	82	30	sure	sure	ADJ
ajst-6858	82	31	that	that	SCONJ
ajst-6858	82	32	the	the	DET
ajst-6858	82	33	axis	axis	NOUN
ajst-6858	82	34	of	of	ADP
ajst-6858	82	35	the	the	DET
ajst-6858	82	36	attitude	attitude	NOUN
ajst-6858	82	37	meter	meter	NOUN
ajst-6858	82	38	is	be	AUX
ajst-6858	82	39	perpendicular	perpendicular	ADJ
ajst-6858	82	40	to	to	ADP
ajst-6858	82	41	the	the	DET
ajst-6858	82	42	plane	plane	NOUN
ajst-6858	82	43	of	of	ADP
ajst-6858	82	44	the	the	DET
ajst-6858	82	45	inner	inner	ADJ
ajst-6858	82	46	ring	ring	NOUN
ajst-6858	82	47	of	of	ADP
ajst-6858	82	48	the	the	DET
ajst-6858	82	49	turntable	turntable	NOUN
ajst-6858	82	50	.	.	PUNCT
ajst-6858	83	1	(	(	PUNCT
ajst-6858	83	2	2	2	X
ajst-6858	83	3	)	)	PUNCT
ajst-6858	83	4	enable	enable	VERB
ajst-6858	83	5	the	the	DET
ajst-6858	83	6	three	three	NUM
ajst-6858	83	7	-	-	PUNCT
ajst-6858	83	8	axis	axis	NOUN
ajst-6858	83	9	turntable	turntable	NOUN
ajst-6858	83	10	,	,	PUNCT
ajst-6858	83	11	set	set	VERB
ajst-6858	83	12	the	the	DET
ajst-6858	83	13	initial	initial	ADJ
ajst-6858	83	14	positions	position	NOUN
ajst-6858	83	15	of	of	ADP
ajst-6858	83	16	the	the	DET
ajst-6858	83	17	inner	inner	ADJ
ajst-6858	83	18	,	,	PUNCT
ajst-6858	83	19	middle	middle	ADJ
ajst-6858	83	20	,	,	PUNCT
ajst-6858	83	21	and	and	CCONJ
ajst-6858	83	22	outer	outer	ADJ
ajst-6858	83	23	rings	ring	NOUN
ajst-6858	83	24	to	to	ADP
ajst-6858	83	25	0	0	NUM
ajst-6858	83	26	,	,	PUNCT
ajst-6858	83	27	and	and	CCONJ
ajst-6858	83	28	then	then	ADV
ajst-6858	83	29	put	put	VERB
ajst-6858	83	30	them	they	PRON
ajst-6858	83	31	all	all	PRON
ajst-6858	83	32	in	in	ADP
ajst-6858	83	33	the	the	DET
ajst-6858	83	34	rate	rate	NOUN
ajst-6858	83	35	mode	mode	NOUN
ajst-6858	83	36	.	.	PUNCT
ajst-6858	84	1	after	after	ADP
ajst-6858	84	2	checking	check	VERB
ajst-6858	84	3	the	the	DET
ajst-6858	84	4	connection	connection	NOUN
ajst-6858	84	5	and	and	CCONJ
ajst-6858	84	6	confirming	confirm	VERB
ajst-6858	84	7	that	that	SCONJ
ajst-6858	84	8	there	there	PRON
ajst-6858	84	9	is	be	VERB
ajst-6858	84	10	no	no	DET
ajst-6858	84	11	error	error	NOUN
ajst-6858	84	12	,	,	PUNCT
ajst-6858	84	13	use	use	VERB
ajst-6858	84	14	a	a	DET
ajst-6858	84	15	digital	digital	ADJ
ajst-6858	84	16	voltage	voltage	NOUN
ajst-6858	84	17	source	source	NOUN
ajst-6858	84	18	to	to	PART
ajst-6858	84	19	power	power	VERB
ajst-6858	84	20	the	the	DET
ajst-6858	84	21	attitude	attitude	NOUN
ajst-6858	84	22	meter	meter	NOUN
ajst-6858	84	23	.	.	PUNCT
ajst-6858	85	1	(	(	PUNCT
ajst-6858	85	2	3	3	X
ajst-6858	85	3	)	)	PUNCT
ajst-6858	85	4	rotate	rotate	VERB
ajst-6858	85	5	the	the	DET
ajst-6858	85	6	inner	inner	ADJ
ajst-6858	85	7	and	and	CCONJ
ajst-6858	85	8	middle	middle	ADJ
ajst-6858	85	9	rings	ring	NOUN
ajst-6858	85	10	in	in	ADP
ajst-6858	85	11	turn	turn	NOUN
ajst-6858	85	12	to	to	PART
ajst-6858	85	13	provide	provide	VERB
ajst-6858	85	14	input	input	NOUN
ajst-6858	85	15	angular	angular	ADJ
ajst-6858	85	16	rates	rate	NOUN
ajst-6858	85	17	for	for	ADP
ajst-6858	85	18	the	the	DET
ajst-6858	85	19	three	three	NUM
ajst-6858	85	20	shafts	shafts	ADJ
ajst-6858	85	21	(	(	PUNCT
ajst-6858	85	22	x	x	SYM
ajst-6858	85	23	y	y	PROPN
ajst-6858	85	24	z	z	PROPN
ajst-6858	85	25	,	,	PUNCT
ajst-6858	85	26	,	,	PUNCT
ajst-6858	85	27	)	)	PUNCT
ajst-6858	85	28	.	.	PUNCT
ajst-6858	86	1	the	the	DET
ajst-6858	86	2	input	input	NOUN
ajst-6858	86	3	angular	angular	ADJ
ajst-6858	86	4	rate	rate	NOUN
ajst-6858	86	5	gradually	gradually	ADV
ajst-6858	86	6	increases	increase	VERB
ajst-6858	86	7	s/10	s/10	ADJ
ajst-6858	86	8	°	°	NOUN
ajst-6858	86	9	from	from	ADP
ajst-6858	86	10	s/300	s/300	PROPN
ajst-6858	86	11	to	to	ADP
ajst-6858	86	12	s/300	s/300	PROPN
ajst-6858	86	13	,	,	PUNCT
ajst-6858	86	14	while	while	SCONJ
ajst-6858	86	15	collecting	collect	VERB
ajst-6858	86	16	at	at	ADV
ajst-6858	86	17	least	least	ADV
ajst-6858	86	18	500	500	NUM
ajst-6858	86	19	rows	row	NOUN
ajst-6858	86	20	of	of	ADP
ajst-6858	86	21	raw	raw	ADJ
ajst-6858	86	22	data	datum	NOUN
ajst-6858	86	23	from	from	ADP
ajst-6858	86	24	a	a	DET
ajst-6858	86	25	three	three	NUM
ajst-6858	86	26	axis	axis	NOUN
ajst-6858	86	27	mems	mem	NOUN
ajst-6858	86	28	gyroscope	gyroscope	NOUN
ajst-6858	86	29	after	after	SCONJ
ajst-6858	86	30	each	each	DET
ajst-6858	86	31	angular	angular	ADJ
ajst-6858	86	32	rate	rate	NOUN
ajst-6858	86	33	stabilizes	stabilize	VERB
ajst-6858	86	34	.	.	PUNCT
ajst-6858	87	1	(	(	PUNCT
ajst-6858	87	2	4	4	X
ajst-6858	87	3	)	)	PUNCT
ajst-6858	87	4	use	use	VERB
ajst-6858	87	5	the	the	DET
ajst-6858	87	6	collected	collect	VERB
ajst-6858	87	7	raw	raw	ADJ
ajst-6858	87	8	data	datum	NOUN
ajst-6858	87	9	to	to	PART
ajst-6858	87	10	obtain	obtain	VERB
ajst-6858	87	11	the	the	DET
ajst-6858	87	12	corresponding	correspond	VERB
ajst-6858	87	13	calibration	calibration	NOUN
ajst-6858	87	14	coefficient	coefficient	NOUN
ajst-6858	87	15	of	of	ADP
ajst-6858	87	16	the	the	DET
ajst-6858	87	17	mems	mem	NOUN
ajst-6858	87	18	gyroscope	gyroscope	NOUN
ajst-6858	87	19	.	.	PUNCT
ajst-6858	88	1	repeat	repeat	NOUN
ajst-6858	88	2	step	step	NOUN
ajst-6858	88	3	3	3	NUM
ajst-6858	88	4	.	.	PUNCT
ajst-6858	88	5	note	note	VERB
ajst-6858	88	6	that	that	SCONJ
ajst-6858	88	7	the	the	DET
ajst-6858	88	8	range	range	NOUN
ajst-6858	88	9	of	of	ADP
ajst-6858	88	10	input	input	NOUN
ajst-6858	88	11	angular	angular	ADJ
ajst-6858	88	12	rate	rate	NOUN
ajst-6858	88	13	at	at	ADP
ajst-6858	88	14	this	this	DET
ajst-6858	88	15	time	time	NOUN
ajst-6858	88	16	is	be	AUX
ajst-6858	88	17	the	the	DET
ajst-6858	88	18	maximum	maximum	ADJ
ajst-6858	88	19	linear	linear	ADJ
ajst-6858	88	20	range	range	NOUN
ajst-6858	88	21	of	of	ADP
ajst-6858	88	22	the	the	DET
ajst-6858	88	23	mems	mem	NOUN
ajst-6858	88	24	gyroscope	gyroscope	NOUN
ajst-6858	88	25	,	,	PUNCT
ajst-6858	88	26	and	and	CCONJ
ajst-6858	88	27	take	take	VERB
ajst-6858	88	28	the	the	DET
ajst-6858	88	29	axial	axial	ADJ
ajst-6858	88	30	direction	direction	NOUN
ajst-6858	88	31	corresponding	correspond	VERB
ajst-6858	88	32	to	to	ADP
ajst-6858	88	33	the	the	DET
ajst-6858	88	34	heading	head	VERB
ajst-6858	88	35	angle	angle	NOUN
ajst-6858	88	36	as	as	ADP
ajst-6858	88	37	an	an	DET
ajst-6858	88	38	example	example	NOUN
ajst-6858	88	39	.	.	PUNCT
ajst-6858	89	1	4.4	4.4	NUM
ajst-6858	89	2	.	.	PUNCT
ajst-6858	90	1	calibration	calibration	NOUN
ajst-6858	90	2	coefficient	coefficient	NOUN
ajst-6858	90	3	calculation	calculation	NOUN
ajst-6858	90	4	first	first	ADV
ajst-6858	90	5	of	of	ADP
ajst-6858	90	6	all	all	PRON
ajst-6858	90	7	,	,	PUNCT
ajst-6858	90	8	use	use	VERB
ajst-6858	90	9	matlab	matlab	PROPN
ajst-6858	90	10	to	to	PART
ajst-6858	90	11	calculate	calculate	VERB
ajst-6858	90	12	the	the	DET
ajst-6858	90	13	average	average	ADJ
ajst-6858	90	14	value	value	NOUN
ajst-6858	90	15	of	of	ADP
ajst-6858	90	16	each	each	DET
ajst-6858	90	17	axis	axis	NOUN
ajst-6858	90	18	at	at	ADP
ajst-6858	90	19	each	each	DET
ajst-6858	90	20	input	input	NOUN
ajst-6858	90	21	angular	angular	ADJ
ajst-6858	90	22	rate	rate	NOUN
ajst-6858	90	23	based	base	VERB
ajst-6858	90	24	on	on	ADP
ajst-6858	90	25	the	the	DET
ajst-6858	90	26	collected	collect	VERB
ajst-6858	90	27	raw	raw	ADJ
ajst-6858	90	28	data	datum	NOUN
ajst-6858	90	29	of	of	ADP
ajst-6858	90	30	the	the	DET
ajst-6858	90	31	three	three	NUM
ajst-6858	90	32	axis	axis	ADJ
ajst-6858	90	33	mems	mem	NOUN
ajst-6858	90	34	gyroscope	gyroscope	NOUN
ajst-6858	90	35	.	.	PUNCT
ajst-6858	91	1	using	use	VERB
ajst-6858	91	2	the	the	DET
ajst-6858	91	3	input	input	NOUN
ajst-6858	91	4	angular	angular	ADJ
ajst-6858	91	5	rate	rate	NOUN
ajst-6858	91	6	of	of	ADP
ajst-6858	91	7	the	the	DET
ajst-6858	91	8	three	three	NUM
ajst-6858	91	9	axis	axis	NOUN
ajst-6858	91	10	turntable	turntable	NOUN
ajst-6858	91	11	as	as	ADP
ajst-6858	91	12	the	the	DET
ajst-6858	91	13	theoretical	theoretical	ADJ
ajst-6858	91	14	value	value	NOUN
ajst-6858	91	15	,	,	PUNCT
ajst-6858	91	16	and	and	CCONJ
ajst-6858	91	17	the	the	DET
ajst-6858	91	18	raw	raw	ADJ
ajst-6858	91	19	data	datum	NOUN
ajst-6858	91	20	of	of	ADP
ajst-6858	91	21	the	the	DET
ajst-6858	91	22	mems	mem	NOUN
ajst-6858	91	23	gyroscope	gyroscope	NOUN
ajst-6858	91	24	as	as	ADP
ajst-6858	91	25	the	the	DET
ajst-6858	91	26	measured	measured	ADJ
ajst-6858	91	27	value	value	NOUN
ajst-6858	91	28	,	,	PUNCT
ajst-6858	91	29	you	you	PRON
ajst-6858	91	30	can	can	AUX
ajst-6858	91	31	obtain	obtain	VERB
ajst-6858	91	32	the	the	DET
ajst-6858	91	33	zero	zero	NUM
ajst-6858	91	34	deviation	deviation	NOUN
ajst-6858	91	35	of	of	ADP
ajst-6858	91	36	the	the	DET
ajst-6858	91	37	three	three	NUM
ajst-6858	91	38	axis	axis	NOUN
ajst-6858	91	39	mems	mem	NOUN
ajst-6858	91	40	gyroscope	gyroscope	NOUN
ajst-6858	91	41	and	and	CCONJ
ajst-6858	91	42	the	the	DET
ajst-6858	91	43	proportional	proportional	ADJ
ajst-6858	91	44	coefficient	coefficient	NOUN
ajst-6858	91	45	of	of	ADP
ajst-6858	91	46	the	the	DET
ajst-6858	91	47	corresponding	corresponding	ADJ
ajst-6858	91	48	axis	axis	NOUN
ajst-6858	91	49	,	,	PUNCT
ajst-6858	91	50	as	as	SCONJ
ajst-6858	91	51	shown	show	VERB
ajst-6858	91	52	in	in	ADP
ajst-6858	91	53	table	table	NOUN
ajst-6858	91	54	1	1	NUM
ajst-6858	91	55	.	.	PUNCT
ajst-6858	91	56	table	table	NOUN
ajst-6858	91	57	1	1	NUM
ajst-6858	91	58	.	.	PUNCT
ajst-6858	91	59	calibration	calibration	NOUN
ajst-6858	91	60	coefficient	coefficient	NOUN
ajst-6858	91	61	of	of	ADP
ajst-6858	91	62	three	three	NUM
ajst-6858	91	63	axis	axis	ADJ
ajst-6858	91	64	mems	mem	NOUN
ajst-6858	91	65	gyroscope	gyroscope	NOUN
ajst-6858	91	66	parameter	parameter	NOUN
ajst-6858	91	67	value	value	NOUN
ajst-6858	91	68	parameter	parameter	NOUN
ajst-6858	91	69	value	value	NOUN
ajst-6858	91	70	-0.072	-0.072	PROPN
ajst-6858	91	71	113	113	NUM
ajst-6858	91	72	333	333	NUM
ajst-6858	91	73	-9.697	-9.697	ADP
ajst-6858	91	74	347	347	NUM
ajst-6858	91	75	220e-05	220e-05	NUM
ajst-6858	91	76	-0.006	-0.006	PROPN
ajst-6858	91	77	933	933	NUM
ajst-6858	91	78	333	333	NUM
ajst-6858	91	79	1.020	1.020	NUM
ajst-6858	91	80	340	340	NUM
ajst-6858	91	81	178	178	NUM
ajst-6858	91	82	0.063	0.063	NUM
ajst-6858	91	83	420	420	NUM
ajst-6858	91	84	999	999	NUM
ajst-6858	91	85	-0.000	-0.000	NUM
ajst-6858	91	86	214	214	NUM
ajst-6858	91	87	016	016	NUM
ajst-6858	91	88	1.020	1.020	NUM
ajst-6858	91	89	263	263	NUM
ajst-6858	91	90	089	089	NUM
ajst-6858	91	91	-0.000	-0.000	NUM
ajst-6858	91	92	230	230	NUM
ajst-6858	91	93	130	130	NUM
ajst-6858	91	94	0.000	0.000	NUM
ajst-6858	91	95	260	260	NUM
ajst-6858	91	96	592	592	NUM
ajst-6858	91	97	0.000	0.000	NUM
ajst-6858	91	98	355	355	NUM
ajst-6858	91	99	058	058	NUM
ajst-6858	91	100	0.000	0.000	NUM
ajst-6858	91	101	230	230	NUM
ajst-6858	91	102	804	804	NUM
ajst-6858	91	103	1.020	1.020	NUM
ajst-6858	91	104	015	015	NUM
ajst-6858	91	105	376	376	NUM
ajst-6858	91	106	the	the	DET
ajst-6858	91	107	error	error	NOUN
ajst-6858	91	108	model	model	NOUN
ajst-6858	91	109	equation	equation	NOUN
ajst-6858	91	110	of	of	ADP
ajst-6858	91	111	the	the	DET
ajst-6858	91	112	gyroscope	gyroscope	NOUN
ajst-6858	91	113	is	be	AUX
ajst-6858	91	114	shown	show	VERB
ajst-6858	91	115	in	in	ADP
ajst-6858	91	116	equation	equation	NOUN
ajst-6858	91	117	(	(	PUNCT
ajst-6858	91	118	8)	8)	NUM
ajst-6858	91	119	.	.	PUNCT
ajst-6858	92	1	0.072	0.072	NUM
ajst-6858	92	2	113	113	NUM
ajst-6858	92	3	333	333	NUM
ajst-6858	92	4	0.006	0.006	NUM
ajst-6858	92	5	933	933	NUM
ajst-6858	92	6	333	333	NUM
ajst-6858	92	7	0.063	0.063	NUM
ajst-6858	92	8	420	420	NUM
ajst-6858	92	9	999	999	NUM
ajst-6858	92	10	1.020	1.020	NUM
ajst-6858	92	11	263	263	NUM
ajst-6858	92	12	089	089	NUM
ajst-6858	92	13	0.000	0.000	NUM
ajst-6858	92	14	260	260	NUM
ajst-6858	92	15	592	592	NUM
ajst-6858	92	16	0.000	0.000	NUM
ajst-6858	92	17	230	230	NUM
ajst-6858	92	18	804	804	NUM
ajst-6858	92	19	-9.697	-9.697	PUNCT
ajst-6858	92	20	347	347	NUM
ajst-6858	92	21	220e-05	220e-05	NUM
ajst-6858	92	22	1.020	1.020	NUM
ajst-6858	92	23	340	340	NUM
ajst-6858	92	24	178	178	NUM
ajst-6858	92	25	-0.000	-0.000	NUM
ajst-6858	92	26	214	214	NUM
ajst-6858	92	27	016	016	NUM
ajst-6858	92	28	-0.000	-0.000	NUM
ajst-6858	92	29	230	230	NUM
ajst-6858	92	30	130	130	NUM
ajst-6858	92	31	0.000	0.000	NUM
ajst-6858	92	32	355	355	NUM
ajst-6858	92	33	058	058	NUM
ajst-6858	92	34	1.020	1.020	NUM
ajst-6858	92	35	015	015	NUM
ajst-6858	92	36	376	376	NUM
ajst-6858	92	37	xg	xg	NOUN
ajst-6858	92	38	yg	yg	PROPN
ajst-6858	92	39	zg	zg	PROPN
ajst-6858	92	40	xb	xb	PROPN
ajst-6858	93	1			PROPN
ajst-6858	93	2			X
ajst-6858	94	1			X
ajst-6858	94	2			X
ajst-6858	94	3			PROPN
ajst-6858	94	4			NOUN
ajst-6858	94	5			VERB
ajst-6858	94	6			PROPN
ajst-6858	94	7			PROPN
ajst-6858	94	8			PRON
ajst-6858	94	9			PUNCT
ajst-6858	95	1			PROPN
ajst-6858	95	2			PROPN
ajst-6858	95	3			NOUN
ajst-6858	95	4			PROPN
ajst-6858	95	5			NOUN
ajst-6858	96	1			PROPN
ajst-6858	97	1			PROPN
ajst-6858	98	1			PROPN
ajst-6858	99	1			PROPN
ajst-6858	100	1			INTJ
ajst-6858	101	1			PROPN
ajst-6858	101	2			PROPN
ajst-6858	102	1			PROPN
ajst-6858	102	2			PROPN
ajst-6858	102	3	yb	yb	PROPN
ajst-6858	102	4	zb	zb	PROPN
ajst-6858	103	1			NOUN
ajst-6858	103	2			PROPN
ajst-6858	103	3			PROPN
ajst-6858	104	1			PROPN
ajst-6858	105	1			PROPN
ajst-6858	106	1			INTJ
ajst-6858	107	1			PROPN
ajst-6858	107	2			PROPN
ajst-6858	108	1			PROPN
ajst-6858	108	2			NOUN
ajst-6858	108	3	(	(	PUNCT
ajst-6858	108	4	8)	8)	NUM
ajst-6858	108	5	table	table	NOUN
ajst-6858	108	6	2	2	NUM
ajst-6858	108	7	shows	show	VERB
ajst-6858	108	8	the	the	DET
ajst-6858	108	9	segmentation	segmentation	NOUN
ajst-6858	108	10	of	of	ADP
ajst-6858	108	11	the	the	DET
ajst-6858	108	12	gyro	gyro	NOUN
ajst-6858	108	13	angular	angular	ADJ
ajst-6858	108	14	rate	rate	NOUN
ajst-6858	108	15	error	error	NOUN
ajst-6858	108	16	after	after	ADP
ajst-6858	108	17	the	the	DET
ajst-6858	108	18	first	first	ADJ
ajst-6858	108	19	calibration	calibration	NOUN
ajst-6858	108	20	and	and	CCONJ
ajst-6858	108	21	the	the	DET
ajst-6858	108	22	k	k	PROPN
ajst-6858	108	23	and	and	CCONJ
ajst-6858	108	24	b	b	PROPN
ajst-6858	108	25	of	of	ADP
ajst-6858	108	26	the	the	DET
ajst-6858	108	27	linear	linear	PROPN
ajst-6858	108	28	relationship	relationship	NOUN
ajst-6858	108	29	between	between	ADP
ajst-6858	108	30	the	the	DET
ajst-6858	108	31	actual	actual	ADJ
ajst-6858	108	32	output	output	NOUN
ajst-6858	108	33	of	of	ADP
ajst-6858	108	34	the	the	DET
ajst-6858	108	35	angular	angular	ADJ
ajst-6858	108	36	rate	rate	NOUN
ajst-6858	108	37	and	and	CCONJ
ajst-6858	108	38	the	the	DET
ajst-6858	108	39	error	error	NOUN
ajst-6858	108	40	within	within	ADP
ajst-6858	108	41	each	each	DET
ajst-6858	108	42	segment	segment	NOUN
ajst-6858	108	43	.	.	PUNCT
ajst-6858	109	1	bring	bring	VERB
ajst-6858	109	2	the	the	DET
ajst-6858	109	3	sum	sum	NOUN
ajst-6858	109	4	in	in	ADP
ajst-6858	109	5	table	table	NOUN
ajst-6858	109	6	2	2	NUM
ajst-6858	109	7	into	into	ADP
ajst-6858	109	8	equation	equation	NOUN
ajst-6858	109	9	(	(	PUNCT
ajst-6858	109	10	8)	8)	NUM
ajst-6858	109	11	for	for	ADP
ajst-6858	109	12	dynamic	dynamic	ADJ
ajst-6858	109	13	compensation	compensation	NOUN
ajst-6858	109	14	of	of	ADP
ajst-6858	109	15	gyro	gyro	NOUN
ajst-6858	109	16	angular	angular	ADJ
ajst-6858	109	17	rate	rate	NOUN
ajst-6858	109	18	error	error	NOUN
ajst-6858	109	19	.	.	PUNCT
ajst-6858	110	1	finally	finally	ADV
ajst-6858	110	2	,	,	PUNCT
ajst-6858	110	3	the	the	DET
ajst-6858	110	4	calibration	calibration	NOUN
ajst-6858	110	5	error	error	NOUN
ajst-6858	110	6	result	result	NOUN
ajst-6858	110	7	is	be	AUX
ajst-6858	110	8	shown	show	VERB
ajst-6858	110	9	in	in	ADP
ajst-6858	110	10	figure	figure	NOUN
ajst-6858	110	11	5	5	NUM
ajst-6858	110	12	.	.	PUNCT
ajst-6858	111	1	0x	0x	ADJ
ajst-6858	111	2	yxb	yxb	NOUN
ajst-6858	111	3	0y	0y	ADJ
ajst-6858	111	4	yyb	yyb	PROPN
ajst-6858	111	5	0z	0z	NUM
ajst-6858	111	6	yzb	yzb	X
ajst-6858	112	1	xxb	xxb	PROPN
ajst-6858	113	1	zxb	zxb	PROPN
ajst-6858	113	2	xyb	xyb	PROPN
ajst-6858	113	3	zyb	zyb	PROPN
ajst-6858	113	4	xzb	xzb	PROPN
ajst-6858	113	5	zzb	zzb	PROPN
ajst-6858	113	6	177	177	NUM
ajst-6858	113	7	table	table	NOUN
ajst-6858	113	8	2	2	NUM
ajst-6858	113	9	.	.	PUNCT
ajst-6858	113	10	segmentation	segmentation	NOUN
ajst-6858	113	11	of	of	ADP
ajst-6858	113	12	angular	angular	ADJ
ajst-6858	113	13	rate	rate	NOUN
ajst-6858	113	14	fitting	fitting	ADJ
ajst-6858	113	15	numble	numble	ADJ
ajst-6858	113	16	range	range	NOUN
ajst-6858	113	17	(	(	PUNCT
ajst-6858	113	18	°	°	NOUN
ajst-6858	113	19	/s	/	NOUN
ajst-6858	113	20	)	)	PUNCT
ajst-6858	114	1	k	k	PROPN
ajst-6858	114	2	b	b	X
ajst-6858	114	3	1	1	NUM
ajst-6858	115	1	[	[	X
ajst-6858	115	2	210	210	NUM
ajst-6858	115	3	,	,	PUNCT
ajst-6858	115	4	300	300	NUM
ajst-6858	115	5	]	]	PUNCT
ajst-6858	115	6	0.00116	0.00116	NUM
ajst-6858	115	7	0.18033	0.18033	NUM
ajst-6858	115	8	2	2	NUM
ajst-6858	116	1	[	[	SYM
ajst-6858	116	2	150	150	NUM
ajst-6858	116	3	,	,	PUNCT
ajst-6858	116	4	210	210	NUM
ajst-6858	116	5	]	]	PUNCT
ajst-6858	116	6	0.00315	0.00315	NUM
ajst-6858	116	7	-0.23781	-0.23781	NOUN
ajst-6858	116	8	3	3	NUM
ajst-6858	117	1	[	[	X
ajst-6858	117	2	100	100	NUM
ajst-6858	117	3	,	,	PUNCT
ajst-6858	117	4	150	150	NUM
ajst-6858	117	5	]	]	SYM
ajst-6858	117	6	0.00210	0.00210	NUM
ajst-6858	117	7	-0.07780	-0.07780	NOUN
ajst-6858	117	8	4	4	NUM
ajst-6858	118	1	[	[	SYM
ajst-6858	118	2	60	60	NUM
ajst-6858	118	3	,	,	PUNCT
ajst-6858	118	4	100	100	NUM
ajst-6858	118	5	]	]	PUNCT
ajst-6858	118	6	0.00138	0.00138	NUM
ajst-6858	118	7	-0.00570	-0.00570	NOUN
ajst-6858	118	8	5	5	NUM
ajst-6858	119	1	[	[	X
ajst-6858	119	2	-130	-130	ADJ
ajst-6858	119	3	,	,	PUNCT
ajst-6858	119	4	-50	-50	PUNCT
ajst-6858	119	5	]	]	PUNCT
ajst-6858	120	1	0.00139	0.00139	NUM
ajst-6858	120	2	-0.01476	-0.01476	NOUN
ajst-6858	120	3	6	6	NUM
ajst-6858	121	1	[	[	X
ajst-6858	121	2	-210	-210	PROPN
ajst-6858	121	3	,	,	PUNCT
ajst-6858	121	4	-130	-130	PROPN
ajst-6858	121	5	]	]	PUNCT
ajst-6858	121	6	0.00287	0.00287	NUM
ajst-6858	121	7	0.17081	0.17081	NUM
ajst-6858	121	8	7	7	NUM
ajst-6858	122	1	[	[	X
ajst-6858	122	2	-240	-240	PROPN
ajst-6858	122	3	,	,	PUNCT
ajst-6858	122	4	-210	-210	PROPN
ajst-6858	122	5	]	]	X
ajst-6858	122	6	0.00110	0.00110	NUM
ajst-6858	122	7	-0.20120	-0.20120	ADJ
ajst-6858	122	8	8	8	NUM
ajst-6858	123	1	[	[	X
ajst-6858	123	2	-300	-300	PROPN
ajst-6858	123	3	,	,	PUNCT
ajst-6858	123	4	-240	-240	PROPN
ajst-6858	123	5	]	]	X
ajst-6858	123	6	0.00347	0.00347	NUM
ajst-6858	123	7	0.36245	0.36245	NUM
ajst-6858	123	8	figure	figure	NOUN
ajst-6858	123	9	5	5	NUM
ajst-6858	123	10	.	.	NOUN
ajst-6858	123	11	error	error	NOUN
ajst-6858	123	12	comparison	comparison	NOUN
ajst-6858	123	13	the	the	DET
ajst-6858	123	14	root	root	NOUN
ajst-6858	123	15	mean	mean	VERB
ajst-6858	123	16	square	square	ADJ
ajst-6858	123	17	error	error	NOUN
ajst-6858	123	18	is	be	AUX
ajst-6858	123	19	shown	show	VERB
ajst-6858	123	20	in	in	ADP
ajst-6858	123	21	table	table	NOUN
ajst-6858	123	22	3	3	NUM
ajst-6858	123	23	.	.	PUNCT
ajst-6858	123	24	table	table	NOUN
ajst-6858	123	25	3	3	NUM
ajst-6858	123	26	.	.	X
ajst-6858	123	27	root	root	NOUN
ajst-6858	123	28	mean	mean	PROPN
ajst-6858	123	29	square	square	ADJ
ajst-6858	123	30	comparison	comparison	NOUN
ajst-6858	123	31	axles	axle	NOUN
ajst-6858	123	32	before	before	ADP
ajst-6858	123	33	calibration(	calibration(	PROPN
ajst-6858	123	34	°	°	PROPN
ajst-6858	123	35	/s	/	NOUN
ajst-6858	123	36	)	)	PUNCT
ajst-6858	123	37	first	first	ADV
ajst-6858	123	38	calibration(	calibration(	PROPN
ajst-6858	123	39	°	°	PROPN
ajst-6858	123	40	/s	/	NOUN
ajst-6858	123	41	)	)	PUNCT
ajst-6858	123	42	second	second	ADJ
ajst-6858	123	43	calibration(	calibration(	PROPN
ajst-6858	123	44	°	°	PROPN
ajst-6858	123	45	/s	/s	PUNCT
ajst-6858	123	46	)	)	PUNCT
ajst-6858	123	47	z	z	NOUN
ajst-6858	124	1	0.8531	0.8531	NUM
ajst-6858	124	2	0.4763	0.4763	NUM
ajst-6858	124	3	0.2967	0.2967	NUM
ajst-6858	124	4	from	from	ADP
ajst-6858	124	5	table	table	NOUN
ajst-6858	124	6	3	3	NUM
ajst-6858	124	7	,	,	PUNCT
ajst-6858	124	8	it	it	PRON
ajst-6858	124	9	can	can	AUX
ajst-6858	124	10	be	be	AUX
ajst-6858	124	11	concluded	conclude	VERB
ajst-6858	124	12	that	that	SCONJ
ajst-6858	124	13	the	the	DET
ajst-6858	124	14	root	root	NOUN
ajst-6858	124	15	mean	mean	VERB
ajst-6858	124	16	square	square	NOUN
ajst-6858	124	17	of	of	ADP
ajst-6858	124	18	the	the	DET
ajst-6858	124	19	angular	angular	ADJ
ajst-6858	124	20	rate	rate	NOUN
ajst-6858	124	21	error	error	NOUN
ajst-6858	124	22	after	after	ADP
ajst-6858	124	23	the	the	DET
ajst-6858	124	24	first	first	ADJ
ajst-6858	124	25	calibration	calibration	NOUN
ajst-6858	124	26	is	be	AUX
ajst-6858	124	27	0.2204	0.2204	NUM
ajst-6858	124	28	°	°	NOUN
ajst-6858	124	29	/s	/	NOUN
ajst-6858	124	30	,	,	PUNCT
ajst-6858	124	31	and	and	CCONJ
ajst-6858	124	32	the	the	DET
ajst-6858	124	33	root	root	NOUN
ajst-6858	124	34	mean	mean	NOUN
ajst-6858	124	35	square	square	NOUN
ajst-6858	124	36	of	of	ADP
ajst-6858	124	37	the	the	DET
ajst-6858	124	38	angular	angular	ADJ
ajst-6858	124	39	rate	rate	NOUN
ajst-6858	124	40	error	error	NOUN
ajst-6858	124	41	after	after	ADP
ajst-6858	124	42	the	the	DET
ajst-6858	124	43	second	second	ADJ
ajst-6858	124	44	calibration	calibration	NOUN
ajst-6858	124	45	using	use	VERB
ajst-6858	124	46	the	the	DET
ajst-6858	124	47	dynamic	dynamic	ADJ
ajst-6858	124	48	compensation	compensation	NOUN
ajst-6858	124	49	algorithm	algorithm	NOUN
ajst-6858	124	50	is	be	AUX
ajst-6858	124	51	0.1052	0.1052	NUM
ajst-6858	124	52	°	°	NUM
ajst-6858	124	53	/s	/	NOUN
ajst-6858	124	54	,	,	PUNCT
ajst-6858	124	55	which	which	PRON
ajst-6858	124	56	is	be	AUX
ajst-6858	124	57	52.37	52.37	NUM
ajst-6858	124	58	%	%	NOUN
ajst-6858	124	59	lower	low	ADJ
ajst-6858	124	60	than	than	ADP
ajst-6858	124	61	the	the	DET
ajst-6858	124	62	angular	angular	ADJ
ajst-6858	124	63	rate	rate	NOUN
ajst-6858	124	64	error	error	NOUN
ajst-6858	124	65	after	after	ADP
ajst-6858	124	66	the	the	DET
ajst-6858	124	67	first	first	ADJ
ajst-6858	124	68	calibration	calibration	NOUN
ajst-6858	124	69	.	.	PUNCT
ajst-6858	125	1	5	5	X
ajst-6858	125	2	.	.	X
ajst-6858	125	3	summary	summary	NOUN
ajst-6858	125	4	for	for	ADP
ajst-6858	125	5	the	the	DET
ajst-6858	125	6	calibration	calibration	NOUN
ajst-6858	125	7	of	of	ADP
ajst-6858	125	8	mems	mem	NOUN
ajst-6858	125	9	gyroscopes	gyroscope	NOUN
ajst-6858	125	10	,	,	PUNCT
ajst-6858	125	11	an	an	DET
ajst-6858	125	12	improved	improved	ADJ
ajst-6858	125	13	calibration	calibration	NOUN
ajst-6858	125	14	method	method	NOUN
ajst-6858	125	15	is	be	AUX
ajst-6858	125	16	proposed	propose	VERB
ajst-6858	125	17	in	in	ADP
ajst-6858	125	18	this	this	DET
ajst-6858	125	19	paper	paper	NOUN
ajst-6858	125	20	.	.	PUNCT
ajst-6858	126	1	on	on	ADP
ajst-6858	126	2	the	the	DET
ajst-6858	126	3	premise	premise	NOUN
ajst-6858	126	4	of	of	ADP
ajst-6858	126	5	using	use	VERB
ajst-6858	126	6	bias	bias	NOUN
ajst-6858	126	7	and	and	CCONJ
ajst-6858	126	8	scale	scale	NOUN
ajst-6858	126	9	coefficient	coefficient	NOUN
ajst-6858	126	10	for	for	ADP
ajst-6858	126	11	calibration	calibration	NOUN
ajst-6858	126	12	,	,	PUNCT
ajst-6858	126	13	the	the	DET
ajst-6858	126	14	calibration	calibration	NOUN
ajst-6858	126	15	method	method	NOUN
ajst-6858	126	16	of	of	ADP
ajst-6858	126	17	dynamic	dynamic	ADJ
ajst-6858	126	18	compensation	compensation	NOUN
ajst-6858	126	19	of	of	ADP
ajst-6858	126	20	mems	mem	NOUN
ajst-6858	126	21	gyroscopes	gyroscope	NOUN
ajst-6858	126	22	'	'	PART
ajst-6858	126	23	angular	angular	ADJ
ajst-6858	126	24	rate	rate	NOUN
ajst-6858	126	25	is	be	AUX
ajst-6858	126	26	adopted	adopt	VERB
ajst-6858	126	27	,	,	PUNCT
ajst-6858	126	28	which	which	PRON
ajst-6858	126	29	reduces	reduce	VERB
ajst-6858	126	30	the	the	DET
ajst-6858	126	31	average	average	ADJ
ajst-6858	126	32	error	error	NOUN
ajst-6858	126	33	value	value	NOUN
ajst-6858	126	34	of	of	ADP
ajst-6858	126	35	mems	mem	NOUN
ajst-6858	126	36	gyroscopes	gyroscope	NOUN
ajst-6858	126	37	in	in	ADP
ajst-6858	126	38	the	the	DET
ajst-6858	126	39	full	full	ADJ
ajst-6858	126	40	range	range	NOUN
ajst-6858	126	41	linear	linear	ADJ
ajst-6858	126	42	range	range	NOUN
ajst-6858	126	43	by	by	ADP
ajst-6858	126	44	less	less	ADJ
ajst-6858	126	45	than	than	ADP
ajst-6858	126	46	52.37	52.37	NUM
ajst-6858	126	47	.	.	PUNCT
ajst-6858	127	1	this	this	PRON
ajst-6858	127	2	provides	provide	VERB
ajst-6858	127	3	high	high	ADJ
ajst-6858	127	4	-	-	PUNCT
ajst-6858	127	5	precision	precision	NOUN
ajst-6858	127	6	angular	angular	ADJ
ajst-6858	127	7	rate	rate	NOUN
ajst-6858	127	8	for	for	ADP
ajst-6858	127	9	attitude	attitude	NOUN
ajst-6858	127	10	determination	determination	NOUN
ajst-6858	127	11	and	and	CCONJ
ajst-6858	127	12	navigation	navigation	NOUN
ajst-6858	127	13	,	,	PUNCT
ajst-6858	127	14	and	and	CCONJ
ajst-6858	127	15	has	have	VERB
ajst-6858	127	16	strong	strong	ADJ
ajst-6858	127	17	practical	practical	ADJ
ajst-6858	127	18	value	value	NOUN
ajst-6858	127	19	.	.	PUNCT
ajst-6858	128	1	acknowledgment	acknowledgment	NOUN
ajst-6858	128	2	on	on	ADP
ajst-6858	128	3	the	the	DET
ajst-6858	128	4	occasion	occasion	NOUN
ajst-6858	128	5	of	of	ADP
ajst-6858	128	6	completing	complete	VERB
ajst-6858	128	7	this	this	DET
ajst-6858	128	8	paper	paper	NOUN
ajst-6858	128	9	,	,	PUNCT
ajst-6858	128	10	first	first	ADV
ajst-6858	128	11	of	of	ADP
ajst-6858	128	12	all	all	PRON
ajst-6858	128	13	,	,	PUNCT
ajst-6858	128	14	i	i	PRON
ajst-6858	128	15	would	would	AUX
ajst-6858	128	16	like	like	VERB
ajst-6858	128	17	to	to	PART
ajst-6858	128	18	thank	thank	VERB
ajst-6858	128	19	my	my	PRON
ajst-6858	128	20	friend	friend	NOUN
ajst-6858	128	21	huang	huang	PROPN
ajst-6858	128	22	fuchao	fuchao	PROPN
ajst-6858	128	23	for	for	ADP
ajst-6858	128	24	his	his	PRON
ajst-6858	128	25	rigorous	rigorous	ADJ
ajst-6858	128	26	and	and	CCONJ
ajst-6858	128	27	thoughtful	thoughtful	ADJ
ajst-6858	128	28	scientific	scientific	ADJ
ajst-6858	128	29	research	research	NOUN
ajst-6858	128	30	spirit	spirit	NOUN
ajst-6858	128	31	and	and	CCONJ
ajst-6858	128	32	optimistic	optimistic	ADJ
ajst-6858	128	33	and	and	CCONJ
ajst-6858	128	34	positive	positive	ADJ
ajst-6858	128	35	learning	learning	NOUN
ajst-6858	128	36	attitude	attitude	NOUN
ajst-6858	128	37	,	,	PUNCT
ajst-6858	128	38	which	which	PRON
ajst-6858	128	39	have	have	AUX
ajst-6858	128	40	greatly	greatly	ADV
ajst-6858	128	41	benefited	benefit	VERB
ajst-6858	128	42	me	i	PRON
ajst-6858	128	43	.	.	PUNCT
ajst-6858	129	1	he	he	PRON
ajst-6858	129	2	is	be	AUX
ajst-6858	129	3	generous	generous	ADJ
ajst-6858	129	4	and	and	CCONJ
ajst-6858	129	5	benevolent	benevolent	ADJ
ajst-6858	129	6	in	in	ADP
ajst-6858	129	7	his	his	PRON
ajst-6858	129	8	work	work	NOUN
ajst-6858	129	9	,	,	PUNCT
ajst-6858	129	10	rigorous	rigorous	ADJ
ajst-6858	129	11	and	and	CCONJ
ajst-6858	129	12	wise	wise	ADJ
ajst-6858	129	13	,	,	PUNCT
ajst-6858	129	14	and	and	CCONJ
ajst-6858	129	15	has	have	AUX
ajst-6858	129	16	provided	provide	VERB
ajst-6858	129	17	us	we	PRON
ajst-6858	129	18	with	with	ADP
ajst-6858	129	19	unremitting	unremitting	ADJ
ajst-6858	129	20	guidance	guidance	NOUN
ajst-6858	129	21	in	in	ADP
ajst-6858	129	22	our	our	PRON
ajst-6858	129	23	learning	learning	NOUN
ajst-6858	129	24	.	.	PUNCT
ajst-6858	130	1	in	in	ADP
ajst-6858	130	2	addition	addition	NOUN
ajst-6858	130	3	,	,	PUNCT
ajst-6858	130	4	i	i	PRON
ajst-6858	130	5	would	would	AUX
ajst-6858	130	6	like	like	VERB
ajst-6858	130	7	to	to	PART
ajst-6858	130	8	thank	thank	VERB
ajst-6858	130	9	all	all	DET
ajst-6858	130	10	the	the	DET
ajst-6858	130	11	teachers	teacher	NOUN
ajst-6858	130	12	in	in	ADP
ajst-6858	130	13	the	the	DET
ajst-6858	130	14	team	team	NOUN
ajst-6858	130	15	for	for	ADP
ajst-6858	130	16	their	their	PRON
ajst-6858	130	17	enthusiastic	enthusiastic	ADJ
ajst-6858	130	18	guidance	guidance	NOUN
ajst-6858	130	19	on	on	ADP
ajst-6858	130	20	the	the	DET
ajst-6858	130	21	research	research	NOUN
ajst-6858	130	22	topic	topic	NOUN
ajst-6858	130	23	.	.	PUNCT
ajst-6858	131	1	here	here	ADV
ajst-6858	131	2	,	,	PUNCT
ajst-6858	131	3	i	i	PRON
ajst-6858	131	4	want	want	VERB
ajst-6858	131	5	to	to	PART
ajst-6858	131	6	express	express	VERB
ajst-6858	131	7	my	my	PRON
ajst-6858	131	8	sincere	sincere	ADJ
ajst-6858	131	9	respect	respect	NOUN
ajst-6858	131	10	and	and	CCONJ
ajst-6858	131	11	gratitude	gratitude	NOUN
ajst-6858	131	12	to	to	ADP
ajst-6858	131	13	you	you	PRON
ajst-6858	131	14	!	!	PUNCT
ajst-6858	132	1	references	reference	NOUN
ajst-6858	132	2	[	[	X
ajst-6858	132	3	1	1	X
ajst-6858	132	4	]	]	PUNCT
ajst-6858	132	5	xiyuan	xiyuan	PROPN
ajst-6858	132	6	chen	chen	PROPN
ajst-6858	132	7	,	,	PUNCT
ajst-6858	132	8	chunfeng	chunfeng	PROPN
ajst-6858	132	9	shi	shi	PROPN
ajst-6858	132	10	,	,	PUNCT
ajst-6858	132	11	di	di	PROPN
ajst-6858	132	12	liu	liu	PROPN
ajst-6858	132	13	.	.	PUNCT
ajst-6858	133	1	multisource	multisource	ADJ
ajst-6858	133	2	error	error	NOUN
ajst-6858	133	3	analysis	analysis	NOUN
ajst-6858	133	4	and	and	CCONJ
ajst-6858	133	5	simulation	simulation	NOUN
ajst-6858	133	6	of	of	ADP
ajst-6858	133	7	high	high	ADJ
ajst-6858	133	8	precision	precision	NOUN
ajst-6858	133	9	strapdown	strapdown	VERB
ajst-6858	133	10	inertial	inertial	ADJ
ajst-6858	133	11	navigation	navigation	NOUN
ajst-6858	133	12	system	system	NOUN
ajst-6858	133	13	for	for	ADP
ajst-6858	133	14	ballistic	ballistic	ADJ
ajst-6858	133	15	missile	missile	NOUN
ajst-6858	133	16	in	in	ADP
ajst-6858	133	17	overload	overload	NOUN
ajst-6858	133	18	phase	phase	NOUN
ajst-6858	133	19	[	[	X
ajst-6858	133	20	j	j	X
ajst-6858	133	21	]	]	X
ajst-6858	133	22	chinese	chinese	ADJ
ajst-6858	133	23	journal	journal	PROPN
ajst-6858	133	24	of	of	ADP
ajst-6858	133	25	inertial	inertial	ADJ
ajst-6858	133	26	technology	technology	NOUN
ajst-6858	133	27	,	,	PUNCT
ajst-6858	133	28	vol	vol	NOUN
ajst-6858	133	29	.	.	PROPN
ajst-6858	133	30	28	28	NUM
ajst-6858	133	31	(	(	PUNCT
ajst-6858	133	32	2020	2020	NUM
ajst-6858	133	33	)	)	PUNCT
ajst-6858	133	34	no	no	INTJ
ajst-6858	133	35	.	.	NOUN
ajst-6858	133	36	1	1	NUM
ajst-6858	133	37	,	,	PUNCT
ajst-6858	133	38	p.	p.	NOUN
ajst-6858	133	39	27	27	NUM
ajst-6858	133	40	-	-	SYM
ajst-6858	133	41	34	34	NUM
ajst-6858	133	42	.	.	PUNCT
ajst-6858	134	1	[	[	X
ajst-6858	134	2	2	2	NUM
ajst-6858	134	3	]	]	X
ajst-6858	134	4	jianbo	jianbo	PROPN
ajst-6858	134	5	zhao	zhao	PROPN
ajst-6858	134	6	,	,	PUNCT
ajst-6858	134	7	jun	jun	PROPN
ajst-6858	134	8	peng	peng	PROPN
ajst-6858	134	9	,	,	PUNCT
ajst-6858	134	10	zhexu	zhexu	PROPN
ajst-6858	134	11	tong	tong	PROPN
ajst-6858	134	12	.	.	PUNCT
ajst-6858	135	1	a	a	DET
ajst-6858	135	2	calibration	calibration	NOUN
ajst-6858	135	3	method	method	NOUN
ajst-6858	135	4	for	for	ADP
ajst-6858	135	5	dynamic	dynamic	ADJ
ajst-6858	135	6	characteristics	characteristic	NOUN
ajst-6858	135	7	of	of	ADP
ajst-6858	135	8	gyroscopes	gyroscope	NOUN
ajst-6858	135	9	under	under	ADP
ajst-6858	135	10	random	random	ADJ
ajst-6858	135	11	angular	angular	ADJ
ajst-6858	135	12	vibration	vibration	NOUN
ajst-6858	135	13	excitation	excitation	NOUN
ajst-6858	135	14	[	[	X
ajst-6858	135	15	j	j	X
ajst-6858	135	16	]	]	X
ajst-6858	135	17	chinese	chinese	ADJ
ajst-6858	135	18	journal	journal	PROPN
ajst-6858	135	19	of	of	ADP
ajst-6858	135	20	inertial	inertial	ADJ
ajst-6858	135	21	technology	technology	NOUN
ajst-6858	135	22	,	,	PUNCT
ajst-6858	135	23	vol	vol	NOUN
ajst-6858	135	24	.	.	PROPN
ajst-6858	135	25	29	29	NUM
ajst-6858	135	26	(	(	PUNCT
ajst-6858	135	27	2021	2021	NUM
ajst-6858	135	28	)	)	PUNCT
ajst-6858	136	1	no	no	INTJ
ajst-6858	136	2	.	.	NOUN
ajst-6858	137	1	05	05	NUM
ajst-6858	137	2	,	,	PUNCT
ajst-6858	138	1	p.	p.	NOUN
ajst-6858	138	2	696	696	NUM
ajst-6858	138	3	-	-	SYM
ajst-6858	138	4	700	700	NUM
ajst-6858	138	5	.	.	PUNCT
ajst-6858	139	1	[	[	X
ajst-6858	139	2	3	3	X
ajst-6858	139	3	]	]	X
ajst-6858	139	4	yong	yong	PROPN
ajst-6858	139	5	yang	yang	PROPN
ajst-6858	139	6	,	,	PUNCT
ajst-6858	139	7	policy	policy	NOUN
ajst-6858	139	8	,	,	PUNCT
ajst-6858	139	9	haibin	haibin	NOUN
ajst-6858	139	10	fang	fang	X
ajst-6858	139	11	,	,	PUNCT
ajst-6858	139	12	et	et	PROPN
ajst-6858	139	13	al	al	PROPN
ajst-6858	139	14	.	.	PUNCT
ajst-6858	140	1	a	a	DET
ajst-6858	140	2	random	random	ADJ
ajst-6858	140	3	error	error	NOUN
ajst-6858	140	4	calibration	calibration	NOUN
ajst-6858	140	5	algorithm	algorithm	NOUN
ajst-6858	140	6	for	for	ADP
ajst-6858	140	7	mems	mem	NOUN
ajst-6858	140	8	gyroscopes	gyroscope	NOUN
ajst-6858	140	9	based	base	VERB
ajst-6858	140	10	on	on	ADP
ajst-6858	140	11	wavelet	wavelet	NOUN
ajst-6858	140	12	denoising	denoising	PROPN
ajst-6858	140	13	[	[	X
ajst-6858	140	14	j	j	X
ajst-6858	140	15	]	]	X
ajst-6858	140	16	journal	journal	NOUN
ajst-6858	140	17	of	of	ADP
ajst-6858	140	18	chongqing	chongqing	PROPN
ajst-6858	140	19	university	university	PROPN
ajst-6858	140	20	of	of	ADP
ajst-6858	140	21	posts	post	NOUN
ajst-6858	140	22	and	and	CCONJ
ajst-6858	140	23	telecommunications	telecommunication	NOUN
ajst-6858	140	24	(	(	PUNCT
ajst-6858	140	25	natural	natural	ADJ
ajst-6858	140	26	science	science	NOUN
ajst-6858	140	27	edition	edition	NOUN
ajst-6858	140	28	)	)	PUNCT
ajst-6858	140	29	,	,	PUNCT
ajst-6858	140	30	vol	vol	NOUN
ajst-6858	140	31	.	.	PROPN
ajst-6858	140	32	32	32	NUM
ajst-6858	140	33	(	(	PUNCT
ajst-6858	140	34	2020	2020	NUM
ajst-6858	140	35	)	)	PUNCT
ajst-6858	140	36	no	no	INTJ
ajst-6858	140	37	.	.	NOUN
ajst-6858	140	38	01	01	NUM
ajst-6858	140	39	,	,	PUNCT
ajst-6858	140	40	p.	p.	NOUN
ajst-6858	140	41	99	99	NUM
ajst-6858	140	42	-	-	SYM
ajst-6858	140	43	104	104	NUM
ajst-6858	140	44	.	.	PUNCT
ajst-6858	141	1	[	[	X
ajst-6858	141	2	4	4	X
ajst-6858	141	3	]	]	X
ajst-6858	141	4	haiming	haime	VERB
ajst-6858	141	5	chen	chen	PROPN
ajst-6858	141	6	,	,	PUNCT
ajst-6858	141	7	rongbing	rongbe	VERB
ajst-6858	141	8	li	li	PROPN
ajst-6858	141	9	,	,	PUNCT
ajst-6858	141	10	shuangjia	shuangjia	PROPN
ajst-6858	141	11	wang	wang	PROPN
ajst-6858	141	12	,	,	PUNCT
ajst-6858	141	13	et	et	PROPN
ajst-6858	141	14	al	al	PROPN
ajst-6858	141	15	.	.	PROPN
ajst-6858	141	16	high	high	ADJ
ajst-6858	141	17	precision	precision	NOUN
ajst-6858	141	18	calibration	calibration	NOUN
ajst-6858	141	19	method	method	NOUN
ajst-6858	141	20	for	for	ADP
ajst-6858	141	21	mems	mems	ADJ
ajst-6858	141	22	gyroscopes	gyroscope	NOUN
ajst-6858	141	23	[	[	X
ajst-6858	141	24	j	j	X
ajst-6858	141	25	]	]	X
ajst-6858	141	26	navigation	navigation	NOUN
ajst-6858	141	27	,	,	PUNCT
ajst-6858	141	28	location	location	NOUN
ajst-6858	141	29	,	,	PUNCT
ajst-6858	141	30	and	and	CCONJ
ajst-6858	141	31	timing	timing	NOUN
ajst-6858	141	32	,	,	PUNCT
ajst-6858	141	33	vol	vol	NOUN
ajst-6858	141	34	.	.	PROPN
ajst-6858	141	35	9	9	NUM
ajst-6858	141	36	(	(	PUNCT
ajst-6858	141	37	2022	2022	NUM
ajst-6858	141	38	)	)	PUNCT
ajst-6858	142	1	no	no	INTJ
ajst-6858	142	2	.	.	NOUN
ajst-6858	143	1	05	05	NUM
ajst-6858	143	2	,	,	PUNCT
ajst-6858	144	1	p.	p.	NOUN
ajst-6858	144	2	179	179	NUM
ajst-6858	144	3	-	-	SYM
ajst-6858	144	4	185	185	NUM
ajst-6858	144	5	.	.	PUNCT
ajst-6858	145	1	[	[	X
ajst-6858	145	2	5	5	X
ajst-6858	145	3	]	]	X
ajst-6858	145	4	dawei	dawei	PROPN
ajst-6858	145	5	gong	gong	PROPN
ajst-6858	145	6	,	,	PUNCT
ajst-6858	145	7	yu	yu	PROPN
ajst-6858	145	8	liu	liu	PROPN
ajst-6858	145	9	,	,	PUNCT
ajst-6858	145	10	yi	yi	PROPN
ajst-6858	145	11	zhong	zhong	PROPN
ajst-6858	145	12	,	,	PUNCT
ajst-6858	145	13	et	et	PROPN
ajst-6858	145	14	al	al	PROPN
ajst-6858	145	15	.	.	PROPN
ajst-6858	145	16	research	research	NOUN
ajst-6858	145	17	on	on	ADP
ajst-6858	145	18	hybrid	hybrid	ADJ
ajst-6858	145	19	error	error	NOUN
ajst-6858	145	20	calibration	calibration	NOUN
ajst-6858	145	21	methods	method	NOUN
ajst-6858	145	22	for	for	ADP
ajst-6858	145	23	mems	mem	NOUN
ajst-6858	145	24	gyroscopes	gyroscope	NOUN
ajst-6858	145	25	[	[	X
ajst-6858	145	26	j	j	X
ajst-6858	145	27	]	]	X
ajst-6858	145	28	piezoelectricity	piezoelectricity	NOUN
ajst-6858	145	29	and	and	CCONJ
ajst-6858	145	30	acoustics	acoustic	NOUN
ajst-6858	145	31	,	,	PUNCT
ajst-6858	145	32	vol	vol	NOUN
ajst-6858	145	33	.	.	PROPN
ajst-6858	146	1	38	38	NUM
ajst-6858	146	2	(	(	PUNCT
ajst-6858	146	3	2016	2016	NUM
ajst-6858	146	4	)	)	PUNCT
ajst-6858	146	5	no	no	INTJ
ajst-6858	146	6	.	.	NOUN
ajst-6858	146	7	02	02	NUM
ajst-6858	146	8	,	,	PUNCT
ajst-6858	146	9	p.	p.	NOUN
ajst-6858	146	10	298	298	NUM
ajst-6858	146	11	-	-	SYM
ajst-6858	146	12	303	303	NUM
ajst-6858	146	13	.	.	NOUN
ajst-6858	146	14	0	0	NUM
ajst-6858	146	15	100	100	NUM
ajst-6858	146	16	200	200	NUM
ajst-6858	146	17	300	300	NUM
ajst-6858	146	18	inputn	inputn	NOUN
ajst-6858	146	19	0	0	NUM
ajst-6858	146	20	0.2	0.2	NUM
ajst-6858	146	21	0.4	0.4	NUM
ajst-6858	146	22	0.6	0.6	NUM
ajst-6858	146	23	0.8	0.8	NUM
ajst-6858	146	24	1	1	NUM
ajst-6858	146	25	1.2	1.2	NUM
ajst-6858	146	26	1.4	1.4	NUM
ajst-6858	146	27	1.6	1.6	NUM
ajst-6858	146	28	1.8	1.8	NUM
ajst-6858	146	29	2	2	NUM
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ajst-6858	146	31	comparison	comparison	NOUN
ajst-6858	147	1	-300	-300	INTJ
ajst-6858	147	2	-200	-200	NUM
ajst-6858	147	3	-100	-100	PROPN
ajst-6858	147	4	0	0	NUM
ajst-6858	148	1	inputn	inputn	ADJ
ajst-6858	148	2	-2	-2	INTJ
ajst-6858	148	3	-1.5	-1.5	NUM
ajst-6858	148	4	-1	-1	PROPN
ajst-6858	149	1	-0.5	-0.5	X
ajst-6858	149	2	0	0	NUM
ajst-6858	149	3	0.5	0.5	NUM
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ajst-6858	149	5	comparison	comparison	NOUN
ajst-6858	149	6	original	original	ADJ
ajst-6858	149	7	error	error	NOUN
ajst-6858	149	8	first	first	ADJ
ajst-6858	149	9	calibration	calibration	NOUN
ajst-6858	149	10	dynamic	dynamic	ADJ
ajst-6858	149	11	compensation	compensation	NOUN
ajst-6858	149	12	178	178	NUM
ajst-6858	150	1	[	[	X
ajst-6858	150	2	6	6	NUM
ajst-6858	150	3	]	]	X
ajst-6858	150	4	jijin	jijin	PROPN
ajst-6858	150	5	xu	xu	PROPN
ajst-6858	150	6	,	,	PUNCT
ajst-6858	150	7	yu	yu	PROPN
ajst-6858	150	8	liu	liu	PROPN
ajst-6858	150	9	,	,	PUNCT
ajst-6858	150	10	guohong	guohong	PROPN
ajst-6858	150	11	chen	chen	PROPN
ajst-6858	150	12	,	,	PUNCT
ajst-6858	150	13	et	et	PROPN
ajst-6858	150	14	al	al	PROPN
ajst-6858	150	15	.	.	PUNCT
ajst-6858	151	1	a	a	DET
ajst-6858	151	2	gyro	gyro	NOUN
ajst-6858	151	3	error	error	NOUN
ajst-6858	151	4	calibration	calibration	NOUN
ajst-6858	151	5	method	method	NOUN
ajst-6858	151	6	based	base	VERB
ajst-6858	151	7	on	on	ADP
ajst-6858	151	8	kalman	kalman	PROPN
ajst-6858	151	9	filtering	filtering	PROPN
ajst-6858	152	1	[	[	X
ajst-6858	152	2	j	j	X
ajst-6858	152	3	]	]	X
ajst-6858	152	4	piezoelectricity	piezoelectricity	NOUN
ajst-6858	152	5	and	and	CCONJ
ajst-6858	152	6	acoustics	acoustic	NOUN
ajst-6858	152	7	,	,	PUNCT
ajst-6858	152	8	vol	vol	NOUN
ajst-6858	152	9	.	.	PROPN
ajst-6858	152	10	39	39	NUM
ajst-6858	152	11	(	(	PUNCT
ajst-6858	152	12	2016	2016	NUM
ajst-6858	152	13	)	)	PUNCT
ajst-6858	153	1	no	no	INTJ
ajst-6858	153	2	.	.	NOUN
ajst-6858	154	1	05	05	NUM
ajst-6858	154	2	,	,	PUNCT
ajst-6858	155	1	p.	p.	NOUN
ajst-6858	155	2	682	682	NUM
ajst-6858	155	3	-	-	SYM
ajst-6858	155	4	687	687	NUM
ajst-6858	155	5	.	.	PUNCT
ajst-6858	156	1	[	[	X
ajst-6858	156	2	7	7	X
ajst-6858	156	3	]	]	X
ajst-6858	156	4	rong	rong	PROPN
ajst-6858	156	5	zhu	zhu	PROPN
ajst-6858	156	6	,	,	PUNCT
ajst-6858	156	7	zhaoying	zhaoye	VERB
ajst-6858	156	8	zhow	zhow	X
ajst-6858	156	9	.	.	PUNCT
ajst-6858	157	1	calibration	calibration	NOUN
ajst-6858	157	2	of	of	ADP
ajst-6858	157	3	three	three	NUM
ajst-6858	157	4	dimensional	dimensional	ADJ
ajst-6858	157	5	intergrated	intergrated	ADJ
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ajst-6858	157	7	for	for	ADP
ajst-6858	157	8	improved	improved	ADJ
ajst-6858	157	9	system	system	NOUN
ajst-6858	157	10	accuracy[j	accuracy[j	NOUN
ajst-6858	157	11	]	]	PUNCT
ajst-6858	157	12	.	.	PUNCT
ajst-6858	158	1	sensors	sensor	NOUN
ajst-6858	158	2	and	and	CCONJ
ajst-6858	158	3	actuators	actuator	NOUN
ajst-6858	158	4	,	,	PUNCT
ajst-6858	158	5	vol	vol	NOUN
ajst-6858	158	6	.	.	PROPN
ajst-6858	158	7	06	06	NUM
ajst-6858	158	8	(	(	PUNCT
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ajst-6858	158	10	)	)	PUNCT
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ajst-6858	158	12	.	.	NOUN
ajst-6858	158	13	127	127	NUM
ajst-6858	158	14	,	,	PUNCT
ajst-6858	158	15	p.	p.	NOUN
ajst-6858	158	16	340	340	NUM
ajst-6858	158	17	-	-	SYM
ajst-6858	158	18	344	344	NUM
ajst-6858	158	19	.	.	PUNCT
ajst-6858	159	1	[	[	X
ajst-6858	159	2	8	8	NUM
ajst-6858	159	3	]	]	PUNCT
ajst-6858	159	4	xiaochun	xiaochun	PROPN
ajst-6858	159	5	tian	tian	PROPN
ajst-6858	159	6	,	,	PUNCT
ajst-6858	159	7	jie	jie	PROPN
ajst-6858	159	8	li	li	PROPN
ajst-6858	159	9	,	,	PUNCT
ajst-6858	159	10	yubao	yubao	PROPN
ajst-6858	159	11	fan	fan	PROPN
ajst-6858	159	12	,	,	PUNCT
ajst-6858	159	13	et	et	PROPN
ajst-6858	159	14	al	al	PROPN
ajst-6858	159	15	.	.	PUNCT
ajst-6858	159	16	calibration	calibration	PROPN
ajst-6858	159	17	and	and	CCONJ
ajst-6858	159	18	compensation	compensation	NOUN
ajst-6858	159	19	method	method	NOUN
ajst-6858	159	20	for	for	ADP
ajst-6858	159	21	mems	mem	NOUN
ajst-6858	159	22	micro	micro	PROPN
ajst-6858	159	23	inertial	inertial	PROPN
ajst-6858	159	24	measurement	measurement	NOUN
ajst-6858	159	25	units	unit	NOUN
ajst-6858	159	26	[	[	X
ajst-6858	159	27	j	j	X
ajst-6858	159	28	]	]	X
ajst-6858	159	29	journal	journal	NOUN
ajst-6858	159	30	of	of	ADP
ajst-6858	159	31	sensor	sensor	NOUN
ajst-6858	159	32	technology	technology	NOUN
ajst-6858	159	33	,	,	PUNCT
ajst-6858	159	34	vol	vol	NOUN
ajst-6858	159	35	.	.	PROPN
ajst-6858	159	36	25	25	NUM
ajst-6858	159	37	(	(	PUNCT
ajst-6858	159	38	2012	2012	NUM
ajst-6858	159	39	)	)	PUNCT
ajst-6858	160	1	no	no	INTJ
ajst-6858	160	2	.	.	NOUN
ajst-6858	160	3	10	10	NUM
ajst-6858	160	4	,	,	PUNCT
ajst-6858	160	5	p.	p.	NOUN
ajst-6858	160	6	1411	1411	NUM
ajst-6858	160	7	-	-	SYM
ajst-6858	160	8	1415	1415	NUM
ajst-6858	160	9	.	.	PUNCT