id	sid	tid	token	lemma	pos
ajst-899	1	1	academic	academic	ADJ
ajst-899	1	2	journal	journal	NOUN
ajst-899	1	3	of	of	ADP
ajst-899	1	4	science	science	NOUN
ajst-899	1	5	and	and	CCONJ
ajst-899	1	6	technology	technology	NOUN
ajst-899	1	7	issn	issn	NOUN
ajst-899	1	8	:	:	PUNCT
ajst-899	1	9	2771	2771	NUM
ajst-899	1	10	-	-	SYM
ajst-899	1	11	3032	3032	NUM
ajst-899	1	12	|	|	NOUN
ajst-899	1	13	vol	vol	NOUN
ajst-899	1	14	.	.	PROPN
ajst-899	2	1	2	2	NUM
ajst-899	2	2	,	,	PUNCT
ajst-899	2	3	no	no	INTJ
ajst-899	2	4	.	.	NOUN
ajst-899	2	5	1	1	NUM
ajst-899	2	6	,	,	PUNCT
ajst-899	2	7	2022	2022	NUM
ajst-899	2	8	70	70	NUM
ajst-899	2	9	introduction	introduction	NOUN
ajst-899	2	10	to	to	ADP
ajst-899	2	11	the	the	DET
ajst-899	2	12	implementation	implementation	NOUN
ajst-899	2	13	principle	principle	NOUN
ajst-899	2	14	of	of	ADP
ajst-899	2	15	a	a	DET
ajst-899	2	16	uav	uav	PROPN
ajst-899	2	17	inspection	inspection	NOUN
ajst-899	2	18	method	method	NOUN
ajst-899	2	19	based	base	VERB
ajst-899	2	20	on	on	ADP
ajst-899	2	21	adrc	adrc	PROPN
ajst-899	2	22	control	control	NOUN
ajst-899	2	23	mode	mode	PROPN
ajst-899	2	24	zihao	zihao	PROPN
ajst-899	2	25	liu	liu	PROPN
ajst-899	2	26	school	school	PROPN
ajst-899	2	27	of	of	ADP
ajst-899	2	28	electrical	electrical	ADJ
ajst-899	2	29	and	and	CCONJ
ajst-899	2	30	electronics	electronic	NOUN
ajst-899	2	31	engineering	engineering	NOUN
ajst-899	2	32	,	,	PUNCT
ajst-899	2	33	north	north	PROPN
ajst-899	2	34	china	china	PROPN
ajst-899	2	35	electric	electric	PROPN
ajst-899	2	36	power	power	PROPN
ajst-899	2	37	university	university	PROPN
ajst-899	2	38	,	,	PUNCT
ajst-899	2	39	baoding	baoding	PROPN
ajst-899	2	40	city	city	PROPN
ajst-899	2	41	,	,	PUNCT
ajst-899	2	42	071000	071000	NUM
ajst-899	2	43	,	,	PUNCT
ajst-899	2	44	china	china	PROPN
ajst-899	2	45	abstract	abstract	PROPN
ajst-899	2	46	:	:	PUNCT
ajst-899	2	47	with	with	ADP
ajst-899	2	48	the	the	DET
ajst-899	2	49	development	development	NOUN
ajst-899	2	50	of	of	ADP
ajst-899	2	51	the	the	DET
ajst-899	2	52	economy	economy	NOUN
ajst-899	2	53	and	and	CCONJ
ajst-899	2	54	the	the	DET
ajst-899	2	55	requirements	requirement	NOUN
ajst-899	2	56	of	of	ADP
ajst-899	2	57	all	all	DET
ajst-899	2	58	walks	walk	NOUN
ajst-899	2	59	of	of	ADP
ajst-899	2	60	life	life	NOUN
ajst-899	2	61	,	,	PUNCT
ajst-899	2	62	the	the	DET
ajst-899	2	63	use	use	NOUN
ajst-899	2	64	of	of	ADP
ajst-899	2	65	unmanned	unmanned	ADJ
ajst-899	2	66	aerial	aerial	ADJ
ajst-899	2	67	vehicle	vehicle	NOUN
ajst-899	2	68	inspection	inspection	NOUN
ajst-899	2	69	for	for	ADP
ajst-899	2	70	operations	operation	NOUN
ajst-899	2	71	has	have	AUX
ajst-899	2	72	become	become	VERB
ajst-899	2	73	inevitable	inevitable	ADJ
ajst-899	2	74	,	,	PUNCT
ajst-899	2	75	some	some	PRON
ajst-899	2	76	by	by	ADP
ajst-899	2	77	manpower	manpower	NOUN
ajst-899	2	78	can	can	AUX
ajst-899	2	79	not	not	PART
ajst-899	2	80	be	be	AUX
ajst-899	2	81	completed	complete	VERB
ajst-899	2	82	or	or	CCONJ
ajst-899	2	83	more	more	ADV
ajst-899	2	84	difficult	difficult	ADJ
ajst-899	2	85	,	,	PUNCT
ajst-899	2	86	inefficient	inefficient	ADJ
ajst-899	2	87	work	work	NOUN
ajst-899	2	88	by	by	ADP
ajst-899	2	89	the	the	DET
ajst-899	2	90	uav	uav	PROPN
ajst-899	2	91	inspection	inspection	NOUN
ajst-899	2	92	has	have	VERB
ajst-899	2	93	great	great	ADJ
ajst-899	2	94	advantages	advantage	NOUN
ajst-899	2	95	and	and	CCONJ
ajst-899	2	96	better	well	ADJ
ajst-899	2	97	economic	economic	ADJ
ajst-899	2	98	benefits	benefit	NOUN
ajst-899	2	99	.	.	PUNCT
ajst-899	3	1	this	this	DET
ajst-899	3	2	article	article	NOUN
ajst-899	3	3	introduces	introduce	VERB
ajst-899	3	4	a	a	DET
ajst-899	3	5	basic	basic	ADJ
ajst-899	3	6	method	method	NOUN
ajst-899	3	7	to	to	PART
ajst-899	3	8	achieve	achieve	VERB
ajst-899	3	9	uav	uav	PROPN
ajst-899	3	10	inspection	inspection	NOUN
ajst-899	3	11	,	,	PUNCT
ajst-899	3	12	due	due	ADP
ajst-899	3	13	to	to	ADP
ajst-899	3	14	the	the	DET
ajst-899	3	15	limitations	limitation	NOUN
ajst-899	3	16	of	of	ADP
ajst-899	3	17	conditions	condition	NOUN
ajst-899	3	18	,	,	PUNCT
ajst-899	3	19	only	only	ADV
ajst-899	3	20	the	the	DET
ajst-899	3	21	relevant	relevant	ADJ
ajst-899	3	22	principles	principle	NOUN
ajst-899	3	23	and	and	CCONJ
ajst-899	3	24	implementation	implementation	NOUN
ajst-899	3	25	methods	method	NOUN
ajst-899	3	26	are	be	AUX
ajst-899	3	27	introduced	introduce	VERB
ajst-899	3	28	.	.	PUNCT
ajst-899	4	1	keywords	keyword	NOUN
ajst-899	4	2	:	:	PUNCT
ajst-899	4	3	uav	uav	PROPN
ajst-899	4	4	inspection	inspection	NOUN
ajst-899	4	5	,	,	PUNCT
ajst-899	4	6	pid	pid	NOUN
ajst-899	4	7	algorithm	algorithm	NOUN
ajst-899	4	8	,	,	PUNCT
ajst-899	4	9	adrc	adrc	PROPN
ajst-899	4	10	control	control	NOUN
ajst-899	4	11	mode	mode	PROPN
ajst-899	4	12	,	,	PUNCT
ajst-899	4	13	kalman	kalman	PROPN
ajst-899	4	14	filtering	filtering	NOUN
ajst-899	4	15	.	.	PUNCT
ajst-899	5	1	1	1	X
ajst-899	5	2	.	.	PUNCT
ajst-899	5	3	the	the	DET
ajst-899	5	4	significance	significance	NOUN
ajst-899	5	5	of	of	ADP
ajst-899	5	6	the	the	DET
ajst-899	5	7	question	question	NOUN
ajst-899	5	8	and	and	CCONJ
ajst-899	5	9	the	the	DET
ajst-899	5	10	research	research	NOUN
ajst-899	5	11	with	with	ADP
ajst-899	5	12	the	the	DET
ajst-899	5	13	development	development	NOUN
ajst-899	5	14	of	of	ADP
ajst-899	5	15	the	the	DET
ajst-899	5	16	economy	economy	NOUN
ajst-899	5	17	,	,	PUNCT
ajst-899	5	18	the	the	DET
ajst-899	5	19	progress	progress	NOUN
ajst-899	5	20	of	of	ADP
ajst-899	5	21	science	science	NOUN
ajst-899	5	22	and	and	CCONJ
ajst-899	5	23	technology	technology	NOUN
ajst-899	5	24	,	,	PUNCT
ajst-899	5	25	all	all	PRON
ajst-899	5	26	walks	walk	VERB
ajst-899	5	27	of	of	ADP
ajst-899	5	28	life	life	NOUN
ajst-899	5	29	on	on	ADP
ajst-899	5	30	the	the	DET
ajst-899	5	31	convenience	convenience	NOUN
ajst-899	5	32	of	of	ADP
ajst-899	5	33	inspection	inspection	NOUN
ajst-899	5	34	work	work	NOUN
ajst-899	5	35	,	,	PUNCT
ajst-899	5	36	speed	speed	NOUN
ajst-899	5	37	,	,	PUNCT
ajst-899	5	38	safety	safety	NOUN
ajst-899	5	39	and	and	CCONJ
ajst-899	5	40	other	other	ADJ
ajst-899	5	41	aspects	aspect	NOUN
ajst-899	5	42	have	have	VERB
ajst-899	5	43	higher	high	ADJ
ajst-899	5	44	requirements	requirement	NOUN
ajst-899	5	45	,	,	PUNCT
ajst-899	5	46	uav	uav	PROPN
ajst-899	5	47	inspection	inspection	NOUN
ajst-899	5	48	methods	method	NOUN
ajst-899	5	49	can	can	AUX
ajst-899	5	50	meet	meet	VERB
ajst-899	5	51	the	the	DET
ajst-899	5	52	requirements	requirement	NOUN
ajst-899	5	53	and	and	CCONJ
ajst-899	5	54	have	have	AUX
ajst-899	5	55	been	be	AUX
ajst-899	5	56	developed	develop	VERB
ajst-899	5	57	rapidly	rapidly	ADV
ajst-899	5	58	,	,	PUNCT
ajst-899	5	59	the	the	DET
ajst-899	5	60	use	use	NOUN
ajst-899	5	61	of	of	ADP
ajst-899	5	62	uav	uav	PROPN
ajst-899	5	63	inspection	inspection	NOUN
ajst-899	5	64	for	for	ADP
ajst-899	5	65	operation	operation	NOUN
ajst-899	5	66	has	have	AUX
ajst-899	5	67	been	be	AUX
ajst-899	5	68	essential	essential	ADJ
ajst-899	5	69	,	,	PUNCT
ajst-899	5	70	some	some	PRON
ajst-899	5	71	by	by	ADP
ajst-899	5	72	manpower	manpower	NOUN
ajst-899	5	73	can	can	AUX
ajst-899	5	74	not	not	PART
ajst-899	5	75	be	be	AUX
ajst-899	5	76	completed	complete	VERB
ajst-899	5	77	or	or	CCONJ
ajst-899	5	78	more	more	ADV
ajst-899	5	79	difficult	difficult	ADJ
ajst-899	5	80	,	,	PUNCT
ajst-899	5	81	inefficient	inefficient	ADJ
ajst-899	5	82	work	work	NOUN
ajst-899	5	83	by	by	ADP
ajst-899	5	84	the	the	DET
ajst-899	5	85	uav	uav	PROPN
ajst-899	5	86	inspection	inspection	NOUN
ajst-899	5	87	has	have	VERB
ajst-899	5	88	great	great	ADJ
ajst-899	5	89	advantages	advantage	NOUN
ajst-899	5	90	and	and	CCONJ
ajst-899	5	91	better	well	ADJ
ajst-899	5	92	economic	economic	ADJ
ajst-899	5	93	benefits	benefit	NOUN
ajst-899	5	94	.	.	PUNCT
ajst-899	6	1	the	the	DET
ajst-899	6	2	use	use	NOUN
ajst-899	6	3	of	of	ADP
ajst-899	6	4	unmanned	unmanned	ADJ
ajst-899	6	5	aerial	aerial	ADJ
ajst-899	6	6	vehicles	vehicle	NOUN
ajst-899	6	7	to	to	PART
ajst-899	6	8	patrol	patrol	NOUN
ajst-899	6	9	can	can	AUX
ajst-899	6	10	avoid	avoid	VERB
ajst-899	6	11	omissions	omission	NOUN
ajst-899	6	12	in	in	ADP
ajst-899	6	13	manual	manual	ADJ
ajst-899	6	14	inspections	inspection	NOUN
ajst-899	6	15	;	;	PUNCT
ajst-899	6	16	take	take	VERB
ajst-899	6	17	advantage	advantage	NOUN
ajst-899	6	18	of	of	ADP
ajst-899	6	19	the	the	DET
ajst-899	6	20	mobility	mobility	NOUN
ajst-899	6	21	and	and	CCONJ
ajst-899	6	22	flexibility	flexibility	NOUN
ajst-899	6	23	of	of	ADP
ajst-899	6	24	unmanned	unmanned	ADJ
ajst-899	6	25	aerial	aerial	ADJ
ajst-899	6	26	vehicles	vehicle	NOUN
ajst-899	6	27	to	to	PART
ajst-899	6	28	enter	enter	VERB
ajst-899	6	29	pipeline	pipeline	NOUN
ajst-899	6	30	occupancy	occupancy	NOUN
ajst-899	6	31	and	and	CCONJ
ajst-899	6	32	illegal	illegal	ADJ
ajst-899	6	33	construction	construction	NOUN
ajst-899	6	34	areas	area	NOUN
ajst-899	6	35	for	for	ADP
ajst-899	6	36	inspection	inspection	NOUN
ajst-899	6	37	,	,	PUNCT
ajst-899	6	38	effectively	effectively	ADV
ajst-899	6	39	avoid	avoid	VERB
ajst-899	6	40	patrol	patrol	NOUN
ajst-899	6	41	blind	blind	ADJ
ajst-899	6	42	areas	area	NOUN
ajst-899	6	43	,	,	PUNCT
ajst-899	6	44	and	and	CCONJ
ajst-899	6	45	expand	expand	VERB
ajst-899	6	46	law	law	NOUN
ajst-899	6	47	enforcement	enforcement	NOUN
ajst-899	6	48	authority	authority	NOUN
ajst-899	6	49	;	;	PUNCT
ajst-899	6	50	the	the	DET
ajst-899	6	51	inspection	inspection	NOUN
ajst-899	6	52	results	result	NOUN
ajst-899	6	53	are	be	AUX
ajst-899	6	54	more	more	ADV
ajst-899	6	55	objective	objective	ADJ
ajst-899	6	56	and	and	CCONJ
ajst-899	6	57	true	true	ADJ
ajst-899	6	58	,	,	PUNCT
ajst-899	6	59	and	and	CCONJ
ajst-899	6	60	can	can	AUX
ajst-899	6	61	be	be	AUX
ajst-899	6	62	repeatedly	repeatedly	ADV
ajst-899	6	63	queried	query	VERB
ajst-899	6	64	,	,	PUNCT
ajst-899	6	65	and	and	CCONJ
ajst-899	6	66	the	the	DET
ajst-899	6	67	results	result	NOUN
ajst-899	6	68	can	can	AUX
ajst-899	6	69	be	be	AUX
ajst-899	6	70	traced	trace	VERB
ajst-899	6	71	,	,	PUNCT
ajst-899	6	72	which	which	PRON
ajst-899	6	73	can	can	AUX
ajst-899	6	74	effectively	effectively	ADV
ajst-899	6	75	avoid	avoid	VERB
ajst-899	6	76	disputes	dispute	NOUN
ajst-899	6	77	and	and	CCONJ
ajst-899	6	78	disputes	dispute	NOUN
ajst-899	6	79	;	;	PUNCT
ajst-899	6	80	provide	provide	VERB
ajst-899	6	81	real	real	ADJ
ajst-899	6	82	and	and	CCONJ
ajst-899	6	83	objective	objective	ADJ
ajst-899	6	84	on	on	ADP
ajst-899	6	85	-	-	PUNCT
ajst-899	6	86	site	site	NOUN
ajst-899	6	87	images	image	NOUN
ajst-899	6	88	for	for	ADP
ajst-899	6	89	rapid	rapid	ADJ
ajst-899	6	90	and	and	CCONJ
ajst-899	6	91	effective	effective	ADJ
ajst-899	6	92	rescue	rescue	NOUN
ajst-899	6	93	work	work	NOUN
ajst-899	6	94	,	,	PUNCT
ajst-899	6	95	and	and	CCONJ
ajst-899	6	96	provide	provide	VERB
ajst-899	6	97	data	data	NOUN
ajst-899	6	98	support	support	NOUN
ajst-899	6	99	for	for	ADP
ajst-899	6	100	guiding	guide	VERB
ajst-899	6	101	decision	decision	NOUN
ajst-899	6	102	-	-	PUNCT
ajst-899	6	103	making	making	NOUN
ajst-899	6	104	;	;	PUNCT
ajst-899	6	105	can	can	AUX
ajst-899	6	106	provide	provide	VERB
ajst-899	6	107	true	true	ADJ
ajst-899	6	108	,	,	PUNCT
ajst-899	6	109	objective	objective	ADJ
ajst-899	6	110	and	and	CCONJ
ajst-899	6	111	effective	effective	ADJ
ajst-899	6	112	inspection	inspection	NOUN
ajst-899	6	113	report	report	NOUN
ajst-899	6	114	for	for	ADP
ajst-899	6	115	safety	safety	NOUN
ajst-899	6	116	and	and	CCONJ
ajst-899	6	117	environmental	environmental	ADJ
ajst-899	6	118	protection	protection	NOUN
ajst-899	6	119	work	work	NOUN
ajst-899	6	120	;	;	PUNCT
ajst-899	6	121	improve	improve	VERB
ajst-899	6	122	the	the	DET
ajst-899	6	123	level	level	NOUN
ajst-899	6	124	of	of	ADP
ajst-899	6	125	automation	automation	NOUN
ajst-899	6	126	and	and	CCONJ
ajst-899	6	127	informatization	informatization	NOUN
ajst-899	6	128	of	of	ADP
ajst-899	6	129	enterprise	enterprise	NOUN
ajst-899	6	130	production	production	NOUN
ajst-899	6	131	,	,	PUNCT
ajst-899	6	132	and	and	CCONJ
ajst-899	6	133	promote	promote	VERB
ajst-899	6	134	the	the	DET
ajst-899	6	135	safe	safe	ADJ
ajst-899	6	136	and	and	CCONJ
ajst-899	6	137	stable	stable	ADJ
ajst-899	6	138	operation	operation	NOUN
ajst-899	6	139	of	of	ADP
ajst-899	6	140	target	target	NOUN
ajst-899	6	141	pipelines	pipeline	NOUN
ajst-899	6	142	.	.	PUNCT
ajst-899	7	1	2	2	X
ajst-899	7	2	.	.	X
ajst-899	7	3	the	the	DET
ajst-899	7	4	realization	realization	NOUN
ajst-899	7	5	of	of	ADP
ajst-899	7	6	autonomous	autonomous	ADJ
ajst-899	7	7	flight	flight	NOUN
ajst-899	7	8	of	of	ADP
ajst-899	7	9	unmanned	unmanned	ADJ
ajst-899	7	10	aerial	aerial	ADJ
ajst-899	7	11	vehicles	vehicle	NOUN
ajst-899	7	12	use	use	VERB
ajst-899	7	13	the	the	DET
ajst-899	7	14	c	c	PROPN
ajst-899	7	15	language	language	NOUN
ajst-899	7	16	to	to	PART
ajst-899	7	17	complete	complete	VERB
ajst-899	7	18	the	the	DET
ajst-899	7	19	basic	basic	ADJ
ajst-899	7	20	program	program	NOUN
ajst-899	7	21	development	development	NOUN
ajst-899	7	22	of	of	ADP
ajst-899	7	23	the	the	DET
ajst-899	7	24	uav	uav	PROPN
ajst-899	7	25	line	line	PROPN
ajst-899	7	26	patrol	patrol	NOUN
ajst-899	7	27	design	design	NOUN
ajst-899	7	28	routes	route	NOUN
ajst-899	7	29	and	and	CCONJ
ajst-899	7	30	schemes	scheme	NOUN
ajst-899	7	31	for	for	ADP
ajst-899	7	32	patrolling	patrol	VERB
ajst-899	7	33	the	the	DET
ajst-899	7	34	line	line	NOUN
ajst-899	7	35	:	:	PUNCT
ajst-899	7	36	with	with	ADP
ajst-899	7	37	a	a	DET
ajst-899	7	38	programmable	programmable	ADJ
ajst-899	7	39	openmv	openmv	PROPN
ajst-899	7	40	camera	camera	NOUN
ajst-899	7	41	,	,	PUNCT
ajst-899	7	42	logic	logic	NOUN
ajst-899	7	43	applications	application	NOUN
ajst-899	7	44	can	can	AUX
ajst-899	7	45	be	be	AUX
ajst-899	7	46	implemented	implement	VERB
ajst-899	7	47	via	via	ADP
ajst-899	7	48	the	the	DET
ajst-899	7	49	micropython	micropython	PROPN
ajst-899	7	50	language	language	NOUN
ajst-899	7	51	.	.	PUNCT
ajst-899	8	1	and	and	CCONJ
ajst-899	8	2	the	the	DET
ajst-899	8	3	camera	camera	NOUN
ajst-899	8	4	itself	itself	PRON
ajst-899	8	5	has	have	VERB
ajst-899	8	6	some	some	DET
ajst-899	8	7	built	build	VERB
ajst-899	8	8	-	-	PUNCT
ajst-899	8	9	in	in	ADP
ajst-899	8	10	image	image	NOUN
ajst-899	8	11	processing	processing	NOUN
ajst-899	8	12	algorithms	algorithm	NOUN
ajst-899	8	13	,	,	PUNCT
ajst-899	8	14	we	we	PRON
ajst-899	8	15	can	can	AUX
ajst-899	8	16	run	run	VERB
ajst-899	8	17	machine	machine	NOUN
ajst-899	8	18	vision	vision	NOUN
ajst-899	8	19	algorithms	algorithm	NOUN
ajst-899	8	20	on	on	ADP
ajst-899	8	21	what	what	PRON
ajst-899	8	22	openmv	openmv	PROPN
ajst-899	8	23	sees	see	VERB
ajst-899	8	24	,	,	PUNCT
ajst-899	8	25	in	in	ADP
ajst-899	8	26	order	order	NOUN
ajst-899	8	27	to	to	PART
ajst-899	8	28	patrol	patrol	VERB
ajst-899	8	29	and	and	CCONJ
ajst-899	8	30	store	store	VERB
ajst-899	8	31	photos	photo	NOUN
ajst-899	8	32	in	in	ADP
ajst-899	8	33	a	a	DET
ajst-899	8	34	short	short	ADJ
ajst-899	8	35	period	period	NOUN
ajst-899	8	36	of	of	ADP
ajst-899	8	37	time	time	NOUN
ajst-899	8	38	.	.	PUNCT
ajst-899	9	1	zonal	zonal	ADJ
ajst-899	9	2	line	line	PROPN
ajst-899	9	3	patrol	patrol	PROPN
ajst-899	9	4	mode	mode	NOUN
ajst-899	9	5	:	:	PUNCT
ajst-899	9	6	the	the	DET
ajst-899	9	7	actual	actual	ADJ
ajst-899	9	8	flight	flight	NOUN
ajst-899	9	9	trajectory	trajectory	NOUN
ajst-899	9	10	of	of	ADP
ajst-899	9	11	the	the	DET
ajst-899	9	12	line	line	NOUN
ajst-899	9	13	patrol	patrol	NOUN
ajst-899	9	14	robot	robot	NOUN
ajst-899	9	15	is	be	AUX
ajst-899	9	16	fed	feed	VERB
ajst-899	9	17	back	back	ADV
ajst-899	9	18	to	to	ADP
ajst-899	9	19	the	the	DET
ajst-899	9	20	flight	flight	NOUN
ajst-899	9	21	controller	controller	NOUN
ajst-899	9	22	at	at	ADP
ajst-899	9	23	the	the	DET
ajst-899	9	24	points	point	NOUN
ajst-899	9	25	in	in	ADP
ajst-899	9	26	each	each	DET
ajst-899	9	27	area	area	NOUN
ajst-899	9	28	and	and	CCONJ
ajst-899	9	29	the	the	DET
ajst-899	9	30	yaw	yaw	NOUN
ajst-899	9	31	angle	angle	NOUN
ajst-899	9	32	of	of	ADP
ajst-899	9	33	the	the	DET
ajst-899	9	34	cable	cable	NOUN
ajst-899	9	35	to	to	PART
ajst-899	9	36	achieve	achieve	VERB
ajst-899	9	37	the	the	DET
ajst-899	9	38	purpose	purpose	NOUN
ajst-899	9	39	of	of	ADP
ajst-899	9	40	line	line	NOUN
ajst-899	9	41	patrol	patrol	NOUN
ajst-899	9	42	.	.	PUNCT
ajst-899	10	1	the	the	DET
ajst-899	10	2	structure	structure	NOUN
ajst-899	10	3	of	of	ADP
ajst-899	10	4	the	the	DET
ajst-899	10	5	line	line	NOUN
ajst-899	10	6	-	-	PUNCT
ajst-899	10	7	patrol	patrol	NOUN
ajst-899	10	8	robot	robot	NOUN
ajst-899	10	9	belongs	belong	VERB
ajst-899	10	10	to	to	ADP
ajst-899	10	11	the	the	DET
ajst-899	10	12	xshaped	xshape	VERB
ajst-899	10	13	distribution	distribution	NOUN
ajst-899	10	14	.	.	PUNCT
ajst-899	11	1	that	that	ADV
ajst-899	11	2	is	is	ADV
ajst-899	11	3	,	,	PUNCT
ajst-899	11	4	the	the	DET
ajst-899	11	5	propellers	propeller	NOUN
ajst-899	11	6	1	1	NUM
ajst-899	11	7	and	and	CCONJ
ajst-899	11	8	4	4	NUM
ajst-899	11	9	and	and	CCONJ
ajst-899	11	10	2	2	NUM
ajst-899	11	11	and	and	CCONJ
ajst-899	11	12	3	3	NUM
ajst-899	11	13	are	be	AUX
ajst-899	11	14	symmetrical	symmetrical	ADJ
ajst-899	11	15	with	with	ADP
ajst-899	11	16	respect	respect	NOUN
ajst-899	11	17	to	to	ADP
ajst-899	11	18	the	the	DET
ajst-899	11	19	x	x	NOUN
ajst-899	11	20	axis	axis	NOUN
ajst-899	11	21	,	,	PUNCT
ajst-899	11	22	and	and	CCONJ
ajst-899	11	23	the	the	DET
ajst-899	11	24	propellers	propeller	NOUN
ajst-899	11	25	1	1	NUM
ajst-899	11	26	and	and	CCONJ
ajst-899	11	27	2	2	NUM
ajst-899	11	28	with	with	ADP
ajst-899	11	29	3	3	NUM
ajst-899	11	30	and	and	CCONJ
ajst-899	11	31	4	4	NUM
ajst-899	11	32	with	with	ADP
ajst-899	11	33	respect	respect	NOUN
ajst-899	11	34	to	to	ADP
ajst-899	11	35	the	the	DET
ajst-899	11	36	y	y	PROPN
ajst-899	11	37	axis	axis	NOUN
ajst-899	11	38	symmetry	symmetry	NOUN
ajst-899	11	39	are	be	AUX
ajst-899	11	40	shown	show	VERB
ajst-899	11	41	in	in	ADP
ajst-899	11	42	figure	figure	NOUN
ajst-899	11	43	1	1	NUM
ajst-899	11	44	:	:	PUNCT
ajst-899	11	45	figure	figure	NOUN
ajst-899	11	46	1	1	NUM
ajst-899	11	47	.	.	PUNCT
ajst-899	12	1	x	x	X
ajst-899	12	2	-	-	VERB
ajst-899	12	3	shaped	shape	VERB
ajst-899	12	4	structure	structure	NOUN
ajst-899	12	5	distribution	distribution	NOUN
ajst-899	12	6	the	the	DET
ajst-899	12	7	following	follow	VERB
ajst-899	12	8	two	two	NUM
ajst-899	12	9	groups	group	NOUN
ajst-899	12	10	of	of	ADP
ajst-899	12	11	solutions	solution	NOUN
ajst-899	12	12	were	be	AUX
ajst-899	12	13	discussed	discuss	VERB
ajst-899	12	14	and	and	CCONJ
ajst-899	12	15	demonstrated	demonstrate	VERB
ajst-899	12	16	:	:	PUNCT
ajst-899	12	17	scheme	scheme	VERB
ajst-899	12	18	one	one	NUM
ajst-899	12	19	:	:	PUNCT
ajst-899	12	20	the	the	DET
ajst-899	12	21	pid	pid	NOUN
ajst-899	12	22	algorithm	algorithm	NOUN
ajst-899	12	23	is	be	AUX
ajst-899	12	24	to	to	PART
ajst-899	12	25	form	form	VERB
ajst-899	12	26	a	a	DET
ajst-899	12	27	control	control	NOUN
ajst-899	12	28	quantity	quantity	NOUN
ajst-899	12	29	by	by	ADP
ajst-899	12	30	linear	linear	ADJ
ajst-899	12	31	combination	combination	NOUN
ajst-899	12	32	of	of	ADP
ajst-899	12	33	the	the	DET
ajst-899	12	34	proportion	proportion	NOUN
ajst-899	12	35	,	,	PUNCT
ajst-899	12	36	integral	integral	ADJ
ajst-899	12	37	and	and	CCONJ
ajst-899	12	38	differential	differential	NOUN
ajst-899	12	39	of	of	ADP
ajst-899	12	40	the	the	DET
ajst-899	12	41	deviation	deviation	NOUN
ajst-899	12	42	,	,	PUNCT
ajst-899	12	43	and	and	CCONJ
ajst-899	12	44	use	use	VERB
ajst-899	12	45	this	this	DET
ajst-899	12	46	control	control	NOUN
ajst-899	12	47	amount	amount	NOUN
ajst-899	12	48	to	to	PART
ajst-899	12	49	control	control	VERB
ajst-899	12	50	the	the	DET
ajst-899	12	51	controlled	control	VERB
ajst-899	12	52	object	object	NOUN
ajst-899	12	53	.	.	PUNCT
ajst-899	13	1	however	however	ADV
ajst-899	13	2	,	,	PUNCT
ajst-899	13	3	pid	pid	PRON
ajst-899	13	4	is	be	AUX
ajst-899	13	5	sensitive	sensitive	ADJ
ajst-899	13	6	to	to	ADP
ajst-899	13	7	environmental	environmental	ADJ
ajst-899	13	8	changes	change	NOUN
ajst-899	13	9	,	,	PUNCT
ajst-899	13	10	the	the	DET
ajst-899	13	11	robot	robot	NOUN
ajst-899	13	12	's	's	PART
ajst-899	13	13	propeller	propeller	NOUN
ajst-899	13	14	is	be	AUX
ajst-899	13	15	subjected	subject	VERB
ajst-899	13	16	to	to	ADP
ajst-899	13	17	strong	strong	ADJ
ajst-899	13	18	compressed	compress	VERB
ajst-899	13	19	air	air	NOUN
ajst-899	13	20	resistance	resistance	NOUN
ajst-899	13	21	when	when	SCONJ
ajst-899	13	22	rotating	rotate	VERB
ajst-899	13	23	at	at	ADP
ajst-899	13	24	high	high	ADJ
ajst-899	13	25	speed	speed	NOUN
ajst-899	13	26	,	,	PUNCT
ajst-899	13	27	and	and	CCONJ
ajst-899	13	28	the	the	DET
ajst-899	13	29	force	force	NOUN
ajst-899	13	30	of	of	ADP
ajst-899	13	31	pid	pid	NOUN
ajst-899	13	32	must	must	AUX
ajst-899	13	33	be	be	AUX
ajst-899	13	34	very	very	ADV
ajst-899	13	35	large	large	ADJ
ajst-899	13	36	to	to	PART
ajst-899	13	37	maintain	maintain	VERB
ajst-899	13	38	a	a	DET
ajst-899	13	39	stable	stable	ADJ
ajst-899	13	40	speed	speed	NOUN
ajst-899	13	41	,	,	PUNCT
ajst-899	13	42	but	but	CCONJ
ajst-899	13	43	when	when	SCONJ
ajst-899	13	44	it	it	PRON
ajst-899	13	45	is	be	AUX
ajst-899	13	46	at	at	ADP
ajst-899	13	47	low	low	ADJ
ajst-899	13	48	speed	speed	NOUN
ajst-899	13	49	,	,	PUNCT
ajst-899	13	50	the	the	DET
ajst-899	13	51	air	air	NOUN
ajst-899	13	52	resistance	resistance	NOUN
ajst-899	13	53	is	be	AUX
ajst-899	13	54	very	very	ADV
ajst-899	13	55	small	small	ADJ
ajst-899	13	56	,	,	PUNCT
ajst-899	13	57	and	and	CCONJ
ajst-899	13	58	under	under	ADP
ajst-899	13	59	the	the	DET
ajst-899	13	60	force	force	NOUN
ajst-899	13	61	of	of	ADP
ajst-899	13	62	pid	pid	PROPN
ajst-899	13	63	,	,	PUNCT
ajst-899	13	64	the	the	DET
ajst-899	13	65	propeller	propeller	NOUN
ajst-899	13	66	will	will	AUX
ajst-899	13	67	vibrate	vibrate	VERB
ajst-899	13	68	and	and	CCONJ
ajst-899	13	69	be	be	AUX
ajst-899	13	70	unstable	unstable	ADJ
ajst-899	13	71	.	.	PUNCT
ajst-899	14	1	scheme	scheme	NOUN
ajst-899	14	2	two	two	NUM
ajst-899	14	3	:	:	PUNCT
ajst-899	14	4	adrc	adrc	PROPN
ajst-899	14	5	control	control	NOUN
ajst-899	14	6	mode	mode	NOUN
ajst-899	14	7	,	,	PUNCT
ajst-899	14	8	inheriting	inherit	VERB
ajst-899	14	9	the	the	DET
ajst-899	14	10	essence	essence	NOUN
ajst-899	14	11	of	of	ADP
ajst-899	14	12	the	the	DET
ajst-899	14	13	classic	classic	ADJ
ajst-899	14	14	pid	pid	NOUN
ajst-899	14	15	controller	controller	NOUN
ajst-899	14	16	,	,	PUNCT
ajst-899	14	17	there	there	PRON
ajst-899	14	18	is	be	VERB
ajst-899	14	19	almost	almost	ADV
ajst-899	14	20	no	no	DET
ajst-899	14	21	requirement	requirement	NOUN
ajst-899	14	22	for	for	ADP
ajst-899	14	23	the	the	DET
ajst-899	14	24	mathematical	mathematical	ADJ
ajst-899	14	25	model	model	NOUN
ajst-899	14	26	of	of	ADP
ajst-899	14	27	the	the	DET
ajst-899	14	28	controlled	control	VERB
ajst-899	14	29	object	object	NOUN
ajst-899	14	30	,	,	PUNCT
ajst-899	14	31	and	and	CCONJ
ajst-899	14	32	on	on	ADP
ajst-899	14	33	its	its	PRON
ajst-899	14	34	basis	basis	NOUN
ajst-899	14	35	,	,	PUNCT
ajst-899	14	36	the	the	DET
ajst-899	14	37	state	state	NOUN
ajst-899	14	38	observer	observer	NOUN
ajst-899	14	39	technology	technology	NOUN
ajst-899	14	40	based	base	VERB
ajst-899	14	41	on	on	ADP
ajst-899	14	42	modern	modern	ADJ
ajst-899	14	43	control	control	NOUN
ajst-899	14	44	theory	theory	NOUN
ajst-899	14	45	is	be	AUX
ajst-899	14	46	introduced	introduce	VERB
ajst-899	14	47	,	,	PUNCT
ajst-899	14	48	the	the	DET
ajst-899	14	49	anti	anti	ADJ
ajst-899	14	50	-	-	ADJ
ajst-899	14	51	interference	interference	ADJ
ajst-899	14	52	technology	technology	NOUN
ajst-899	14	53	is	be	AUX
ajst-899	14	54	integrated	integrate	VERB
ajst-899	14	55	into	into	ADP
ajst-899	14	56	the	the	DET
ajst-899	14	57	traditional	traditional	ADJ
ajst-899	14	58	pid	pid	NOUN
ajst-899	14	59	control	control	NOUN
ajst-899	14	60	,	,	PUNCT
ajst-899	14	61	and	and	CCONJ
ajst-899	14	62	finally	finally	ADV
ajst-899	14	63	a	a	DET
ajst-899	14	64	new	new	ADJ
ajst-899	14	65	controller	controller	NOUN
ajst-899	14	66	suitable	suitable	ADJ
ajst-899	14	67	for	for	ADP
ajst-899	14	68	wide	wide	ADJ
ajst-899	14	69	application	application	NOUN
ajst-899	14	70	in	in	ADP
ajst-899	14	71	engineering	engineering	NOUN
ajst-899	14	72	practice	practice	NOUN
ajst-899	14	73	is	be	AUX
ajst-899	14	74	finally	finally	ADV
ajst-899	14	75	designed	design	VERB
ajst-899	14	76	.	.	PUNCT
ajst-899	15	1	[	[	X
ajst-899	15	2	1	1	X
ajst-899	15	3	]	]	PUNCT
ajst-899	15	4	while	while	SCONJ
ajst-899	15	5	conventional	conventional	ADJ
ajst-899	15	6	pid	pid	NOUN
ajst-899	15	7	control	control	NOUN
ajst-899	15	8	waits	wait	VERB
ajst-899	15	9	until	until	SCONJ
ajst-899	15	10	errors	error	NOUN
ajst-899	15	11	occur	occur	VERB
ajst-899	15	12	before	before	ADP
ajst-899	15	13	compensating	compensate	VERB
ajst-899	15	14	for	for	ADP
ajst-899	15	15	control	control	NOUN
ajst-899	15	16	,	,	PUNCT
ajst-899	15	17	adrc	adrc	PROPN
ajst-899	15	18	compensates	compensate	NOUN
ajst-899	15	19	for	for	ADP
ajst-899	15	20	observed	observed	ADJ
ajst-899	15	21	disturbances	disturbance	NOUN
ajst-899	15	22	to	to	ADP
ajst-899	15	23	the	the	DET
ajst-899	15	24	output	output	NOUN
ajst-899	15	25	in	in	ADP
ajst-899	15	26	the	the	DET
ajst-899	15	27	first	first	ADJ
ajst-899	15	28	place	place	NOUN
ajst-899	15	29	.	.	PUNCT
ajst-899	16	1	adrc	adrc	PROPN
ajst-899	16	2	has	have	VERB
ajst-899	16	3	a	a	DET
ajst-899	16	4	strong	strong	ADJ
ajst-899	16	5	advantage	advantage	NOUN
ajst-899	16	6	over	over	ADP
ajst-899	16	7	traditional	traditional	ADJ
ajst-899	16	8	pid	pid	NOUN
ajst-899	16	9	controllers	controller	NOUN
ajst-899	16	10	in	in	ADP
ajst-899	16	11	the	the	DET
ajst-899	16	12	control	control	NOUN
ajst-899	16	13	performance	performance	NOUN
ajst-899	16	14	of	of	ADP
ajst-899	16	15	the	the	DET
ajst-899	16	16	system	system	NOUN
ajst-899	16	17	when	when	SCONJ
ajst-899	16	18	it	it	PRON
ajst-899	16	19	is	be	AUX
ajst-899	16	20	anti	anti	ADJ
ajst-899	16	21	-	-	ADJ
ajst-899	16	22	interference	interference	NOUN
ajst-899	16	23	and	and	CCONJ
ajst-899	16	24	the	the	DET
ajst-899	16	25	model	model	NOUN
ajst-899	16	26	parameters	parameter	NOUN
ajst-899	16	27	are	be	AUX
ajst-899	16	28	changed	change	VERB
ajst-899	16	29	.	.	PUNCT
ajst-899	17	1	combine	combine	VERB
ajst-899	17	2	the	the	DET
ajst-899	17	3	above	above	ADJ
ajst-899	17	4	two	two	NUM
ajst-899	17	5	schemes	scheme	NOUN
ajst-899	17	6	and	and	CCONJ
ajst-899	17	7	select	select	ADJ
ajst-899	17	8	scheme	scheme	NOUN
ajst-899	17	9	2	2	NUM
ajst-899	17	10	.	.	SYM
ajst-899	17	11	3	3	NUM
ajst-899	17	12	.	.	X
ajst-899	17	13	control	control	NOUN
ajst-899	17	14	system	system	NOUN
ajst-899	17	15	hardware	hardware	NOUN
ajst-899	17	16	design	design	VERB
ajst-899	17	17	the	the	DET
ajst-899	17	18	line	line	NOUN
ajst-899	17	19	-	-	PUNCT
ajst-899	17	20	patrol	patrol	NOUN
ajst-899	17	21	uav	uav	PROPN
ajst-899	17	22	consists	consist	VERB
ajst-899	17	23	of	of	ADP
ajst-899	17	24	a	a	DET
ajst-899	17	25	quadcopter	quadcopter	NOUN
ajst-899	17	26	and	and	CCONJ
ajst-899	17	27	a	a	DET
ajst-899	17	28	detection	detection	NOUN
ajst-899	17	29	and	and	CCONJ
ajst-899	17	30	identification	identification	NOUN
ajst-899	17	31	module	module	NOUN
ajst-899	17	32	.	.	PUNCT
ajst-899	18	1	the	the	DET
ajst-899	18	2	suitable	suitable	ADJ
ajst-899	18	3	brushless	brushless	NOUN
ajst-899	18	4	motor	motor	NOUN
ajst-899	18	5	was	be	AUX
ajst-899	18	6	selected	select	VERB
ajst-899	18	7	as	as	ADP
ajst-899	18	8	the	the	DET
ajst-899	18	9	system	system	NOUN
ajst-899	18	10	power	power	NOUN
ajst-899	18	11	unit	unit	NOUN
ajst-899	18	12	,	,	PUNCT
ajst-899	18	13	and	and	CCONJ
ajst-899	18	14	the	the	DET
ajst-899	18	15	powerful	powerful	ADJ
ajst-899	18	16	and	and	CCONJ
ajst-899	18	17	easy	easy	ADJ
ajst-899	18	18	-	-	PUNCT
ajst-899	18	19	to	to	PART
ajst-899	18	20	-	-	PUNCT
ajst-899	18	21	develop	develop	VERB
ajst-899	18	22	tm4c123gh6pmi	tm4c123gh6pmi	NOUN
ajst-899	18	23	71	71	NUM
ajst-899	18	24	microcontroller	microcontroller	NOUN
ajst-899	18	25	was	be	AUX
ajst-899	18	26	selected	select	VERB
ajst-899	18	27	as	as	ADP
ajst-899	18	28	the	the	DET
ajst-899	18	29	main	main	ADJ
ajst-899	18	30	controller	controller	NOUN
ajst-899	18	31	,	,	PUNCT
ajst-899	18	32	and	and	CCONJ
ajst-899	18	33	the	the	DET
ajst-899	18	34	four	four	NUM
ajst-899	18	35	-	-	PUNCT
ajst-899	18	36	rotor	rotor	NOUN
ajst-899	18	37	euler	euler	NOUN
ajst-899	18	38	angle	angle	PROPN
ajst-899	18	39	data	datum	NOUN
ajst-899	18	40	was	be	AUX
ajst-899	18	41	collected	collect	VERB
ajst-899	18	42	by	by	ADP
ajst-899	18	43	the	the	DET
ajst-899	18	44	six	six	NUM
ajst-899	18	45	-	-	PUNCT
ajst-899	18	46	axis	axis	NOUN
ajst-899	18	47	acceleration	acceleration	NOUN
ajst-899	18	48	gyroscope	gyroscope	NOUN
ajst-899	18	49	icm20602	icm20602	NOUN
ajst-899	18	50	.	.	PUNCT
ajst-899	19	1	the	the	DET
ajst-899	19	2	design	design	NOUN
ajst-899	19	3	uses	use	VERB
ajst-899	19	4	spl06	spl06	PROPN
ajst-899	19	5	barometric	barometric	ADJ
ajst-899	19	6	pressure	pressure	NOUN
ajst-899	19	7	sensor	sensor	NOUN
ajst-899	19	8	and	and	CCONJ
ajst-899	19	9	laser	laser	NOUN
ajst-899	19	10	ranging	ranging	NOUN
ajst-899	19	11	module	module	NOUN
ajst-899	19	12	gy53l1	gy53l1	PROPN
ajst-899	19	13	for	for	ADP
ajst-899	19	14	uav	uav	PROPN
ajst-899	19	15	flight	flight	NOUN
ajst-899	19	16	altitude	altitude	NOUN
ajst-899	19	17	measurement	measurement	NOUN
ajst-899	19	18	;	;	PUNCT
ajst-899	19	19	at	at	ADP
ajst-899	19	20	the	the	DET
ajst-899	19	21	same	same	ADJ
ajst-899	19	22	time	time	NOUN
ajst-899	19	23	,	,	PUNCT
ajst-899	19	24	the	the	DET
ajst-899	19	25	design	design	NOUN
ajst-899	19	26	uses	use	VERB
ajst-899	19	27	an	an	DET
ajst-899	19	28	optical	optical	ADJ
ajst-899	19	29	flow	flow	NOUN
ajst-899	19	30	sensor	sensor	NOUN
ajst-899	19	31	to	to	PART
ajst-899	19	32	quickly	quickly	ADV
ajst-899	19	33	detect	detect	VERB
ajst-899	19	34	horizontal	horizontal	ADJ
ajst-899	19	35	movement	movement	NOUN
ajst-899	19	36	.	.	PUNCT
ajst-899	20	1	designed	design	VERB
ajst-899	20	2	to	to	PART
ajst-899	20	3	use	use	VERB
ajst-899	20	4	openmv	openmv	PROPN
ajst-899	20	5	,	,	PUNCT
ajst-899	20	6	a	a	DET
ajst-899	20	7	programmable	programmable	ADJ
ajst-899	20	8	microcontroller	microcontroller	NOUN
ajst-899	20	9	camera	camera	NOUN
ajst-899	20	10	with	with	ADP
ajst-899	20	11	image	image	NOUN
ajst-899	20	12	processing	processing	NOUN
ajst-899	20	13	capabilities	capability	NOUN
ajst-899	20	14	.	.	PUNCT
ajst-899	21	1	flight	flight	NOUN
ajst-899	21	2	controller	controller	NOUN
ajst-899	21	3	integrated	integrate	VERB
ajst-899	21	4	board	board	NOUN
ajst-899	21	5	schematic	schematic	ADJ
ajst-899	21	6	description	description	NOUN
ajst-899	21	7	:	:	PUNCT
ajst-899	21	8	(	(	PUNCT
ajst-899	21	9	1	1	X
ajst-899	21	10	)	)	PUNCT
ajst-899	21	11	power	power	NOUN
ajst-899	21	12	supply	supply	NOUN
ajst-899	21	13	part	part	NOUN
ajst-899	21	14	:	:	PUNCT
ajst-899	21	15	①the	①the	PRON
ajst-899	21	16	power	power	NOUN
ajst-899	21	17	supply	supply	NOUN
ajst-899	21	18	is	be	AUX
ajst-899	21	19	provided	provide	VERB
ajst-899	21	20	by	by	ADP
ajst-899	21	21	a	a	DET
ajst-899	21	22	11.1~12.6v	11.1~12.6v	PROPN
ajst-899	21	23	lithium	lithium	NOUN
ajst-899	21	24	battery	battery	NOUN
ajst-899	21	25	,	,	PUNCT
ajst-899	21	26	which	which	PRON
ajst-899	21	27	powers	power	VERB
ajst-899	21	28	the	the	DET
ajst-899	21	29	four	four	NUM
ajst-899	21	30	esc	esc	NOUN
ajst-899	21	31	,	,	PUNCT
ajst-899	21	32	and	and	CCONJ
ajst-899	21	33	the	the	DET
ajst-899	21	34	power	power	NOUN
ajst-899	21	35	supply	supply	NOUN
ajst-899	21	36	is	be	AUX
ajst-899	21	37	stabilized	stabilize	VERB
ajst-899	21	38	by	by	ADP
ajst-899	21	39	the	the	DET
ajst-899	21	40	voltage	voltage	NOUN
ajst-899	21	41	regulator	regulator	NOUN
ajst-899	21	42	module	module	NOUN
ajst-899	21	43	to	to	ADP
ajst-899	21	44	5v	5v	NOUN
ajst-899	21	45	to	to	AUX
ajst-899	21	46	power	power	VERB
ajst-899	21	47	the	the	DET
ajst-899	21	48	flight	flight	NOUN
ajst-899	21	49	controller	controller	NOUN
ajst-899	21	50	and	and	CCONJ
ajst-899	21	51	the	the	DET
ajst-899	21	52	expansion	expansion	NOUN
ajst-899	21	53	board	board	NOUN
ajst-899	21	54	,	,	PUNCT
ajst-899	21	55	which	which	PRON
ajst-899	21	56	can	can	AUX
ajst-899	21	57	meet	meet	VERB
ajst-899	21	58	the	the	DET
ajst-899	21	59	power	power	NOUN
ajst-899	21	60	requirements	requirement	NOUN
ajst-899	21	61	of	of	ADP
ajst-899	21	62	each	each	DET
ajst-899	21	63	small	small	ADJ
ajst-899	21	64	system	system	NOUN
ajst-899	21	65	.	.	PUNCT
ajst-899	22	1	by	by	ADP
ajst-899	22	2	using	use	VERB
ajst-899	22	3	ldo	ldo	ADJ
ajst-899	22	4	regulators	regulator	NOUN
ajst-899	22	5	:	:	PUNCT
ajst-899	22	6	tps7333	tps7333	ADV
ajst-899	22	7	,	,	PUNCT
ajst-899	22	8	adp150	adp150	PROPN
ajst-899	22	9	,	,	PUNCT
ajst-899	22	10	pw6566	pw6566	PROPN
ajst-899	22	11	,	,	PUNCT
ajst-899	22	12	each	each	DET
ajst-899	22	13	consumer	consumer	NOUN
ajst-899	22	14	is	be	AUX
ajst-899	22	15	powered	power	VERB
ajst-899	22	16	by	by	ADP
ajst-899	22	17	3.3v	3.3v	PROPN
ajst-899	22	18	.	.	PUNCT
ajst-899	23	1	figure	figure	NOUN
ajst-899	23	2	2	2	NUM
ajst-899	23	3	.	.	PUNCT
ajst-899	23	4	power	power	NOUN
ajst-899	23	5	supply	supply	NOUN
ajst-899	23	6	part	part	NOUN
ajst-899	23	7	②power	②power	PUNCT
ajst-899	23	8	supply	supply	NOUN
ajst-899	23	9	voltage	voltage	NOUN
ajst-899	23	10	detection	detection	NOUN
ajst-899	23	11	:	:	PUNCT
ajst-899	23	12	input	input	NOUN
ajst-899	23	13	voltage	voltage	NOUN
ajst-899	23	14	detection	detection	NOUN
ajst-899	23	15	by	by	ADP
ajst-899	23	16	connecting	connect	VERB
ajst-899	23	17	a	a	DET
ajst-899	23	18	microcontroller	microcontroller	NOUN
ajst-899	23	19	adc	adc	NOUN
ajst-899	23	20	for	for	ADP
ajst-899	23	21	voltage	voltage	NOUN
ajst-899	23	22	sampling	sample	VERB
ajst-899	23	23	figure	figure	NOUN
ajst-899	23	24	3	3	NUM
ajst-899	23	25	.	.	PUNCT
ajst-899	23	26	power	power	NOUN
ajst-899	23	27	supply	supply	NOUN
ajst-899	23	28	voltage	voltage	NOUN
ajst-899	23	29	detection	detection	NOUN
ajst-899	23	30	(	(	PUNCT
ajst-899	23	31	2	2	NUM
ajst-899	23	32	)	)	PUNCT
ajst-899	23	33	flight	flight	NOUN
ajst-899	23	34	controller	controller	NOUN
ajst-899	23	35	chip	chip	NOUN
ajst-899	23	36	:	:	PUNCT
ajst-899	23	37	tm4c123	tm4c123	NOUN
ajst-899	23	38	figure	figure	VERB
ajst-899	23	39	4	4	NUM
ajst-899	23	40	.	.	PUNCT
ajst-899	23	41	flight	flight	NOUN
ajst-899	23	42	controller	controller	NOUN
ajst-899	23	43	chip	chip	NOUN
ajst-899	23	44	:	:	PUNCT
ajst-899	23	45	tm4c123	tm4c123	PROPN
ajst-899	23	46	(	(	PUNCT
ajst-899	23	47	3	3	X
ajst-899	23	48	)	)	PUNCT
ajst-899	23	49	receiver	receiver	ADJ
ajst-899	23	50	interaction	interaction	NOUN
ajst-899	23	51	part	part	NOUN
ajst-899	23	52	:	:	PUNCT
ajst-899	23	53	the	the	DET
ajst-899	23	54	rc_ppm	rc_ppm	PROPN
ajst-899	23	55	generated	generate	VERB
ajst-899	23	56	by	by	ADP
ajst-899	23	57	the	the	DET
ajst-899	23	58	microcontroller	microcontroller	NOUN
ajst-899	23	59	interacts	interact	VERB
ajst-899	23	60	with	with	ADP
ajst-899	23	61	the	the	DET
ajst-899	23	62	rc_sbus	rc_sbus	PROPN
ajst-899	23	63	signal	signal	NOUN
ajst-899	23	64	and	and	CCONJ
ajst-899	23	65	receiver	receiver	NOUN
ajst-899	23	66	among	among	ADP
ajst-899	23	67	them	they	PRON
ajst-899	23	68	,	,	PUNCT
ajst-899	23	69	the	the	DET
ajst-899	23	70	s	s	NOUN
ajst-899	23	71	-	-	PUNCT
ajst-899	23	72	bus	bus	NOUN
ajst-899	23	73	serial	serial	ADJ
ajst-899	23	74	port	port	NOUN
ajst-899	23	75	communication	communication	NOUN
ajst-899	23	76	protocol	protocol	NOUN
ajst-899	23	77	is	be	AUX
ajst-899	23	78	reversed	reverse	VERB
ajst-899	23	79	,	,	PUNCT
ajst-899	23	80	so	so	CCONJ
ajst-899	23	81	an	an	DET
ajst-899	23	82	npn	npn	NOUN
ajst-899	23	83	transistor	transistor	NOUN
ajst-899	23	84	is	be	AUX
ajst-899	23	85	used	use	VERB
ajst-899	23	86	for	for	ADP
ajst-899	23	87	reverse	reverse	ADJ
ajst-899	23	88	action	action	NOUN
ajst-899	23	89	figure	figure	NOUN
ajst-899	23	90	5	5	NUM
ajst-899	23	91	.	.	PUNCT
ajst-899	23	92	receiver	receiver	ADJ
ajst-899	23	93	interaction	interaction	NOUN
ajst-899	23	94	part	part	NOUN
ajst-899	23	95	(	(	PUNCT
ajst-899	23	96	4	4	X
ajst-899	23	97	)	)	PUNCT
ajst-899	23	98	serial	serial	ADJ
ajst-899	23	99	port	port	NOUN
ajst-899	23	100	part	part	NOUN
ajst-899	23	101	:	:	PUNCT
ajst-899	23	102	72	72	NUM
ajst-899	23	103	figure	figure	NOUN
ajst-899	23	104	6	6	NUM
ajst-899	23	105	.	.	PUNCT
ajst-899	23	106	serial	serial	ADJ
ajst-899	23	107	port	port	NOUN
ajst-899	23	108	part	part	NOUN
ajst-899	23	109	(	(	PUNCT
ajst-899	23	110	5	5	NUM
ajst-899	23	111	)	)	SYM
ajst-899	23	112	six	six	NUM
ajst-899	23	113	-	-	PUNCT
ajst-899	23	114	axis	axis	NOUN
ajst-899	23	115	gyroscope	gyroscope	NOUN
ajst-899	23	116	:	:	PUNCT
ajst-899	23	117	icm20602	icm20602	PROPN
ajst-899	23	118	measurements	measurement	NOUN
ajst-899	23	119	of	of	ADP
ajst-899	23	120	triaxial	triaxial	ADJ
ajst-899	23	121	angles	angle	NOUN
ajst-899	23	122	and	and	CCONJ
ajst-899	23	123	triaxial	triaxial	ADJ
ajst-899	23	124	acceleration	acceleration	NOUN
ajst-899	23	125	are	be	AUX
ajst-899	23	126	performed	perform	VERB
ajst-899	23	127	figure	figure	NOUN
ajst-899	23	128	7	7	NUM
ajst-899	23	129	.	.	SYM
ajst-899	23	130	six	six	NUM
ajst-899	23	131	-	-	PUNCT
ajst-899	23	132	axis	axis	NOUN
ajst-899	23	133	gyroscope	gyroscope	NOUN
ajst-899	23	134	:	:	PUNCT
ajst-899	23	135	icm20602	icm20602	PROPN
ajst-899	23	136	(	(	PUNCT
ajst-899	23	137	6	6	NUM
ajst-899	23	138	)	)	PUNCT
ajst-899	23	139	geomagnetic	geomagnetic	ADJ
ajst-899	23	140	sensor	sensor	NOUN
ajst-899	23	141	:	:	PUNCT
ajst-899	23	142	ist8310	ist8310	NOUN
ajst-899	23	143	figure	figure	NOUN
ajst-899	23	144	8	8	NUM
ajst-899	23	145	.	.	PUNCT
ajst-899	24	1	geomagnetic	geomagnetic	ADJ
ajst-899	24	2	sensor	sensor	NOUN
ajst-899	24	3	sensing	sense	VERB
ajst-899	24	4	geomagnetism	geomagnetism	NOUN
ajst-899	24	5	,	,	PUNCT
ajst-899	24	6	measuring	measure	VERB
ajst-899	24	7	the	the	DET
ajst-899	24	8	earth	earth	NOUN
ajst-899	24	9	's	's	PART
ajst-899	24	10	magnetic	magnetic	ADJ
ajst-899	24	11	field	field	NOUN
ajst-899	24	12	,	,	PUNCT
ajst-899	24	13	and	and	CCONJ
ajst-899	24	14	compensating	compensate	VERB
ajst-899	24	15	for	for	ADP
ajst-899	24	16	rest	rest	NOUN
ajst-899	24	17	through	through	ADP
ajst-899	24	18	absolute	absolute	ADJ
ajst-899	24	19	pointing	pointing	NOUN
ajst-899	24	20	(	(	PUNCT
ajst-899	24	21	7	7	NUM
ajst-899	24	22	)	)	PUNCT
ajst-899	24	23	barometer	barometer	NOUN
ajst-899	24	24	:	:	PUNCT
ajst-899	24	25	spl06	spl06	NOUN
ajst-899	24	26	the	the	DET
ajst-899	24	27	height	height	NOUN
ajst-899	24	28	of	of	ADP
ajst-899	24	29	the	the	DET
ajst-899	24	30	drone	drone	NOUN
ajst-899	24	31	is	be	AUX
ajst-899	24	32	determined	determine	VERB
ajst-899	24	33	by	by	ADP
ajst-899	24	34	measuring	measure	VERB
ajst-899	24	35	the	the	DET
ajst-899	24	36	change	change	NOUN
ajst-899	24	37	in	in	ADP
ajst-899	24	38	air	air	NOUN
ajst-899	24	39	pressure	pressure	NOUN
ajst-899	24	40	figure	figure	NOUN
ajst-899	24	41	9	9	NUM
ajst-899	24	42	.	.	PUNCT
ajst-899	24	43	barometer	barometer	NOUN
ajst-899	24	44	:	:	PUNCT
ajst-899	25	1	spl06	spl06	NOUN
ajst-899	25	2	(	(	PUNCT
ajst-899	25	3	8)	8)	NUM
ajst-899	25	4	ultrasonic	ultrasonic	ADJ
ajst-899	25	5	module	module	NOUN
ajst-899	25	6	:	:	PUNCT
ajst-899	25	7	the	the	DET
ajst-899	25	8	altitude	altitude	NOUN
ajst-899	25	9	is	be	AUX
ajst-899	25	10	measured	measure	VERB
ajst-899	25	11	by	by	ADP
ajst-899	25	12	ultrasonic	ultrasonic	ADJ
ajst-899	25	13	waves	wave	NOUN
ajst-899	25	14	and	and	CCONJ
ajst-899	25	15	the	the	DET
ajst-899	25	16	ground	ground	NOUN
ajst-899	25	17	are	be	AUX
ajst-899	25	18	measured	measure	VERB
ajst-899	25	19	back	back	ADV
ajst-899	25	20	and	and	CCONJ
ajst-899	25	21	forth	forth	ADV
ajst-899	25	22	,	,	PUNCT
ajst-899	25	23	and	and	CCONJ
ajst-899	25	24	the	the	DET
ajst-899	25	25	altitude	altitude	NOUN
ajst-899	25	26	is	be	AUX
ajst-899	25	27	determined	determine	VERB
ajst-899	25	28	by	by	ADP
ajst-899	25	29	the	the	DET
ajst-899	25	30	drone	drone	NOUN
ajst-899	25	31	in	in	ADP
ajst-899	25	32	combination	combination	NOUN
ajst-899	25	33	with	with	ADP
ajst-899	25	34	a	a	DET
ajst-899	25	35	barometer	barometer	NOUN
ajst-899	25	36	figure	figure	NOUN
ajst-899	25	37	10	10	NUM
ajst-899	25	38	.	.	PUNCT
ajst-899	26	1	ultrasonic	ultrasonic	ADJ
ajst-899	26	2	module	module	NOUN
ajst-899	26	3	(	(	PUNCT
ajst-899	26	4	9	9	NUM
ajst-899	26	5	)	)	PUNCT
ajst-899	26	6	indicator	indicator	NOUN
ajst-899	26	7	module	module	NOUN
ajst-899	26	8	:	:	PUNCT
ajst-899	26	9	specific	specific	ADJ
ajst-899	26	10	indications	indication	NOUN
ajst-899	26	11	are	be	AUX
ajst-899	26	12	made	make	VERB
ajst-899	26	13	for	for	ADP
ajst-899	26	14	power	power	NOUN
ajst-899	26	15	supply	supply	NOUN
ajst-899	26	16	and	and	CCONJ
ajst-899	26	17	some	some	DET
ajst-899	26	18	microcontroller	microcontroller	NOUN
ajst-899	26	19	part	part	NOUN
ajst-899	26	20	pins	pin	VERB
ajst-899	26	21	through	through	ADP
ajst-899	26	22	led	lead	VERB
ajst-899	26	23	lights	light	NOUN
ajst-899	26	24	73	73	NUM
ajst-899	26	25	figure	figure	NOUN
ajst-899	26	26	11	11	NUM
ajst-899	26	27	.	.	PUNCT
ajst-899	27	1	indicator	indicator	NOUN
ajst-899	27	2	module	module	NOUN
ajst-899	27	3	(	(	PUNCT
ajst-899	27	4	10	10	NUM
ajst-899	27	5	)	)	PUNCT
ajst-899	27	6	other	other	ADJ
ajst-899	27	7	electrical	electrical	ADJ
ajst-899	27	8	appliances	appliance	NOUN
ajst-899	27	9	:	:	PUNCT
ajst-899	27	10	figure	figure	NOUN
ajst-899	27	11	12	12	NUM
ajst-899	27	12	.	.	PUNCT
ajst-899	28	1	other	other	ADJ
ajst-899	28	2	electrical	electrical	ADJ
ajst-899	28	3	appliances	appliance	NOUN
ajst-899	28	4	4	4	NUM
ajst-899	28	5	.	.	PUNCT
ajst-899	28	6	flight	flight	NOUN
ajst-899	28	7	control	control	NOUN
ajst-899	28	8	module	module	NOUN
ajst-899	28	9	this	this	DET
ajst-899	28	10	section	section	NOUN
ajst-899	28	11	is	be	AUX
ajst-899	28	12	at	at	ADP
ajst-899	28	13	the	the	DET
ajst-899	28	14	heart	heart	NOUN
ajst-899	28	15	of	of	ADP
ajst-899	28	16	the	the	DET
ajst-899	28	17	control	control	NOUN
ajst-899	28	18	system	system	NOUN
ajst-899	28	19	.	.	PUNCT
ajst-899	29	1	it	it	PRON
ajst-899	29	2	processes	process	VERB
ajst-899	29	3	the	the	DET
ajst-899	29	4	data	datum	NOUN
ajst-899	29	5	collected	collect	VERB
ajst-899	29	6	by	by	ADP
ajst-899	29	7	the	the	DET
ajst-899	29	8	sensor	sensor	NOUN
ajst-899	29	9	and	and	CCONJ
ajst-899	29	10	the	the	DET
ajst-899	29	11	attitude	attitude	NOUN
ajst-899	29	12	information	information	NOUN
ajst-899	29	13	of	of	ADP
ajst-899	29	14	the	the	DET
ajst-899	29	15	aircraft	aircraft	NOUN
ajst-899	29	16	in	in	ADP
ajst-899	29	17	real	real	ADJ
ajst-899	29	18	time	time	NOUN
ajst-899	29	19	in	in	ADP
ajst-899	29	20	each	each	DET
ajst-899	29	21	control	control	NOUN
ajst-899	29	22	cycle	cycle	NOUN
ajst-899	29	23	,	,	PUNCT
ajst-899	29	24	completes	complete	VERB
ajst-899	29	25	the	the	DET
ajst-899	29	26	adrc	adrc	PROPN
ajst-899	29	27	control	control	NOUN
ajst-899	29	28	algorithm	algorithm	NOUN
ajst-899	29	29	,	,	PUNCT
ajst-899	29	30	obtains	obtain	VERB
ajst-899	29	31	the	the	DET
ajst-899	29	32	attitude	attitude	NOUN
ajst-899	29	33	and	and	CCONJ
ajst-899	29	34	position	position	NOUN
ajst-899	29	35	information	information	NOUN
ajst-899	29	36	of	of	ADP
ajst-899	29	37	the	the	DET
ajst-899	29	38	quadcopter	quadcopter	NOUN
ajst-899	29	39	,	,	PUNCT
ajst-899	29	40	calculates	calculate	VERB
ajst-899	29	41	the	the	DET
ajst-899	29	42	control	control	NOUN
ajst-899	29	43	amount	amount	NOUN
ajst-899	29	44	,	,	PUNCT
ajst-899	29	45	and	and	CCONJ
ajst-899	29	46	converts	convert	VERB
ajst-899	29	47	it	it	PRON
ajst-899	29	48	into	into	ADP
ajst-899	29	49	the	the	DET
ajst-899	29	50	corresponding	correspond	VERB
ajst-899	29	51	control	control	NOUN
ajst-899	29	52	signal	signal	NOUN
ajst-899	29	53	to	to	PART
ajst-899	29	54	drive	drive	VERB
ajst-899	29	55	the	the	DET
ajst-899	29	56	four	four	NUM
ajst-899	29	57	motors	motor	NOUN
ajst-899	29	58	to	to	PART
ajst-899	29	59	work	work	VERB
ajst-899	29	60	,	,	PUNCT
ajst-899	29	61	maintaining	maintain	VERB
ajst-899	29	62	the	the	DET
ajst-899	29	63	stable	stable	ADJ
ajst-899	29	64	flight	flight	NOUN
ajst-899	29	65	of	of	ADP
ajst-899	29	66	the	the	DET
ajst-899	29	67	quadcopter	quadcopter	NOUN
ajst-899	29	68	.	.	PUNCT
ajst-899	30	1	[	[	X
ajst-899	30	2	2	2	NUM
ajst-899	30	3	]	]	SYM
ajst-899	30	4	5	5	NUM
ajst-899	30	5	.	.	PUNCT
ajst-899	30	6	control	control	NOUN
ajst-899	30	7	of	of	ADP
ajst-899	30	8	brushless	brushless	NOUN
ajst-899	30	9	motor	motor	NOUN
ajst-899	30	10	(	(	PUNCT
ajst-899	30	11	1	1	NUM
ajst-899	30	12	)	)	PUNCT
ajst-899	30	13	advantages	advantage	NOUN
ajst-899	30	14	:	:	PUNCT
ajst-899	30	15	brushless	brushless	NOUN
ajst-899	30	16	motor	motor	NOUN
ajst-899	30	17	is	be	AUX
ajst-899	30	18	a	a	DET
ajst-899	30	19	device	device	NOUN
ajst-899	30	20	that	that	PRON
ajst-899	30	21	indirectly	indirectly	ADV
ajst-899	30	22	controls	control	VERB
ajst-899	30	23	the	the	DET
ajst-899	30	24	speed	speed	NOUN
ajst-899	30	25	by	by	ADP
ajst-899	30	26	the	the	DET
ajst-899	30	27	esc	esc	NOUN
ajst-899	30	28	,	,	PUNCT
ajst-899	30	29	which	which	PRON
ajst-899	30	30	has	have	VERB
ajst-899	30	31	the	the	DET
ajst-899	30	32	advantages	advantage	NOUN
ajst-899	30	33	of	of	ADP
ajst-899	30	34	small	small	ADJ
ajst-899	30	35	size	size	NOUN
ajst-899	30	36	,	,	PUNCT
ajst-899	30	37	light	light	ADJ
ajst-899	30	38	weight	weight	NOUN
ajst-899	30	39	and	and	CCONJ
ajst-899	30	40	large	large	ADJ
ajst-899	30	41	torque	torque	NOUN
ajst-899	30	42	.	.	PUNCT
ajst-899	31	1	moreover	moreover	ADV
ajst-899	31	2	,	,	PUNCT
ajst-899	31	3	escotonecontrolled	escotonecontrolled	ADJ
ajst-899	31	4	brushless	brushless	NOUN
ajst-899	31	5	motors	motor	NOUN
ajst-899	31	6	have	have	VERB
ajst-899	31	7	the	the	DET
ajst-899	31	8	advantages	advantage	NOUN
ajst-899	31	9	of	of	ADP
ajst-899	31	10	fast	fast	ADJ
ajst-899	31	11	response	response	NOUN
ajst-899	31	12	and	and	CCONJ
ajst-899	31	13	high	high	ADJ
ajst-899	31	14	control	control	NOUN
ajst-899	31	15	accuracy	accuracy	NOUN
ajst-899	31	16	.	.	PUNCT
ajst-899	32	1	(	(	PUNCT
ajst-899	32	2	2	2	X
ajst-899	32	3	)	)	PUNCT
ajst-899	32	4	the	the	DET
ajst-899	32	5	12v	12v	NUM
ajst-899	32	6	lithium	lithium	PROPN
ajst-899	32	7	battery	battery	NOUN
ajst-899	32	8	powers	power	NOUN
ajst-899	32	9	the	the	DET
ajst-899	32	10	four	four	NUM
ajst-899	32	11	esc	esc	NOUN
ajst-899	32	12	,	,	PUNCT
ajst-899	32	13	and	and	CCONJ
ajst-899	32	14	the	the	DET
ajst-899	32	15	esc	esc	NOUN
ajst-899	32	16	three	three	NUM
ajst-899	32	17	-	-	PUNCT
ajst-899	32	18	phase	phase	NOUN
ajst-899	32	19	wire	wire	NOUN
ajst-899	32	20	is	be	AUX
ajst-899	32	21	connected	connect	VERB
ajst-899	32	22	to	to	ADP
ajst-899	32	23	the	the	DET
ajst-899	32	24	brushless	brushless	NOUN
ajst-899	32	25	motor	motor	NOUN
ajst-899	32	26	(	(	PUNCT
ajst-899	32	27	3	3	NUM
ajst-899	32	28	)	)	PUNCT
ajst-899	32	29	the	the	DET
ajst-899	32	30	line	line	NOUN
ajst-899	32	31	led	lead	VERB
ajst-899	32	32	by	by	ADP
ajst-899	32	33	the	the	DET
ajst-899	32	34	main	main	ADJ
ajst-899	32	35	control	control	NOUN
ajst-899	32	36	board	board	NOUN
ajst-899	32	37	:	:	PUNCT
ajst-899	32	38	①5v	①5v	PUNCT
ajst-899	33	1	②gnd	②gnd	PROPN
ajst-899	33	2	③pwm	③pwm	PROPN
ajst-899	33	3	6	6	NUM
ajst-899	33	4	.	.	PUNCT
ajst-899	33	5	signal	signal	ADJ
ajst-899	33	6	filtering	filtering	NOUN
ajst-899	33	7	method	method	NOUN
ajst-899	33	8	in	in	ADP
ajst-899	33	9	uav	uav	PROPN
ajst-899	33	10	control	control	PROPN
ajst-899	33	11	,	,	PUNCT
ajst-899	33	12	there	there	PRON
ajst-899	33	13	are	be	VERB
ajst-899	33	14	many	many	ADJ
ajst-899	33	15	interference	interference	NOUN
ajst-899	33	16	signals	signal	NOUN
ajst-899	33	17	,	,	PUNCT
ajst-899	33	18	so	so	SCONJ
ajst-899	33	19	it	it	PRON
ajst-899	33	20	is	be	AUX
ajst-899	33	21	important	important	ADJ
ajst-899	33	22	to	to	PART
ajst-899	33	23	take	take	VERB
ajst-899	33	24	an	an	DET
ajst-899	33	25	effective	effective	ADJ
ajst-899	33	26	filtering	filtering	NOUN
ajst-899	33	27	method	method	NOUN
ajst-899	33	28	.	.	PUNCT
ajst-899	34	1	in	in	ADP
ajst-899	34	2	this	this	DET
ajst-899	34	3	study	study	NOUN
ajst-899	34	4	,	,	PUNCT
ajst-899	34	5	the	the	DET
ajst-899	34	6	kalman	kalman	PROPN
ajst-899	34	7	filter	filter	NOUN
ajst-899	34	8	method	method	NOUN
ajst-899	34	9	was	be	AUX
ajst-899	34	10	used	use	VERB
ajst-899	34	11	.	.	PUNCT
ajst-899	35	1	as	as	ADP
ajst-899	35	2	a	a	DET
ajst-899	35	3	state	state	NOUN
ajst-899	35	4	-	-	PUNCT
ajst-899	35	5	optimal	optimal	ADJ
ajst-899	35	6	estimation	estimation	NOUN
ajst-899	35	7	algorithm	algorithm	NOUN
ajst-899	35	8	,	,	PUNCT
ajst-899	35	9	kalman	kalman	PROPN
ajst-899	35	10	filtering	filtering	PROPN
ajst-899	35	11	uses	use	VERB
ajst-899	35	12	observational	observational	ADJ
ajst-899	35	13	measurements	measurement	NOUN
ajst-899	35	14	and	and	CCONJ
ajst-899	35	15	combined	combine	VERB
ajst-899	35	16	with	with	ADP
ajst-899	35	17	the	the	DET
ajst-899	35	18	system	system	NOUN
ajst-899	35	19	's	's	PART
ajst-899	35	20	model	model	NOUN
ajst-899	35	21	to	to	PART
ajst-899	35	22	estimate	estimate	VERB
ajst-899	35	23	the	the	DET
ajst-899	35	24	state	state	NOUN
ajst-899	35	25	of	of	ADP
ajst-899	35	26	a	a	DET
ajst-899	35	27	system	system	NOUN
ajst-899	35	28	.	.	PUNCT
ajst-899	36	1	the	the	DET
ajst-899	36	2	purpose	purpose	NOUN
ajst-899	36	3	of	of	ADP
ajst-899	36	4	kalman	kalman	PROPN
ajst-899	36	5	filtering	filtering	PROPN
ajst-899	36	6	is	be	AUX
ajst-899	36	7	to	to	PART
ajst-899	36	8	use	use	VERB
ajst-899	36	9	the	the	DET
ajst-899	36	10	kalman	kalman	NOUN
ajst-899	36	11	gain	gain	VERB
ajst-899	36	12	to	to	PART
ajst-899	36	13	correct	correct	VERB
ajst-899	36	14	the	the	DET
ajst-899	36	15	state	state	NOUN
ajst-899	36	16	prediction	prediction	NOUN
ajst-899	36	17	,	,	PUNCT
ajst-899	36	18	and	and	CCONJ
ajst-899	36	19	the	the	DET
ajst-899	36	20	kalman	kalman	PROPN
ajst-899	36	21	filter	filter	PROPN
ajst-899	36	22	estimates	estimate	VERB
ajst-899	36	23	the	the	DET
ajst-899	36	24	process	process	NOUN
ajst-899	36	25	state	state	NOUN
ajst-899	36	26	using	use	VERB
ajst-899	36	27	a	a	DET
ajst-899	36	28	feedback	feedback	NOUN
ajst-899	36	29	control	control	NOUN
ajst-899	36	30	method	method	NOUN
ajst-899	36	31	:	:	PUNCT
ajst-899	36	32	the	the	DET
ajst-899	36	33	filter	filter	NOUN
ajst-899	36	34	estimates	estimate	VERB
ajst-899	36	35	the	the	DET
ajst-899	36	36	state	state	NOUN
ajst-899	36	37	of	of	ADP
ajst-899	36	38	the	the	DET
ajst-899	36	39	process	process	NOUN
ajst-899	36	40	at	at	ADP
ajst-899	36	41	a	a	DET
ajst-899	36	42	certain	certain	ADJ
ajst-899	36	43	point	point	NOUN
ajst-899	36	44	in	in	ADP
ajst-899	36	45	time	time	NOUN
ajst-899	36	46	,	,	PUNCT
ajst-899	36	47	and	and	CCONJ
ajst-899	36	48	then	then	ADV
ajst-899	36	49	obtains	obtain	VERB
ajst-899	36	50	feedback	feedback	NOUN
ajst-899	36	51	in	in	ADP
ajst-899	36	52	the	the	DET
ajst-899	36	53	form	form	NOUN
ajst-899	36	54	of	of	ADP
ajst-899	36	55	a	a	DET
ajst-899	36	56	measurement	measurement	NOUN
ajst-899	36	57	variable	variable	NOUN
ajst-899	36	58	.	.	PUNCT
ajst-899	37	1	the	the	DET
ajst-899	37	2	kalman	kalman	PROPN
ajst-899	37	3	filter	filter	NOUN
ajst-899	37	4	can	can	AUX
ajst-899	37	5	therefore	therefore	ADV
ajst-899	37	6	be	be	AUX
ajst-899	37	7	divided	divide	VERB
ajst-899	37	8	into	into	ADP
ajst-899	37	9	two	two	NUM
ajst-899	37	10	parts	part	NOUN
ajst-899	37	11	:	:	PUNCT
ajst-899	37	12	the	the	DET
ajst-899	37	13	time	time	NOUN
ajst-899	37	14	update	update	NOUN
ajst-899	37	15	equation	equation	NOUN
ajst-899	37	16	and	and	CCONJ
ajst-899	37	17	the	the	DET
ajst-899	37	18	measurement	measurement	NOUN
ajst-899	37	19	update	update	NOUN
ajst-899	37	20	equation	equation	NOUN
ajst-899	37	21	.	.	PUNCT
ajst-899	38	1	the	the	DET
ajst-899	38	2	time	time	NOUN
ajst-899	38	3	update	update	NOUN
ajst-899	38	4	equation	equation	NOUN
ajst-899	38	5	is	be	AUX
ajst-899	38	6	responsible	responsible	ADJ
ajst-899	38	7	for	for	ADP
ajst-899	38	8	estimating	estimate	VERB
ajst-899	38	9	the	the	DET
ajst-899	38	10	current	current	ADJ
ajst-899	38	11	state	state	NOUN
ajst-899	38	12	variable	variable	NOUN
ajst-899	38	13	and	and	CCONJ
ajst-899	38	14	the	the	DET
ajst-899	38	15	error	error	NOUN
ajst-899	38	16	covariance	covariance	NOUN
ajst-899	38	17	estimate	estimate	VERB
ajst-899	38	18	forward	forward	ADV
ajst-899	38	19	in	in	ADP
ajst-899	38	20	time	time	NOUN
ajst-899	38	21	to	to	PART
ajst-899	38	22	construct	construct	VERB
ajst-899	38	23	a	a	DET
ajst-899	38	24	priori	priori	ADJ
ajst-899	38	25	estimates	estimate	NOUN
ajst-899	38	26	for	for	ADP
ajst-899	38	27	the	the	DET
ajst-899	38	28	next	next	ADJ
ajst-899	38	29	time	time	NOUN
ajst-899	38	30	state	state	NOUN
ajst-899	38	31	.	.	PUNCT
ajst-899	39	1	the	the	DET
ajst-899	39	2	measurement	measurement	NOUN
ajst-899	39	3	update	update	NOUN
ajst-899	39	4	equation	equation	NOUN
ajst-899	39	5	is	be	AUX
ajst-899	39	6	responsible	responsible	ADJ
ajst-899	39	7	for	for	ADP
ajst-899	39	8	feedback	feedback	NOUN
ajst-899	39	9	,	,	PUNCT
ajst-899	39	10	that	that	ADV
ajst-899	39	11	is	is	ADV
ajst-899	39	12	,	,	PUNCT
ajst-899	39	13	it	it	PRON
ajst-899	39	14	combines	combine	VERB
ajst-899	39	15	the	the	DET
ajst-899	39	16	prior	prior	ADJ
ajst-899	39	17	estimate	estimate	NOUN
ajst-899	39	18	with	with	ADP
ajst-899	39	19	the	the	DET
ajst-899	39	20	new	new	ADJ
ajst-899	39	21	measurement	measurement	NOUN
ajst-899	39	22	variable	variable	NOUN
ajst-899	39	23	to	to	PART
ajst-899	39	24	construct	construct	VERB
ajst-899	39	25	an	an	DET
ajst-899	39	26	improved	improved	ADJ
ajst-899	39	27	posterior	posterior	ADJ
ajst-899	39	28	estimate	estimate	NOUN
ajst-899	39	29	.	.	PUNCT
ajst-899	40	1	[	[	X
ajst-899	40	2	3	3	NUM
ajst-899	40	3	]	]	SYM
ajst-899	40	4	7	7	NUM
ajst-899	40	5	.	.	PUNCT
ajst-899	40	6	conclusions	conclusion	NOUN
ajst-899	40	7	and	and	CCONJ
ajst-899	40	8	prospects	prospect	NOUN
ajst-899	40	9	7.1	7.1	NUM
ajst-899	40	10	.	.	PUNCT
ajst-899	41	1	conclusion	conclusion	VERB
ajst-899	41	2	the	the	DET
ajst-899	41	3	thesis	thesis	NOUN
ajst-899	41	4	study	study	NOUN
ajst-899	41	5	analyzes	analyze	VERB
ajst-899	41	6	the	the	DET
ajst-899	41	7	following	follow	VERB
ajst-899	41	8	points	point	NOUN
ajst-899	41	9	:	:	PUNCT
ajst-899	42	1	1	1	X
ajst-899	42	2	.	.	PUNCT
ajst-899	42	3	the	the	DET
ajst-899	42	4	implementation	implementation	NOUN
ajst-899	42	5	scheme	scheme	NOUN
ajst-899	42	6	of	of	ADP
ajst-899	42	7	different	different	ADJ
ajst-899	42	8	uav	uav	PROPN
ajst-899	42	9	inspections	inspection	NOUN
ajst-899	42	10	is	be	AUX
ajst-899	42	11	compared	compare	VERB
ajst-899	42	12	and	and	CCONJ
ajst-899	42	13	analyzed	analyze	VERB
ajst-899	42	14	and	and	CCONJ
ajst-899	42	15	the	the	DET
ajst-899	42	16	optimal	optimal	ADJ
ajst-899	42	17	scheme	scheme	NOUN
ajst-899	42	18	is	be	AUX
ajst-899	42	19	selected	select	VERB
ajst-899	42	20	2	2	NUM
ajst-899	42	21	.	.	PUNCT
ajst-899	42	22	control	control	NOUN
ajst-899	42	23	method	method	NOUN
ajst-899	42	24	and	and	CCONJ
ajst-899	42	25	the	the	DET
ajst-899	42	26	function	function	NOUN
ajst-899	42	27	and	and	CCONJ
ajst-899	42	28	schematic	schematic	ADJ
ajst-899	42	29	diagram	diagram	NOUN
ajst-899	42	30	of	of	ADP
ajst-899	42	31	each	each	DET
ajst-899	42	32	part	part	NOUN
ajst-899	42	33	of	of	ADP
ajst-899	42	34	the	the	DET
ajst-899	42	35	hardware	hardware	NOUN
ajst-899	42	36	3	3	NUM
ajst-899	42	37	.	.	NOUN
ajst-899	42	38	reasons	reason	NOUN
ajst-899	42	39	and	and	CCONJ
ajst-899	42	40	advantages	advantage	NOUN
ajst-899	42	41	of	of	ADP
ajst-899	42	42	choosing	choose	VERB
ajst-899	42	43	kalman	kalman	PROPN
ajst-899	42	44	filtering	filtering	NOUN
ajst-899	42	45	algorithm	algorithm	PROPN
ajst-899	42	46	.	.	PUNCT
ajst-899	43	1	7.2	7.2	NUM
ajst-899	43	2	.	.	PUNCT
ajst-899	43	3	prospect	prospect	NOUN
ajst-899	43	4	in	in	ADP
ajst-899	43	5	recent	recent	ADJ
ajst-899	43	6	years	year	NOUN
ajst-899	43	7	,	,	PUNCT
ajst-899	43	8	with	with	ADP
ajst-899	43	9	the	the	DET
ajst-899	43	10	development	development	NOUN
ajst-899	43	11	of	of	ADP
ajst-899	43	12	uav	uav	PROPN
ajst-899	43	13	technology	technology	PROPN
ajst-899	43	14	,	,	PUNCT
ajst-899	43	15	data	data	NOUN
ajst-899	43	16	processing	processing	NOUN
ajst-899	43	17	technology	technology	NOUN
ajst-899	43	18	,	,	PUNCT
ajst-899	43	19	software	software	NOUN
ajst-899	43	20	technology	technology	NOUN
ajst-899	43	21	and	and	CCONJ
ajst-899	43	22	in	in	ADP
ajst-899	43	23	-	-	PUNCT
ajst-899	43	24	depth	depth	NOUN
ajst-899	43	25	application	application	NOUN
ajst-899	43	26	in	in	ADP
ajst-899	43	27	the	the	DET
ajst-899	43	28	field	field	NOUN
ajst-899	43	29	of	of	ADP
ajst-899	43	30	inspection	inspection	NOUN
ajst-899	43	31	,	,	PUNCT
ajst-899	43	32	as	as	ADV
ajst-899	43	33	far	far	ADV
ajst-899	43	34	as	as	SCONJ
ajst-899	43	35	the	the	DET
ajst-899	43	36	power	power	NOUN
ajst-899	43	37	industry	industry	NOUN
ajst-899	43	38	is	be	AUX
ajst-899	43	39	concerned	concern	VERB
ajst-899	43	40	,	,	PUNCT
ajst-899	43	41	the	the	DET
ajst-899	43	42	power	power	NOUN
ajst-899	43	43	grid	grid	NOUN
ajst-899	43	44	has	have	AUX
ajst-899	43	45	formed	form	VERB
ajst-899	43	46	an	an	DET
ajst-899	43	47	intelligent	intelligent	ADJ
ajst-899	43	48	inspection	inspection	NOUN
ajst-899	43	49	business	business	NOUN
ajst-899	43	50	model	model	NOUN
ajst-899	43	51	of	of	ADP
ajst-899	43	52	"	"	PUNCT
ajst-899	43	53	helicopter	helicopter	NOUN
ajst-899	43	54	/	/	SYM
ajst-899	43	55	uav	uav	PROPN
ajst-899	43	56	line	line	NOUN
ajst-899	43	57	patrol	patrol	NOUN
ajst-899	43	58	+	+	CCONJ
ajst-899	43	59	lidar	lidar	NOUN
ajst-899	43	60	scanning	scan	VERB
ajst-899	43	61	+	+	CCONJ
ajst-899	43	62	data	datum	NOUN
ajst-899	43	63	processing	processing	NOUN
ajst-899	43	64	analysis	analysis	NOUN
ajst-899	43	65	+	+	CCONJ
ajst-899	43	66	data	datum	NOUN
ajst-899	43	67	application	application	NOUN
ajst-899	43	68	and	and	CCONJ
ajst-899	43	69	visual	visual	ADJ
ajst-899	43	70	display	display	NOUN
ajst-899	43	71	"	"	PUNCT
ajst-899	43	72	,	,	PUNCT
ajst-899	43	73	which	which	PRON
ajst-899	43	74	can	can	AUX
ajst-899	43	75	effectively	effectively	ADV
ajst-899	43	76	reduce	reduce	VERB
ajst-899	43	77	labor	labor	NOUN
ajst-899	43	78	intensity	intensity	NOUN
ajst-899	43	79	,	,	PUNCT
ajst-899	43	80	improve	improve	VERB
ajst-899	43	81	inspection	inspection	NOUN
ajst-899	43	82	efficiency	efficiency	NOUN
ajst-899	43	83	,	,	PUNCT
ajst-899	43	84	expand	expand	VERB
ajst-899	43	85	coverage	coverage	NOUN
ajst-899	43	86	,	,	PUNCT
ajst-899	43	87	and	and	CCONJ
ajst-899	43	88	digitally	digitally	ADV
ajst-899	43	89	display	display	NOUN
ajst-899	43	90	inspection	inspection	NOUN
ajst-899	43	91	results	result	NOUN
ajst-899	43	92	,	,	PUNCT
ajst-899	43	93	which	which	PRON
ajst-899	43	94	is	be	AUX
ajst-899	43	95	of	of	ADP
ajst-899	43	96	great	great	ADJ
ajst-899	43	97	significance	significance	NOUN
ajst-899	43	98	for	for	ADP
ajst-899	43	99	improving	improve	VERB
ajst-899	43	100	the	the	DET
ajst-899	43	101	safety	safety	NOUN
ajst-899	43	102	,	,	PUNCT
ajst-899	43	103	stability	stability	NOUN
ajst-899	43	104	and	and	CCONJ
ajst-899	43	105	operational	operational	ADJ
ajst-899	43	106	efficiency	efficiency	NOUN
ajst-899	43	107	of	of	ADP
ajst-899	43	108	power	power	NOUN
ajst-899	43	109	grid	grid	NOUN
ajst-899	43	110	operation	operation	NOUN
ajst-899	43	111	.	.	PUNCT
ajst-899	44	1	however	however	ADV
ajst-899	44	2	,	,	PUNCT
ajst-899	44	3	in	in	ADP
ajst-899	44	4	the	the	DET
ajst-899	44	5	actual	actual	ADJ
ajst-899	44	6	uav	uav	PROPN
ajst-899	44	7	power	power	NOUN
ajst-899	44	8	inspection	inspection	NOUN
ajst-899	44	9	process	process	NOUN
ajst-899	44	10	,	,	PUNCT
ajst-899	44	11	there	there	PRON
ajst-899	44	12	are	be	VERB
ajst-899	44	13	still	still	ADV
ajst-899	44	14	many	many	ADJ
ajst-899	44	15	problems	problem	NOUN
ajst-899	44	16	,	,	PUNCT
ajst-899	44	17	such	such	ADJ
ajst-899	44	18	as	as	ADP
ajst-899	44	19	:	:	PUNCT
ajst-899	44	20	the	the	DET
ajst-899	44	21	amount	amount	NOUN
ajst-899	44	22	of	of	ADP
ajst-899	44	23	data	datum	NOUN
ajst-899	44	24	collected	collect	VERB
ajst-899	44	25	in	in	ADP
ajst-899	44	26	a	a	DET
ajst-899	44	27	single	single	ADJ
ajst-899	44	28	time	time	NOUN
ajst-899	44	29	is	be	AUX
ajst-899	44	30	limited	limit	VERB
ajst-899	44	31	,	,	PUNCT
ajst-899	44	32	the	the	DET
ajst-899	44	33	collection	collection	NOUN
ajst-899	44	34	effectiveness	effectiveness	NOUN
ajst-899	44	35	is	be	AUX
ajst-899	44	36	low	low	ADJ
ajst-899	44	37	,	,	PUNCT
ajst-899	44	38	and	and	CCONJ
ajst-899	44	39	the	the	DET
ajst-899	44	40	large	large	ADJ
ajst-899	44	41	amount	amount	NOUN
ajst-899	44	42	of	of	ADP
ajst-899	44	43	information	information	NOUN
ajst-899	44	44	captured	capture	VERB
ajst-899	44	45	in	in	ADP
ajst-899	44	46	the	the	DET
ajst-899	44	47	front	front	ADJ
ajst-899	44	48	end	end	NOUN
ajst-899	44	49	is	be	AUX
ajst-899	44	50	mostly	mostly	ADV
ajst-899	44	51	invalid	invalid	ADJ
ajst-899	44	52	information	information	NOUN
ajst-899	44	53	.	.	PUNCT
ajst-899	45	1	i	i	PRON
ajst-899	45	2	believe	believe	VERB
ajst-899	45	3	that	that	SCONJ
ajst-899	45	4	with	with	ADP
ajst-899	45	5	the	the	DET
ajst-899	45	6	development	development	NOUN
ajst-899	45	7	and	and	CCONJ
ajst-899	45	8	improvement	improvement	NOUN
ajst-899	45	9	of	of	ADP
ajst-899	45	10	related	related	ADJ
ajst-899	45	11	technologies	technology	NOUN
ajst-899	45	12	,	,	PUNCT
ajst-899	45	13	uav	uav	PROPN
ajst-899	45	14	inspection	inspection	NOUN
ajst-899	45	15	will	will	AUX
ajst-899	45	16	become	become	VERB
ajst-899	45	17	more	more	ADV
ajst-899	45	18	efficient	efficient	ADJ
ajst-899	45	19	and	and	CCONJ
ajst-899	45	20	have	have	VERB
ajst-899	45	21	a	a	DET
ajst-899	45	22	broader	broad	ADJ
ajst-899	45	23	application	application	NOUN
ajst-899	45	24	space	space	NOUN
ajst-899	45	25	.	.	PUNCT
ajst-899	46	1	references	reference	NOUN
ajst-899	46	2	[	[	X
ajst-899	46	3	1	1	NUM
ajst-899	46	4	]	]	X
ajst-899	46	5	design	design	NOUN
ajst-899	46	6	of	of	ADP
ajst-899	46	7	unmanned	unmanned	ADJ
ajst-899	46	8	helicopter	helicopter	NOUN
ajst-899	46	9	suspension	suspension	NOUN
ajst-899	46	10	transport	transport	NOUN
ajst-899	46	11	flight	flight	NOUN
ajst-899	46	12	coordination	coordination	NOUN
ajst-899	46	13	control	control	NOUN
ajst-899	46	14	.	.	PUNCT
ajst-899	47	1	lan	lan	PROPN
ajst-899	47	2	qicheng	qicheng	PROPN
ajst-899	47	3	,	,	PUNCT
ajst-899	47	4	lai	lai	PROPN
ajst-899	47	5	shuiqing	shuiqing	PROPN
ajst-899	47	6	;	;	PUNCT
ajst-899	47	7	2020	2020	NUM
ajst-899	47	8	-	-	SYM
ajst-899	47	9	12	12	NUM
ajst-899	47	10	-	-	SYM
ajst-899	47	11	09	09	NUM
ajst-899	47	12	.	.	PUNCT
ajst-899	48	1	[	[	X
ajst-899	48	2	2	2	NUM
ajst-899	48	3	]	]	PUNCT
ajst-899	48	4	design	design	NOUN
ajst-899	48	5	of	of	ADP
ajst-899	48	6	fire	fire	NOUN
ajst-899	48	7	extinguishing	extinguish	VERB
ajst-899	48	8	aircraft	aircraft	NOUN
ajst-899	48	9	based	base	VERB
ajst-899	48	10	on	on	ADP
ajst-899	48	11	stm32	stm32	PROPN
ajst-899	48	12	.	.	PUNCT
ajst-899	49	1	mei	mei	PROPN
ajst-899	49	2	yangyang	yangyang	PROPN
ajst-899	49	3	,	,	PUNCT
ajst-899	49	4	wu	wu	PROPN
ajst-899	49	5	linhua	linhua	PROPN
ajst-899	49	6	,	,	PUNCT
ajst-899	49	7	sun	sun	PROPN
ajst-899	49	8	shaocong	shaocong	PROPN
ajst-899	49	9	,	,	PUNCT
ajst-899	49	10	zhang	zhang	PROPN
ajst-899	49	11	liuzhen	liuzhen	PROPN
ajst-899	49	12	,	,	PUNCT
ajst-899	49	13	etc	etc	X
ajst-899	49	14	.	.	X
ajst-899	49	15	;	;	PUNCT
ajst-899	49	16	2020	2020	NUM
ajst-899	49	17	-	-	SYM
ajst-899	49	18	10	10	NUM
ajst-899	49	19	-	-	SYM
ajst-899	49	20	15	15	NUM
ajst-899	49	21	.	.	PUNCT
ajst-899	50	1	[	[	X
ajst-899	50	2	3	3	X
ajst-899	50	3	]	]	X
ajst-899	50	4	research	research	NOUN
ajst-899	50	5	on	on	ADP
ajst-899	50	6	performance	performance	NOUN
ajst-899	50	7	optimization	optimization	NOUN
ajst-899	50	8	of	of	ADP
ajst-899	50	9	multi	multi	ADJ
ajst-899	50	10	-	-	ADJ
ajst-899	50	11	sensor	sensor	ADJ
ajst-899	50	12	estimation	estimation	NOUN
ajst-899	50	13	in	in	ADP
ajst-899	50	14	wireless	wireless	ADJ
ajst-899	50	15	network	network	NOUN
ajst-899	50	16	control	control	NOUN
ajst-899	50	17	system	system	NOUN
ajst-899	50	18	.	.	PUNCT
ajst-899	51	1	hu	hu	PROPN
ajst-899	51	2	liang	liang	PROPN
ajst-899	51	3	,	,	PUNCT
ajst-899	51	4	sun	sun	PROPN
ajst-899	51	5	yangyan	yangyan	ADJ
ajst-899	51	6	;	;	PUNCT
ajst-899	51	7	2019	2019	NUM
ajst-899	51	8	-	-	SYM
ajst-899	51	9	06	06	NUM
ajst-899	51	10	-	-	SYM
ajst-899	51	11	15	15	NUM
ajst-899	51	12	.	.	PUNCT