id	sid	tid	token	lemma	pos
aiti-2520	1	1	advances	advance	NOUN
aiti-2520	1	2	in	in	ADP
aiti-2520	1	3	technology	technology	NOUN
aiti-2520	1	4	innovation	innovation	NOUN
aiti-2520	1	5	,	,	PUNCT
aiti-2520	1	6	vol	vol	NOUN
aiti-2520	1	7	.	.	PROPN
aiti-2520	2	1	4	4	NUM
aiti-2520	2	2	,	,	PUNCT
aiti-2520	2	3	no	no	INTJ
aiti-2520	2	4	.	.	NOUN
aiti-2520	2	5	2	2	NUM
aiti-2520	2	6	,	,	PUNCT
aiti-2520	2	7	2019	2019	NUM
aiti-2520	2	8	,	,	PUNCT
aiti-2520	2	9	pp	pp	ADJ
aiti-2520	2	10	.	.	PUNCT
aiti-2520	3	1	84	84	NUM
aiti-2520	3	2	-	-	SYM
aiti-2520	3	3	93	93	NUM
aiti-2520	3	4	a	a	DET
aiti-2520	3	5	study	study	NOUN
aiti-2520	3	6	on	on	ADP
aiti-2520	3	7	heading	head	VERB
aiti-2520	3	8	and	and	CCONJ
aiti-2520	3	9	attitude	attitude	NOUN
aiti-2520	3	10	estimation	estimation	NOUN
aiti-2520	3	11	of	of	ADP
aiti-2520	3	12	underwater	underwater	ADJ
aiti-2520	3	13	track	track	NOUN
aiti-2520	3	14	vehicle	vehicle	NOUN
aiti-2520	3	15	dae	dae	NOUN
aiti-2520	3	16	-	-	PUNCT
aiti-2520	3	17	hyeong	hyeong	ADJ
aiti-2520	3	18	ji	ji	PROPN
aiti-2520	3	19	,	,	PUNCT
aiti-2520	3	20	hyeung	hyeung	PROPN
aiti-2520	3	21	-	-	PUNCT
aiti-2520	3	22	sik	sik	NOUN
aiti-2520	3	23	cho	cho	PROPN
aiti-2520	3	24	*	*	PUNCT
aiti-2520	3	25	,	,	PUNCT
aiti-2520	3	26	sang	sang	PROPN
aiti-2520	3	27	-	-	PUNCT
aiti-2520	3	28	ki	ki	PROPN
aiti-2520	3	29	jeong	jeong	PROPN
aiti-2520	3	30	,	,	PUNCT
aiti-2520	3	31	ji	ji	PROPN
aiti-2520	3	32	-	-	PUNCT
aiti-2520	3	33	youn	youn	ADJ
aiti-2520	3	34	oh	oh	INTJ
aiti-2520	3	35	,	,	PUNCT
aiti-2520	3	36	seo	seo	PROPN
aiti-2520	3	37	-	-	PUNCT
aiti-2520	3	38	kang	kang	PROPN
aiti-2520	3	39	kim	kim	PROPN
aiti-2520	3	40	and	and	CCONJ
aiti-2520	3	41	sam	sam	PROPN
aiti-2520	3	42	-	-	PUNCT
aiti-2520	3	43	sang	sing	VERB
aiti-2520	3	44	you	you	PRON
aiti-2520	3	45	division	division	NOUN
aiti-2520	3	46	of	of	ADP
aiti-2520	3	47	mechanical	mechanical	ADJ
aiti-2520	3	48	engineering	engineering	NOUN
aiti-2520	3	49	,	,	PUNCT
aiti-2520	3	50	korea	korea	PROPN
aiti-2520	3	51	maritime	maritime	NOUN
aiti-2520	3	52	and	and	CCONJ
aiti-2520	3	53	ocean	ocean	PROPN
aiti-2520	3	54	university	university	PROPN
aiti-2520	3	55	,	,	PUNCT
aiti-2520	3	56	busan	busan	PROPN
aiti-2520	3	57	,	,	PUNCT
aiti-2520	3	58	korea	korea	PROPN
aiti-2520	3	59	received	receive	VERB
aiti-2520	3	60	03	03	NUM
aiti-2520	3	61	may	may	PROPN
aiti-2520	3	62	2018	2018	NUM
aiti-2520	3	63	;	;	PUNCT
aiti-2520	3	64	received	receive	VERB
aiti-2520	3	65	in	in	ADP
aiti-2520	3	66	revised	revise	VERB
aiti-2520	3	67	form	form	NOUN
aiti-2520	3	68	05	05	NUM
aiti-2520	3	69	august	august	PROPN
aiti-2520	3	70	2018	2018	NUM
aiti-2520	3	71	;	;	PUNCT
aiti-2520	3	72	accepted	accept	VERB
aiti-2520	3	73	24	24	NUM
aiti-2520	3	74	october	october	PROPN
aiti-2520	3	75	2018	2018	NUM
aiti-2520	3	76	abstract	abstract	NOUN
aiti-2520	3	77	in	in	ADP
aiti-2520	3	78	this	this	DET
aiti-2520	3	79	paper	paper	NOUN
aiti-2520	3	80	,	,	PUNCT
aiti-2520	3	81	we	we	PRON
aiti-2520	3	82	studied	study	VERB
aiti-2520	3	83	the	the	DET
aiti-2520	3	84	designing	designing	NOUN
aiti-2520	3	85	and	and	CCONJ
aiti-2520	3	86	manufacturing	manufacturing	NOUN
aiti-2520	3	87	of	of	ADP
aiti-2520	3	88	an	an	DET
aiti-2520	3	89	underwater	underwater	ADJ
aiti-2520	3	90	track	track	NOUN
aiti-2520	3	91	vehicle	vehicle	NOUN
aiti-2520	3	92	(	(	PUNCT
aiti-2520	3	93	utv	utv	PROPN
aiti-2520	3	94	)	)	PUNCT
aiti-2520	3	95	that	that	PRON
aiti-2520	3	96	can	can	AUX
aiti-2520	3	97	be	be	AUX
aiti-2520	3	98	operated	operate	VERB
aiti-2520	3	99	in	in	ADP
aiti-2520	3	100	the	the	DET
aiti-2520	3	101	underwater	underwater	ADJ
aiti-2520	3	102	environment	environment	NOUN
aiti-2520	3	103	.	.	PUNCT
aiti-2520	4	1	we	we	PRON
aiti-2520	4	2	designed	design	VERB
aiti-2520	4	3	the	the	DET
aiti-2520	4	4	electrical	electrical	ADJ
aiti-2520	4	5	and	and	CCONJ
aiti-2520	4	6	control	control	NOUN
aiti-2520	4	7	system	system	NOUN
aiti-2520	4	8	for	for	ADP
aiti-2520	4	9	precise	precise	ADJ
aiti-2520	4	10	operation	operation	NOUN
aiti-2520	4	11	of	of	ADP
aiti-2520	4	12	the	the	DET
aiti-2520	4	13	utv	utv	PROPN
aiti-2520	4	14	and	and	CCONJ
aiti-2520	4	15	conduct	conduct	VERB
aiti-2520	4	16	test	test	NOUN
aiti-2520	4	17	operation	operation	NOUN
aiti-2520	4	18	by	by	ADP
aiti-2520	4	19	using	use	VERB
aiti-2520	4	20	the	the	DET
aiti-2520	4	21	utv	utv	NOUN
aiti-2520	4	22	.	.	PUNCT
aiti-2520	5	1	we	we	PRON
aiti-2520	5	2	developed	develop	VERB
aiti-2520	5	3	an	an	DET
aiti-2520	5	4	attitude	attitude	NOUN
aiti-2520	5	5	reference	reference	NOUN
aiti-2520	5	6	system	system	NOUN
aiti-2520	5	7	(	(	PUNCT
aiti-2520	5	8	ars	ars	PROPN
aiti-2520	5	9	)	)	PUNCT
aiti-2520	5	10	that	that	PRON
aiti-2520	5	11	was	be	AUX
aiti-2520	5	12	composed	compose	VERB
aiti-2520	5	13	of	of	ADP
aiti-2520	5	14	the	the	DET
aiti-2520	5	15	ring	ring	NOUN
aiti-2520	5	16	laser	laser	NOUN
aiti-2520	5	17	gyro	gyro	NOUN
aiti-2520	5	18	(	(	PUNCT
aiti-2520	5	19	rlg	rlg	PROPN
aiti-2520	5	20	)	)	PUNCT
aiti-2520	5	21	sensor	sensor	NOUN
aiti-2520	5	22	,	,	PUNCT
aiti-2520	5	23	a	a	DET
aiti-2520	5	24	geomagnetic	geomagnetic	ADJ
aiti-2520	5	25	sensor	sensor	NOUN
aiti-2520	5	26	,	,	PUNCT
aiti-2520	5	27	and	and	CCONJ
aiti-2520	5	28	usbl	usbl	PROPN
aiti-2520	5	29	sensor	sensor	NOUN
aiti-2520	5	30	to	to	PART
aiti-2520	5	31	estimate	estimate	VERB
aiti-2520	5	32	precise	precise	ADJ
aiti-2520	5	33	heading	heading	NOUN
aiti-2520	5	34	and	and	CCONJ
aiti-2520	5	35	attitude	attitude	NOUN
aiti-2520	5	36	of	of	ADP
aiti-2520	5	37	the	the	DET
aiti-2520	5	38	utv	utv	PROPN
aiti-2520	5	39	.	.	PUNCT
aiti-2520	6	1	an	an	DET
aiti-2520	6	2	inertial	inertial	ADJ
aiti-2520	6	3	navigation	navigation	NOUN
aiti-2520	6	4	system	system	NOUN
aiti-2520	6	5	(	(	PUNCT
aiti-2520	6	6	ins	in	NOUN
aiti-2520	6	7	)	)	PUNCT
aiti-2520	6	8	is	be	AUX
aiti-2520	6	9	developed	develop	VERB
aiti-2520	6	10	to	to	PART
aiti-2520	6	11	be	be	AUX
aiti-2520	6	12	combined	combine	VERB
aiti-2520	6	13	with	with	ADP
aiti-2520	6	14	the	the	DET
aiti-2520	6	15	developed	develop	VERB
aiti-2520	6	16	ars	ar	NOUN
aiti-2520	6	17	.	.	PUNCT
aiti-2520	7	1	also	also	ADV
aiti-2520	7	2	,	,	PUNCT
aiti-2520	7	3	the	the	DET
aiti-2520	7	4	ins	in	NOUN
aiti-2520	7	5	navigation	navigation	NOUN
aiti-2520	7	6	is	be	AUX
aiti-2520	7	7	configured	configure	VERB
aiti-2520	7	8	by	by	ADP
aiti-2520	7	9	supplementing	supplement	VERB
aiti-2520	7	10	the	the	DET
aiti-2520	7	11	usbl	usbl	NOUN
aiti-2520	7	12	sensor	sensor	NOUN
aiti-2520	7	13	information	information	NOUN
aiti-2520	7	14	.	.	PUNCT
aiti-2520	8	1	we	we	PRON
aiti-2520	8	2	design	design	VERB
aiti-2520	8	3	a	a	DET
aiti-2520	8	4	controller	controller	NOUN
aiti-2520	8	5	for	for	ADP
aiti-2520	8	6	a	a	DET
aiti-2520	8	7	precise	precise	ADJ
aiti-2520	8	8	trajectory	trajectory	NOUN
aiti-2520	8	9	and	and	CCONJ
aiti-2520	8	10	attitude	attitude	NOUN
aiti-2520	8	11	tracking	tracking	NOUN
aiti-2520	8	12	by	by	ADP
aiti-2520	8	13	installing	instal	VERB
aiti-2520	8	14	the	the	DET
aiti-2520	8	15	ars	ar	NOUN
aiti-2520	8	16	on	on	ADP
aiti-2520	8	17	the	the	DET
aiti-2520	8	18	utv	utv	PROPN
aiti-2520	8	19	.	.	PUNCT
aiti-2520	9	1	in	in	ADP
aiti-2520	9	2	this	this	DET
aiti-2520	9	3	paper	paper	NOUN
aiti-2520	9	4	,	,	PUNCT
aiti-2520	9	5	we	we	PRON
aiti-2520	9	6	used	use	VERB
aiti-2520	9	7	an	an	DET
aiti-2520	9	8	extended	extended	ADJ
aiti-2520	9	9	kalman	kalman	NOUN
aiti-2520	9	10	filter	filter	NOUN
aiti-2520	9	11	in	in	ADP
aiti-2520	9	12	the	the	DET
aiti-2520	9	13	ins	in	NOUN
aiti-2520	9	14	to	to	PART
aiti-2520	9	15	estimate	estimate	VERB
aiti-2520	9	16	the	the	DET
aiti-2520	9	17	position	position	NOUN
aiti-2520	9	18	and	and	CCONJ
aiti-2520	9	19	attitude	attitude	NOUN
aiti-2520	9	20	of	of	ADP
aiti-2520	9	21	the	the	DET
aiti-2520	9	22	utv	utv	PROPN
aiti-2520	9	23	.	.	PUNCT
aiti-2520	10	1	the	the	DET
aiti-2520	10	2	ars	ar	NOUN
aiti-2520	10	3	is	be	AUX
aiti-2520	10	4	studied	study	VERB
aiti-2520	10	5	to	to	PART
aiti-2520	10	6	obtain	obtain	VERB
aiti-2520	10	7	more	more	ADV
aiti-2520	10	8	precise	precise	ADJ
aiti-2520	10	9	sensor	sensor	NOUN
aiti-2520	10	10	information	information	NOUN
aiti-2520	10	11	in	in	ADP
aiti-2520	10	12	an	an	DET
aiti-2520	10	13	uncertain	uncertain	ADJ
aiti-2520	10	14	environment	environment	NOUN
aiti-2520	10	15	underwater	underwater	NOUN
aiti-2520	10	16	.	.	PUNCT
aiti-2520	11	1	performance	performance	NOUN
aiti-2520	11	2	tests	test	NOUN
aiti-2520	11	3	of	of	ADP
aiti-2520	11	4	the	the	DET
aiti-2520	11	5	developed	develop	VERB
aiti-2520	11	6	ins	in	NOUN
aiti-2520	11	7	using	use	VERB
aiti-2520	11	8	the	the	DET
aiti-2520	11	9	utv	utv	NOUN
aiti-2520	11	10	are	be	AUX
aiti-2520	11	11	conducted	conduct	VERB
aiti-2520	11	12	and	and	CCONJ
aiti-2520	11	13	the	the	DET
aiti-2520	11	14	results	result	NOUN
aiti-2520	11	15	show	show	VERB
aiti-2520	11	16	that	that	SCONJ
aiti-2520	11	17	the	the	DET
aiti-2520	11	18	system	system	NOUN
aiti-2520	11	19	has	have	VERB
aiti-2520	11	20	the	the	DET
aiti-2520	11	21	best	good	ADJ
aiti-2520	11	22	performance	performance	NOUN
aiti-2520	11	23	.	.	PUNCT
aiti-2520	12	1	keywords	keyword	NOUN
aiti-2520	12	2	:	:	PUNCT
aiti-2520	12	3	ring	ring	NOUN
aiti-2520	12	4	laser	laser	NOUN
aiti-2520	12	5	gyro(rlg	gyro(rlg	PROPN
aiti-2520	12	6	)	)	PUNCT
aiti-2520	12	7	,	,	PUNCT
aiti-2520	12	8	ultra	ultra	ADJ
aiti-2520	12	9	-	-	ADJ
aiti-2520	12	10	short	short	ADJ
aiti-2520	12	11	baseline(usbl	baseline(usbl	PROPN
aiti-2520	12	12	)	)	PUNCT
aiti-2520	12	13	,	,	PUNCT
aiti-2520	12	14	attitude	attitude	NOUN
aiti-2520	12	15	reference	reference	NOUN
aiti-2520	12	16	system(ars	system(ar	NOUN
aiti-2520	12	17	)	)	PUNCT
aiti-2520	12	18	,	,	PUNCT
aiti-2520	12	19	inertial	inertial	ADJ
aiti-2520	12	20	navigation	navigation	NOUN
aiti-2520	12	21	system(ins	system(in	NOUN
aiti-2520	12	22	)	)	PUNCT
aiti-2520	12	23	,	,	PUNCT
aiti-2520	12	24	extended	extend	VERB
aiti-2520	12	25	kalman	kalman	NOUN
aiti-2520	12	26	filter(ekf	filter(ekf	PROPN
aiti-2520	12	27	)	)	PUNCT
aiti-2520	12	28	1	1	NUM
aiti-2520	12	29	.	.	X
aiti-2520	13	1	introduction	introduction	NOUN
aiti-2520	13	2	many	many	ADJ
aiti-2520	13	3	kinds	kind	NOUN
aiti-2520	13	4	of	of	ADP
aiti-2520	13	5	research	research	NOUN
aiti-2520	13	6	have	have	AUX
aiti-2520	13	7	been	be	AUX
aiti-2520	13	8	conducted	conduct	VERB
aiti-2520	13	9	to	to	PART
aiti-2520	13	10	develop	develop	VERB
aiti-2520	13	11	an	an	DET
aiti-2520	13	12	underwater	underwater	ADJ
aiti-2520	13	13	platform	platform	NOUN
aiti-2520	13	14	and	and	CCONJ
aiti-2520	13	15	are	be	AUX
aiti-2520	13	16	capable	capable	ADJ
aiti-2520	13	17	of	of	ADP
aiti-2520	13	18	observing	observe	VERB
aiti-2520	13	19	and	and	CCONJ
aiti-2520	13	20	moving	move	VERB
aiti-2520	13	21	the	the	DET
aiti-2520	13	22	ocean	ocean	NOUN
aiti-2520	13	23	with	with	ADP
aiti-2520	13	24	abundant	abundant	ADJ
aiti-2520	13	25	resources	resource	NOUN
aiti-2520	13	26	and	and	CCONJ
aiti-2520	13	27	energy	energy	NOUN
aiti-2520	14	1	[	[	X
aiti-2520	14	2	1	1	NUM
aiti-2520	14	3	-	-	SYM
aiti-2520	14	4	2	2	NUM
aiti-2520	14	5	]	]	PUNCT
aiti-2520	14	6	.	.	PUNCT
aiti-2520	15	1	fig	fig	NOUN
aiti-2520	15	2	.	.	PUNCT
aiti-2520	16	1	1	1	NUM
aiti-2520	16	2	is	be	AUX
aiti-2520	16	3	an	an	DET
aiti-2520	16	4	example	example	NOUN
aiti-2520	16	5	of	of	ADP
aiti-2520	16	6	an	an	DET
aiti-2520	16	7	underwater	underwater	ADJ
aiti-2520	16	8	platform	platform	NOUN
aiti-2520	16	9	being	be	AUX
aiti-2520	16	10	developed	develop	VERB
aiti-2520	16	11	from	from	ADP
aiti-2520	16	12	observation	observation	NOUN
aiti-2520	16	13	and	and	CCONJ
aiti-2520	16	14	operation	operation	NOUN
aiti-2520	16	15	in	in	ADP
aiti-2520	16	16	the	the	DET
aiti-2520	16	17	water	water	NOUN
aiti-2520	16	18	.	.	PUNCT
aiti-2520	17	1	motion	motion	NOUN
aiti-2520	17	2	modeling	modeling	NOUN
aiti-2520	17	3	of	of	ADP
aiti-2520	17	4	such	such	DET
aiti-2520	17	5	an	an	DET
aiti-2520	17	6	underwater	underwater	NOUN
aiti-2520	17	7	tracked	track	VERB
aiti-2520	17	8	vehicle	vehicle	NOUN
aiti-2520	17	9	has	have	AUX
aiti-2520	17	10	been	be	AUX
aiti-2520	17	11	carried	carry	VERB
aiti-2520	17	12	out	out	ADP
aiti-2520	17	13	[	[	X
aiti-2520	17	14	3	3	NUM
aiti-2520	17	15	]	]	PUNCT
aiti-2520	17	16	.	.	PUNCT
aiti-2520	18	1	one	one	NUM
aiti-2520	18	2	of	of	ADP
aiti-2520	18	3	the	the	DET
aiti-2520	18	4	critical	critical	ADJ
aiti-2520	18	5	technologies	technology	NOUN
aiti-2520	18	6	of	of	ADP
aiti-2520	18	7	this	this	DET
aiti-2520	18	8	marine	marine	ADJ
aiti-2520	18	9	observation	observation	NOUN
aiti-2520	18	10	and	and	CCONJ
aiti-2520	18	11	work	work	NOUN
aiti-2520	18	12	platforms	platform	NOUN
aiti-2520	18	13	is	be	AUX
aiti-2520	18	14	to	to	PART
aiti-2520	18	15	measure	measure	VERB
aiti-2520	18	16	their	their	PRON
aiti-2520	18	17	direction	direction	NOUN
aiti-2520	18	18	and	and	CCONJ
aiti-2520	18	19	location	location	NOUN
aiti-2520	18	20	information	information	NOUN
aiti-2520	18	21	accurately	accurately	ADV
aiti-2520	18	22	.	.	PUNCT
aiti-2520	19	1	fig	fig	NOUN
aiti-2520	19	2	.	.	PUNCT
aiti-2520	20	1	1	1	NUM
aiti-2520	20	2	underwater	underwater	ADJ
aiti-2520	20	3	work	work	NOUN
aiti-2520	20	4	platform	platform	NOUN
aiti-2520	20	5	*	*	PUNCT
aiti-2520	20	6	corresponding	correspond	VERB
aiti-2520	20	7	author	author	NOUN
aiti-2520	20	8	.	.	PUNCT
aiti-2520	21	1	e	e	X
aiti-2520	21	2	-	-	NOUN
aiti-2520	21	3	mail	mail	NOUN
aiti-2520	21	4	address	address	NOUN
aiti-2520	21	5	:	:	PUNCT
aiti-2520	21	6	hchoi@kmou.ac.kr	hchoi@kmou.ac.kr	ADJ
aiti-2520	21	7	advances	advance	NOUN
aiti-2520	21	8	in	in	ADP
aiti-2520	21	9	technology	technology	NOUN
aiti-2520	21	10	innovation	innovation	NOUN
aiti-2520	21	11	,	,	PUNCT
aiti-2520	21	12	vol	vol	NOUN
aiti-2520	21	13	.	.	PROPN
aiti-2520	22	1	4	4	NUM
aiti-2520	22	2	,	,	PUNCT
aiti-2520	22	3	no	no	INTJ
aiti-2520	22	4	.	.	NOUN
aiti-2520	22	5	2	2	NUM
aiti-2520	22	6	,	,	PUNCT
aiti-2520	22	7	2019	2019	NUM
aiti-2520	22	8	,	,	PUNCT
aiti-2520	22	9	pp	pp	ADJ
aiti-2520	22	10	.	.	PUNCT
aiti-2520	23	1	84	84	NUM
aiti-2520	23	2	-	-	SYM
aiti-2520	23	3	93	93	NUM
aiti-2520	23	4	85	85	NUM
aiti-2520	23	5	it	it	PRON
aiti-2520	23	6	is	be	AUX
aiti-2520	23	7	very	very	ADV
aiti-2520	23	8	important	important	ADJ
aiti-2520	23	9	to	to	PART
aiti-2520	23	10	obtain	obtain	VERB
aiti-2520	23	11	the	the	DET
aiti-2520	23	12	heading	head	VERB
aiti-2520	23	13	information	information	NOUN
aiti-2520	23	14	of	of	ADP
aiti-2520	23	15	the	the	DET
aiti-2520	23	16	navigation	navigation	NOUN
aiti-2520	23	17	sensor	sensor	NOUN
aiti-2520	23	18	to	to	PART
aiti-2520	23	19	measure	measure	VERB
aiti-2520	23	20	its	its	PRON
aiti-2520	23	21	position	position	NOUN
aiti-2520	23	22	and	and	CCONJ
aiti-2520	23	23	the	the	DET
aiti-2520	23	24	travel	travel	NOUN
aiti-2520	23	25	direction	direction	NOUN
aiti-2520	23	26	.	.	PUNCT
aiti-2520	24	1	among	among	ADP
aiti-2520	24	2	the	the	DET
aiti-2520	24	3	navigation	navigation	NOUN
aiti-2520	24	4	sensors	sensor	NOUN
aiti-2520	24	5	,	,	PUNCT
aiti-2520	24	6	ring	re	VERB
aiti-2520	24	7	laser	laser	NOUN
aiti-2520	24	8	gyro	gyro	NOUN
aiti-2520	24	9	(	(	PUNCT
aiti-2520	24	10	rlg	rlg	PROPN
aiti-2520	24	11	)	)	PUNCT
aiti-2520	24	12	is	be	AUX
aiti-2520	24	13	the	the	DET
aiti-2520	24	14	key	key	ADJ
aiti-2520	24	15	sensor	sensor	NOUN
aiti-2520	24	16	to	to	PART
aiti-2520	24	17	obtain	obtain	VERB
aiti-2520	24	18	the	the	DET
aiti-2520	24	19	heading	head	VERB
aiti-2520	24	20	information	information	NOUN
aiti-2520	24	21	.	.	PUNCT
aiti-2520	25	1	attitude	attitude	NOUN
aiti-2520	25	2	reference	reference	NOUN
aiti-2520	25	3	system	system	NOUN
aiti-2520	25	4	(	(	PUNCT
aiti-2520	25	5	ars	ars	PROPN
aiti-2520	25	6	)	)	PUNCT
aiti-2520	25	7	is	be	AUX
aiti-2520	25	8	a	a	DET
aiti-2520	25	9	sensor	sensor	NOUN
aiti-2520	25	10	system	system	NOUN
aiti-2520	25	11	that	that	PRON
aiti-2520	25	12	obtains	obtain	VERB
aiti-2520	25	13	the	the	DET
aiti-2520	25	14	heading	heading	NOUN
aiti-2520	25	15	and	and	CCONJ
aiti-2520	25	16	position	position	NOUN
aiti-2520	25	17	information	information	NOUN
aiti-2520	25	18	by	by	ADP
aiti-2520	25	19	using	use	VERB
aiti-2520	25	20	a	a	DET
aiti-2520	25	21	gyro	gyro	NOUN
aiti-2520	25	22	sensor	sensor	NOUN
aiti-2520	25	23	and	and	CCONJ
aiti-2520	25	24	geomagnetic	geomagnetic	ADJ
aiti-2520	25	25	sensor	sensor	NOUN
aiti-2520	25	26	[	[	PUNCT
aiti-2520	25	27	4	4	NUM
aiti-2520	25	28	-	-	SYM
aiti-2520	25	29	6	6	NUM
aiti-2520	25	30	]	]	PUNCT
aiti-2520	25	31	.	.	PUNCT
aiti-2520	26	1	[	[	X
aiti-2520	26	2	7	7	NUM
aiti-2520	26	3	]	]	PUNCT
aiti-2520	26	4	implemented	implement	VERB
aiti-2520	26	5	mems	mem	NOUN
aiti-2520	26	6	inertial	inertial	ADJ
aiti-2520	26	7	sensors	sensor	NOUN
aiti-2520	26	8	,	,	PUNCT
aiti-2520	26	9	the	the	DET
aiti-2520	26	10	error	error	NOUN
aiti-2520	26	11	correction	correction	NOUN
aiti-2520	26	12	,	,	PUNCT
aiti-2520	26	13	and	and	CCONJ
aiti-2520	26	14	algorithms	algorithm	NOUN
aiti-2520	26	15	for	for	ADP
aiti-2520	26	16	high	high	ADJ
aiti-2520	26	17	performance	performance	NOUN
aiti-2520	26	18	as	as	SCONJ
aiti-2520	26	19	the	the	DET
aiti-2520	26	20	sensor	sensor	NOUN
aiti-2520	26	21	needed	need	VERB
aiti-2520	26	22	to	to	PART
aiti-2520	26	23	develop	develop	VERB
aiti-2520	26	24	low	low	ADJ
aiti-2520	26	25	cost	cost	NOUN
aiti-2520	26	26	and	and	CCONJ
aiti-2520	26	27	high	high	ADJ
aiti-2520	26	28	-	-	PUNCT
aiti-2520	26	29	performance	performance	NOUN
aiti-2520	26	30	ars	ar	NOUN
aiti-2520	26	31	.	.	PUNCT
aiti-2520	27	1	also	also	ADV
aiti-2520	27	2	,	,	PUNCT
aiti-2520	27	3	to	to	PART
aiti-2520	27	4	calculate	calculate	VERB
aiti-2520	27	5	the	the	DET
aiti-2520	27	6	posture	posture	NOUN
aiti-2520	27	7	by	by	ADP
aiti-2520	27	8	integrating	integrate	VERB
aiti-2520	27	9	the	the	DET
aiti-2520	27	10	gyro	gyro	NOUN
aiti-2520	27	11	sensor	sensor	NOUN
aiti-2520	27	12	value	value	NOUN
aiti-2520	27	13	has	have	AUX
aiti-2520	27	14	a	a	DET
aiti-2520	27	15	disadvantage	disadvantage	NOUN
aiti-2520	27	16	is	be	AUX
aiti-2520	27	17	that	that	SCONJ
aiti-2520	27	18	it	it	PRON
aiti-2520	27	19	drifts	drift	VERB
aiti-2520	27	20	due	due	ADP
aiti-2520	27	21	to	to	ADP
aiti-2520	27	22	sensor	sensor	NOUN
aiti-2520	27	23	drift	drift	NOUN
aiti-2520	27	24	.	.	PUNCT
aiti-2520	28	1	so	so	ADV
aiti-2520	28	2	,	,	PUNCT
aiti-2520	28	3	[	[	X
aiti-2520	28	4	8	8	NUM
aiti-2520	28	5	]	]	PUNCT
aiti-2520	28	6	recently	recently	ADV
aiti-2520	28	7	implemented	implement	VERB
aiti-2520	28	8	ars	ar	NOUN
aiti-2520	28	9	by	by	ADP
aiti-2520	28	10	using	use	VERB
aiti-2520	28	11	an	an	DET
aiti-2520	28	12	acceleration	acceleration	NOUN
aiti-2520	28	13	sensor	sensor	NOUN
aiti-2520	28	14	and	and	CCONJ
aiti-2520	28	15	gyro	gyro	NOUN
aiti-2520	28	16	sensor	sensor	NOUN
aiti-2520	28	17	to	to	PART
aiti-2520	28	18	overcome	overcome	VERB
aiti-2520	28	19	this	this	DET
aiti-2520	28	20	drawback	drawback	NOUN
aiti-2520	28	21	of	of	ADP
aiti-2520	28	22	the	the	DET
aiti-2520	28	23	combination	combination	NOUN
aiti-2520	28	24	of	of	ADP
aiti-2520	28	25	various	various	ADJ
aiti-2520	28	26	sensors	sensor	NOUN
aiti-2520	28	27	.	.	PUNCT
aiti-2520	29	1	[	[	X
aiti-2520	29	2	9	9	NUM
aiti-2520	29	3	]	]	PUNCT
aiti-2520	29	4	estimated	estimate	VERB
aiti-2520	29	5	the	the	DET
aiti-2520	29	6	posture	posture	NOUN
aiti-2520	29	7	of	of	ADP
aiti-2520	29	8	marg	marg	PROPN
aiti-2520	29	9	(	(	PUNCT
aiti-2520	29	10	magnetic	magnetic	ADJ
aiti-2520	29	11	,	,	PUNCT
aiti-2520	29	12	angular	angular	ADJ
aiti-2520	29	13	rate	rate	NOUN
aiti-2520	29	14	,	,	PUNCT
aiti-2520	29	15	and	and	CCONJ
aiti-2520	29	16	gravity	gravity	NOUN
aiti-2520	29	17	)	)	PUNCT
aiti-2520	29	18	sensor	sensor	NOUN
aiti-2520	29	19	information	information	NOUN
aiti-2520	29	20	of	of	ADP
aiti-2520	29	21	ekf	ekf	NOUN
aiti-2520	29	22	by	by	ADP
aiti-2520	29	23	using	use	VERB
aiti-2520	29	24	quaternion	quaternion	NOUN
aiti-2520	29	25	.	.	PUNCT
aiti-2520	30	1	[	[	X
aiti-2520	30	2	10	10	NUM
aiti-2520	30	3	]	]	PUNCT
aiti-2520	30	4	conducted	conduct	VERB
aiti-2520	30	5	a	a	DET
aiti-2520	30	6	study	study	NOUN
aiti-2520	30	7	to	to	PART
aiti-2520	30	8	follow	follow	VERB
aiti-2520	30	9	the	the	DET
aiti-2520	30	10	position	position	NOUN
aiti-2520	30	11	of	of	ADP
aiti-2520	30	12	rov	rov	PROPN
aiti-2520	30	13	in	in	ADP
aiti-2520	30	14	usv	usv	ADV
aiti-2520	30	15	by	by	ADP
aiti-2520	30	16	combining	combine	VERB
aiti-2520	30	17	imu	imu	NOUN
aiti-2520	30	18	and	and	CCONJ
aiti-2520	30	19	usbl	usbl	NOUN
aiti-2520	30	20	.	.	PUNCT
aiti-2520	31	1	in	in	ADP
aiti-2520	31	2	this	this	DET
aiti-2520	31	3	paper	paper	NOUN
aiti-2520	31	4	,	,	PUNCT
aiti-2520	31	5	we	we	PRON
aiti-2520	31	6	presented	present	VERB
aiti-2520	31	7	the	the	DET
aiti-2520	31	8	underwater	underwater	ADJ
aiti-2520	31	9	navigation	navigation	NOUN
aiti-2520	31	10	of	of	ADP
aiti-2520	31	11	the	the	DET
aiti-2520	31	12	underwater	underwater	ADJ
aiti-2520	31	13	track	track	NOUN
aiti-2520	31	14	vehicle	vehicle	NOUN
aiti-2520	31	15	(	(	PUNCT
aiti-2520	31	16	utv	utv	PROPN
aiti-2520	31	17	)	)	PUNCT
aiti-2520	31	18	which	which	PRON
aiti-2520	31	19	can	can	AUX
aiti-2520	31	20	move	move	VERB
aiti-2520	31	21	on	on	ADP
aiti-2520	31	22	the	the	DET
aiti-2520	31	23	sea	sea	NOUN
aiti-2520	31	24	floor	floor	NOUN
aiti-2520	31	25	.	.	PUNCT
aiti-2520	32	1	the	the	DET
aiti-2520	32	2	ars	ar	NOUN
aiti-2520	32	3	of	of	ADP
aiti-2520	32	4	the	the	DET
aiti-2520	32	5	hull	hull	NOUN
aiti-2520	32	6	,	,	PUNCT
aiti-2520	32	7	which	which	PRON
aiti-2520	32	8	is	be	AUX
aiti-2520	32	9	an	an	DET
aiti-2520	32	10	important	important	ADJ
aiti-2520	32	11	factor	factor	NOUN
aiti-2520	32	12	of	of	ADP
aiti-2520	32	13	the	the	DET
aiti-2520	32	14	underwater	underwater	ADJ
aiti-2520	32	15	navigation	navigation	NOUN
aiti-2520	32	16	,	,	PUNCT
aiti-2520	32	17	were	be	AUX
aiti-2520	32	18	constructed	construct	VERB
aiti-2520	32	19	using	use	VERB
aiti-2520	32	20	rlg	rlg	PROPN
aiti-2520	32	21	and	and	CCONJ
aiti-2520	32	22	a	a	DET
aiti-2520	32	23	magnetometer	magnetometer	NOUN
aiti-2520	32	24	.	.	PUNCT
aiti-2520	33	1	also	also	ADV
aiti-2520	33	2	,	,	PUNCT
aiti-2520	33	3	a	a	DET
aiti-2520	33	4	small	small	ADJ
aiti-2520	33	5	utv	utv	NOUN
aiti-2520	33	6	was	be	AUX
aiti-2520	33	7	designed	design	VERB
aiti-2520	33	8	and	and	CCONJ
aiti-2520	33	9	fabricated	fabricate	VERB
aiti-2520	33	10	to	to	PART
aiti-2520	33	11	verify	verify	VERB
aiti-2520	33	12	the	the	DET
aiti-2520	33	13	actual	actual	ADJ
aiti-2520	33	14	sea	sea	NOUN
aiti-2520	33	15	area	area	NOUN
aiti-2520	33	16	of	of	ADP
aiti-2520	33	17	the	the	DET
aiti-2520	33	18	constructed	construct	VERB
aiti-2520	33	19	underwater	underwater	ADJ
aiti-2520	33	20	navigation	navigation	NOUN
aiti-2520	33	21	system	system	NOUN
aiti-2520	33	22	.	.	PUNCT
aiti-2520	34	1	the	the	DET
aiti-2520	34	2	utv	utv	PROPN
aiti-2520	34	3	is	be	AUX
aiti-2520	34	4	designed	design	VERB
aiti-2520	34	5	to	to	PART
aiti-2520	34	6	be	be	AUX
aiti-2520	34	7	able	able	ADJ
aiti-2520	34	8	to	to	PART
aiti-2520	34	9	move	move	VERB
aiti-2520	34	10	on	on	ADP
aiti-2520	34	11	land	land	NOUN
aiti-2520	34	12	and	and	CCONJ
aiti-2520	34	13	sea	sea	NOUN
aiti-2520	34	14	and	and	CCONJ
aiti-2520	34	15	to	to	PART
aiti-2520	34	16	mount	mount	VERB
aiti-2520	34	17	various	various	ADJ
aiti-2520	34	18	navigational	navigational	ADJ
aiti-2520	34	19	sensors	sensor	NOUN
aiti-2520	34	20	such	such	ADJ
aiti-2520	34	21	as	as	ADP
aiti-2520	34	22	gps	gps	NOUN
aiti-2520	34	23	,	,	PUNCT
aiti-2520	34	24	depth	depth	NOUN
aiti-2520	34	25	,	,	PUNCT
aiti-2520	34	26	imu	imu	NOUN
aiti-2520	34	27	,	,	PUNCT
aiti-2520	34	28	usbl	usbl	NOUN
aiti-2520	34	29	on	on	ADP
aiti-2520	34	30	the	the	DET
aiti-2520	34	31	hull	hull	NOUN
aiti-2520	34	32	.	.	PUNCT
aiti-2520	35	1	this	this	DET
aiti-2520	35	2	paper	paper	NOUN
aiti-2520	35	3	is	be	AUX
aiti-2520	35	4	organized	organize	VERB
aiti-2520	35	5	as	as	SCONJ
aiti-2520	35	6	follows	follow	VERB
aiti-2520	35	7	.	.	PUNCT
aiti-2520	36	1	section	section	NOUN
aiti-2520	36	2	2	2	NUM
aiti-2520	36	3	of	of	ADP
aiti-2520	36	4	this	this	DET
aiti-2520	36	5	paper	paper	NOUN
aiti-2520	36	6	describes	describe	VERB
aiti-2520	36	7	the	the	DET
aiti-2520	36	8	outline	outline	NOUN
aiti-2520	36	9	and	and	CCONJ
aiti-2520	36	10	specifications	specification	NOUN
aiti-2520	36	11	of	of	ADP
aiti-2520	36	12	the	the	DET
aiti-2520	36	13	designed	design	VERB
aiti-2520	36	14	utv	utv	PROPN
aiti-2520	36	15	.	.	PROPN
aiti-2520	36	16	section	section	PROPN
aiti-2520	36	17	3	3	NUM
aiti-2520	36	18	describes	describe	VERB
aiti-2520	36	19	the	the	DET
aiti-2520	36	20	implementation	implementation	NOUN
aiti-2520	36	21	of	of	ADP
aiti-2520	36	22	ars	ar	NOUN
aiti-2520	36	23	using	use	VERB
aiti-2520	36	24	rlg	rlg	PROPN
aiti-2520	36	25	and	and	CCONJ
aiti-2520	36	26	magnetometer	magnetometer	NOUN
aiti-2520	36	27	information	information	NOUN
aiti-2520	36	28	.	.	PUNCT
aiti-2520	37	1	in	in	ADP
aiti-2520	37	2	section	section	NOUN
aiti-2520	37	3	4	4	NUM
aiti-2520	37	4	,	,	PUNCT
aiti-2520	37	5	the	the	DET
aiti-2520	37	6	implemented	implement	VERB
aiti-2520	37	7	ars	ar	NOUN
aiti-2520	37	8	was	be	AUX
aiti-2520	37	9	attached	attach	VERB
aiti-2520	37	10	to	to	ADP
aiti-2520	37	11	the	the	DET
aiti-2520	37	12	test	test	NOUN
aiti-2520	37	13	-	-	PUNCT
aiti-2520	37	14	bed	bed	NOUN
aiti-2520	37	15	and	and	CCONJ
aiti-2520	37	16	the	the	DET
aiti-2520	37	17	experiment	experiment	NOUN
aiti-2520	37	18	was	be	AUX
aiti-2520	37	19	performed	perform	VERB
aiti-2520	37	20	through	through	ADP
aiti-2520	37	21	the	the	DET
aiti-2520	37	22	correct	correct	ADJ
aiti-2520	37	23	step	step	NOUN
aiti-2520	37	24	.	.	PUNCT
aiti-2520	38	1	in	in	ADP
aiti-2520	38	2	section	section	NOUN
aiti-2520	38	3	5	5	NUM
aiti-2520	38	4	,	,	PUNCT
aiti-2520	38	5	we	we	PRON
aiti-2520	38	6	concluded	conclude	VERB
aiti-2520	38	7	this	this	DET
aiti-2520	38	8	paper	paper	NOUN
aiti-2520	38	9	.	.	PUNCT
aiti-2520	39	1	2	2	X
aiti-2520	39	2	.	.	X
aiti-2520	39	3	underwater	underwater	ADJ
aiti-2520	39	4	track	track	NOUN
aiti-2520	39	5	vehicle	vehicle	NOUN
aiti-2520	39	6	a	a	DET
aiti-2520	39	7	small	small	ADJ
aiti-2520	39	8	utv	utv	NOUN
aiti-2520	39	9	was	be	AUX
aiti-2520	39	10	designed	design	VERB
aiti-2520	39	11	to	to	PART
aiti-2520	39	12	verify	verify	VERB
aiti-2520	39	13	the	the	DET
aiti-2520	39	14	excellent	excellent	ADJ
aiti-2520	39	15	performance	performance	NOUN
aiti-2520	39	16	of	of	ADP
aiti-2520	39	17	the	the	DET
aiti-2520	39	18	developed	develop	VERB
aiti-2520	39	19	underwater	underwater	ADJ
aiti-2520	39	20	navigation	navigation	NOUN
aiti-2520	39	21	system	system	NOUN
aiti-2520	39	22	through	through	ADP
aiti-2520	39	23	experiments	experiment	NOUN
aiti-2520	39	24	in	in	ADP
aiti-2520	39	25	the	the	DET
aiti-2520	39	26	water	water	NOUN
aiti-2520	39	27	tank	tank	NOUN
aiti-2520	39	28	and	and	CCONJ
aiti-2520	39	29	the	the	DET
aiti-2520	39	30	sea	sea	NOUN
aiti-2520	39	31	area	area	NOUN
aiti-2520	39	32	.	.	PUNCT
aiti-2520	40	1	the	the	DET
aiti-2520	40	2	designed	design	VERB
aiti-2520	40	3	utv	utv	PROPN
aiti-2520	40	4	is	be	AUX
aiti-2520	40	5	shown	show	VERB
aiti-2520	40	6	in	in	ADP
aiti-2520	40	7	fig	fig	NOUN
aiti-2520	40	8	.	.	PUNCT
aiti-2520	41	1	2(a	2(a	NUM
aiti-2520	41	2	)	)	PUNCT
aiti-2520	41	3	.	.	PUNCT
aiti-2520	42	1	it	it	PRON
aiti-2520	42	2	is	be	AUX
aiti-2520	42	3	a	a	DET
aiti-2520	42	4	structure	structure	NOUN
aiti-2520	42	5	equipped	equip	VERB
aiti-2520	42	6	with	with	ADP
aiti-2520	42	7	an	an	DET
aiti-2520	42	8	infinite	infinite	ADJ
aiti-2520	42	9	orbit	orbit	NOUN
aiti-2520	42	10	for	for	ADP
aiti-2520	42	11	movement	movement	NOUN
aiti-2520	42	12	on	on	ADP
aiti-2520	42	13	the	the	DET
aiti-2520	42	14	land	land	NOUN
aiti-2520	42	15	and	and	CCONJ
aiti-2520	42	16	seafloor	seafloor	NOUN
aiti-2520	42	17	.	.	PUNCT
aiti-2520	43	1	the	the	DET
aiti-2520	43	2	external	external	ADJ
aiti-2520	43	3	shape	shape	NOUN
aiti-2520	43	4	is	be	AUX
aiti-2520	43	5	designed	design	VERB
aiti-2520	43	6	to	to	PART
aiti-2520	43	7	have	have	VERB
aiti-2520	43	8	a	a	DET
aiti-2520	43	9	length	length	NOUN
aiti-2520	43	10	of	of	ADP
aiti-2520	43	11	1200	1200	NUM
aiti-2520	43	12	mm	mm	NOUN
aiti-2520	43	13	,	,	PUNCT
aiti-2520	43	14	the	the	DET
aiti-2520	43	15	endpoint	endpoint	NOUN
aiti-2520	43	16	distance	distance	NOUN
aiti-2520	43	17	of	of	ADP
aiti-2520	43	18	both	both	DET
aiti-2520	43	19	endless	endless	ADJ
aiti-2520	43	20	tracks	track	NOUN
aiti-2520	43	21	is	be	AUX
aiti-2520	43	22	700	700	NUM
aiti-2520	43	23	mm	mm	NOUN
aiti-2520	43	24	and	and	CCONJ
aiti-2520	43	25	the	the	DET
aiti-2520	43	26	distance	distance	NOUN
aiti-2520	43	27	from	from	ADP
aiti-2520	43	28	the	the	DET
aiti-2520	43	29	bottom	bottom	NOUN
aiti-2520	43	30	to	to	ADP
aiti-2520	43	31	the	the	DET
aiti-2520	43	32	top	top	NOUN
aiti-2520	43	33	is	be	AUX
aiti-2520	43	34	800	800	NUM
aiti-2520	43	35	mm	mm	NOUN
aiti-2520	43	36	.	.	PUNCT
aiti-2520	44	1	depends	depend	VERB
aiti-2520	44	2	on	on	ADP
aiti-2520	44	3	the	the	DET
aiti-2520	44	4	control	control	NOUN
aiti-2520	44	5	method	method	NOUN
aiti-2520	44	6	,	,	PUNCT
aiti-2520	44	7	a	a	DET
aiti-2520	44	8	total	total	NOUN
aiti-2520	44	9	of	of	ADP
aiti-2520	44	10	two	two	NUM
aiti-2520	44	11	motors	motor	NOUN
aiti-2520	44	12	control	control	VERB
aiti-2520	44	13	each	each	DET
aiti-2520	44	14	caterpillar	caterpillar	NOUN
aiti-2520	44	15	individually	individually	ADV
aiti-2520	44	16	and	and	CCONJ
aiti-2520	44	17	can	can	AUX
aiti-2520	44	18	be	be	AUX
aiti-2520	44	19	turned	turn	VERB
aiti-2520	44	20	forward	forward	ADV
aiti-2520	44	21	/	/	SYM
aiti-2520	44	22	backward	backward	ADV
aiti-2520	44	23	and	and	CCONJ
aiti-2520	44	24	left	leave	VERB
aiti-2520	44	25	/	/	SYM
aiti-2520	44	26	right	right	INTJ
aiti-2520	44	27	.	.	PUNCT
aiti-2520	45	1	the	the	DET
aiti-2520	45	2	utv	utv	PROPN
aiti-2520	45	3	also	also	ADV
aiti-2520	45	4	has	have	VERB
aiti-2520	45	5	various	various	ADJ
aiti-2520	45	6	navigational	navigational	ADJ
aiti-2520	45	7	sensors	sensor	NOUN
aiti-2520	45	8	such	such	ADJ
aiti-2520	45	9	as	as	ADP
aiti-2520	45	10	gps	gps	NOUN
aiti-2520	45	11	,	,	PUNCT
aiti-2520	45	12	depth	depth	NOUN
aiti-2520	45	13	,	,	PUNCT
aiti-2520	45	14	imu	imu	NOUN
aiti-2520	45	15	,	,	PUNCT
aiti-2520	45	16	and	and	CCONJ
aiti-2520	45	17	usbl	usbl	NOUN
aiti-2520	45	18	.	.	PUNCT
aiti-2520	46	1	the	the	DET
aiti-2520	46	2	picture	picture	NOUN
aiti-2520	46	3	of	of	ADP
aiti-2520	46	4	the	the	DET
aiti-2520	46	5	utv	utv	PROPN
aiti-2520	46	6	is	be	AUX
aiti-2520	46	7	shown	show	VERB
aiti-2520	46	8	in	in	ADP
aiti-2520	46	9	fig	fig	NOUN
aiti-2520	46	10	.	.	PUNCT
aiti-2520	47	1	2(b	2(b	NUM
aiti-2520	47	2	)	)	PUNCT
aiti-2520	48	1	and	and	CCONJ
aiti-2520	48	2	the	the	DET
aiti-2520	48	3	total	total	ADJ
aiti-2520	48	4	weight	weight	NOUN
aiti-2520	48	5	is	be	AUX
aiti-2520	48	6	about	about	ADV
aiti-2520	48	7	80	80	NUM
aiti-2520	48	8	kg	kg	NOUN
aiti-2520	48	9	.	.	PUNCT
aiti-2520	49	1	the	the	DET
aiti-2520	49	2	utv	utv	PROPN
aiti-2520	49	3	is	be	AUX
aiti-2520	49	4	transported	transport	VERB
aiti-2520	49	5	to	to	ADP
aiti-2520	49	6	the	the	DET
aiti-2520	49	7	experimental	experimental	ADJ
aiti-2520	49	8	sea	sea	NOUN
aiti-2520	49	9	by	by	ADP
aiti-2520	49	10	the	the	DET
aiti-2520	49	11	ship	ship	NOUN
aiti-2520	49	12	in	in	ADP
aiti-2520	49	13	the	the	DET
aiti-2520	49	14	sea	sea	NOUN
aiti-2520	49	15	area	area	NOUN
aiti-2520	49	16	test	test	NOUN
aiti-2520	49	17	and	and	CCONJ
aiti-2520	49	18	is	be	AUX
aiti-2520	49	19	designed	design	VERB
aiti-2520	49	20	to	to	PART
aiti-2520	49	21	be	be	AUX
aiti-2520	49	22	operated	operate	VERB
aiti-2520	49	23	by	by	ADP
aiti-2520	49	24	the	the	DET
aiti-2520	49	25	power	power	NOUN
aiti-2520	49	26	supply	supply	NOUN
aiti-2520	49	27	and	and	CCONJ
aiti-2520	49	28	communicate	communicate	VERB
aiti-2520	49	29	by	by	ADP
aiti-2520	49	30	using	use	VERB
aiti-2520	49	31	the	the	DET
aiti-2520	49	32	tether	tether	NOUN
aiti-2520	49	33	cable	cable	NOUN
aiti-2520	49	34	by	by	ADP
aiti-2520	49	35	descending	descend	VERB
aiti-2520	49	36	to	to	ADP
aiti-2520	49	37	the	the	DET
aiti-2520	49	38	sea	sea	NOUN
aiti-2520	49	39	floor	floor	NOUN
aiti-2520	49	40	through	through	ADP
aiti-2520	49	41	the	the	DET
aiti-2520	49	42	crane	crane	NOUN
aiti-2520	49	43	in	in	ADP
aiti-2520	49	44	the	the	DET
aiti-2520	49	45	target	target	NOUN
aiti-2520	49	46	sea	sea	NOUN
aiti-2520	49	47	area	area	NOUN
aiti-2520	49	48	.	.	PUNCT
aiti-2520	50	1	route	route	NOUN
aiti-2520	50	2	control	control	NOUN
aiti-2520	50	3	and	and	CCONJ
aiti-2520	50	4	tracking	tracking	NOUN
aiti-2520	50	5	operation	operation	NOUN
aiti-2520	50	6	are	be	AUX
aiti-2520	50	7	carried	carry	VERB
aiti-2520	50	8	on	on	ADP
aiti-2520	50	9	by	by	ADP
aiti-2520	50	10	applying	apply	VERB
aiti-2520	50	11	the	the	DET
aiti-2520	50	12	designed	design	VERB
aiti-2520	50	13	underwater	underwater	ADJ
aiti-2520	50	14	navigation	navigation	NOUN
aiti-2520	50	15	system	system	NOUN
aiti-2520	50	16	to	to	ADP
aiti-2520	50	17	utv	utv	PROPN
aiti-2520	50	18	.	.	PUNCT
aiti-2520	51	1	(	(	PUNCT
aiti-2520	51	2	a	a	X
aiti-2520	51	3	)	)	PUNCT
aiti-2520	51	4	design	design	NOUN
aiti-2520	51	5	utv	utv	PROPN
aiti-2520	51	6	(	(	PUNCT
aiti-2520	51	7	b	b	NOUN
aiti-2520	51	8	)	)	PUNCT
aiti-2520	51	9	produced	produce	VERB
aiti-2520	51	10	utv	utv	PROPN
aiti-2520	51	11	fig	fig	NOUN
aiti-2520	51	12	.	.	PUNCT
aiti-2520	52	1	2	2	NUM
aiti-2520	52	2	underwater	underwater	NOUN
aiti-2520	52	3	track	track	NOUN
aiti-2520	52	4	vehicle	vehicle	NOUN
aiti-2520	52	5	advances	advance	NOUN
aiti-2520	52	6	in	in	ADP
aiti-2520	52	7	technology	technology	NOUN
aiti-2520	52	8	innovation	innovation	NOUN
aiti-2520	52	9	,	,	PUNCT
aiti-2520	52	10	vol	vol	NOUN
aiti-2520	52	11	.	.	PROPN
aiti-2520	52	12	4	4	NUM
aiti-2520	52	13	,	,	PUNCT
aiti-2520	52	14	no	no	INTJ
aiti-2520	52	15	.	.	NOUN
aiti-2520	52	16	2	2	NUM
aiti-2520	52	17	,	,	PUNCT
aiti-2520	52	18	2019	2019	NUM
aiti-2520	52	19	,	,	PUNCT
aiti-2520	52	20	pp	pp	ADJ
aiti-2520	52	21	.	.	PUNCT
aiti-2520	53	1	84	84	NUM
aiti-2520	53	2	-	-	SYM
aiti-2520	53	3	93	93	NUM
aiti-2520	53	4	86	86	NUM
aiti-2520	53	5	3	3	NUM
aiti-2520	53	6	.	.	PUNCT
aiti-2520	53	7	attitude	attitude	NOUN
aiti-2520	53	8	reference	reference	NOUN
aiti-2520	53	9	system	system	NOUN
aiti-2520	53	10	ars	ar	NOUN
aiti-2520	53	11	,	,	PUNCT
aiti-2520	53	12	which	which	PRON
aiti-2520	53	13	is	be	AUX
aiti-2520	53	14	an	an	DET
aiti-2520	53	15	essential	essential	ADJ
aiti-2520	53	16	sensor	sensor	NOUN
aiti-2520	53	17	in	in	ADP
aiti-2520	53	18	the	the	DET
aiti-2520	53	19	underwater	underwater	ADJ
aiti-2520	53	20	navigation	navigation	NOUN
aiti-2520	53	21	of	of	ADP
aiti-2520	53	22	utv	utv	PROPN
aiti-2520	53	23	,	,	PUNCT
aiti-2520	53	24	was	be	AUX
aiti-2520	53	25	constructed	construct	VERB
aiti-2520	53	26	using	use	VERB
aiti-2520	53	27	rlg	rlg	PROPN
aiti-2520	53	28	and	and	CCONJ
aiti-2520	53	29	a	a	DET
aiti-2520	53	30	magnetometer	magnetometer	NOUN
aiti-2520	53	31	.	.	PUNCT
aiti-2520	54	1	the	the	DET
aiti-2520	54	2	development	development	NOUN
aiti-2520	54	3	of	of	ADP
aiti-2520	54	4	the	the	DET
aiti-2520	54	5	ars	ar	NOUN
aiti-2520	54	6	is	be	AUX
aiti-2520	54	7	as	as	SCONJ
aiti-2520	54	8	follows	follow	VERB
aiti-2520	54	9	.	.	PUNCT
aiti-2520	55	1	3.1	3.1	NUM
aiti-2520	55	2	.	.	PUNCT
aiti-2520	55	3	configuration	configuration	NOUN
aiti-2520	55	4	of	of	ADP
aiti-2520	55	5	the	the	DET
aiti-2520	55	6	ars	ar	NOUN
aiti-2520	55	7	the	the	DET
aiti-2520	55	8	ars	ar	NOUN
aiti-2520	55	9	is	be	AUX
aiti-2520	55	10	composed	compose	VERB
aiti-2520	55	11	of	of	ADP
aiti-2520	55	12	rlg	rlg	PROPN
aiti-2520	55	13	and	and	CCONJ
aiti-2520	55	14	magnetometer	magnetometer	NOUN
aiti-2520	55	15	and	and	CCONJ
aiti-2520	55	16	the	the	DET
aiti-2520	55	17	addition	addition	NOUN
aiti-2520	55	18	of	of	ADP
aiti-2520	55	19	the	the	DET
aiti-2520	55	20	navigation	navigation	NOUN
aiti-2520	55	21	algorithm	algorithm	NOUN
aiti-2520	55	22	.	.	PUNCT
aiti-2520	56	1	the	the	DET
aiti-2520	56	2	ars	ar	NOUN
aiti-2520	56	3	using	use	VERB
aiti-2520	56	4	rlg	rlg	PROPN
aiti-2520	56	5	has	have	VERB
aiti-2520	56	6	a	a	DET
aiti-2520	56	7	problem	problem	NOUN
aiti-2520	56	8	of	of	ADP
aiti-2520	56	9	integration	integration	NOUN
aiti-2520	56	10	error	error	NOUN
aiti-2520	56	11	of	of	ADP
aiti-2520	56	12	data	datum	NOUN
aiti-2520	56	13	due	due	ADP
aiti-2520	56	14	to	to	ADP
aiti-2520	56	15	time	time	NOUN
aiti-2520	56	16	increase	increase	NOUN
aiti-2520	56	17	.	.	PUNCT
aiti-2520	57	1	to	to	PART
aiti-2520	57	2	reduce	reduce	VERB
aiti-2520	57	3	the	the	DET
aiti-2520	57	4	accumulation	accumulation	NOUN
aiti-2520	57	5	of	of	ADP
aiti-2520	57	6	integration	integration	NOUN
aiti-2520	57	7	error	error	NOUN
aiti-2520	57	8	,	,	PUNCT
aiti-2520	57	9	we	we	PRON
aiti-2520	57	10	constructed	construct	VERB
aiti-2520	57	11	an	an	DET
aiti-2520	57	12	extended	extended	ADJ
aiti-2520	57	13	kalman	kalman	NOUN
aiti-2520	57	14	filter	filter	NOUN
aiti-2520	57	15	algorithm	algorithm	NOUN
aiti-2520	57	16	using	use	VERB
aiti-2520	57	17	gyro	gyro	NOUN
aiti-2520	57	18	data	datum	NOUN
aiti-2520	57	19	,	,	PUNCT
aiti-2520	57	20	acceleration	acceleration	NOUN
aiti-2520	57	21	data	datum	NOUN
aiti-2520	57	22	,	,	PUNCT
aiti-2520	57	23	and	and	CCONJ
aiti-2520	57	24	geomagnetism	geomagnetism	NOUN
aiti-2520	57	25	data	datum	NOUN
aiti-2520	57	26	.	.	PUNCT
aiti-2520	58	1	the	the	DET
aiti-2520	58	2	block	block	NOUN
aiti-2520	58	3	diagram	diagram	NOUN
aiti-2520	58	4	that	that	PRON
aiti-2520	58	5	corrects	correct	VERB
aiti-2520	58	6	the	the	DET
aiti-2520	58	7	integration	integration	NOUN
aiti-2520	58	8	error	error	NOUN
aiti-2520	58	9	accumulation	accumulation	NOUN
aiti-2520	58	10	of	of	ADP
aiti-2520	58	11	the	the	DET
aiti-2520	58	12	sensor	sensor	NOUN
aiti-2520	58	13	data	datum	NOUN
aiti-2520	58	14	using	use	VERB
aiti-2520	58	15	the	the	DET
aiti-2520	58	16	extended	extended	ADJ
aiti-2520	58	17	kalman	kalman	NOUN
aiti-2520	58	18	filter	filter	NOUN
aiti-2520	58	19	is	be	AUX
aiti-2520	58	20	shown	show	VERB
aiti-2520	58	21	in	in	ADP
aiti-2520	58	22	fig	fig	NOUN
aiti-2520	58	23	.	.	PUNCT
aiti-2520	59	1	3	3	X
aiti-2520	59	2	.	.	X
aiti-2520	59	3	fig	fig	NOUN
aiti-2520	59	4	.	.	PUNCT
aiti-2520	60	1	3	3	NUM
aiti-2520	60	2	structure	structure	NOUN
aiti-2520	60	3	of	of	ADP
aiti-2520	60	4	ars	ar	NOUN
aiti-2520	60	5	algorithm	algorithm	PROPN
aiti-2520	60	6	fig	fig	PROPN
aiti-2520	60	7	.	.	PUNCT
aiti-2520	61	1	3	3	NUM
aiti-2520	61	2	is	be	AUX
aiti-2520	61	3	a	a	DET
aiti-2520	61	4	method	method	NOUN
aiti-2520	61	5	of	of	ADP
aiti-2520	61	6	calibrating	calibrate	VERB
aiti-2520	61	7	using	use	VERB
aiti-2520	61	8	acceleration	acceleration	NOUN
aiti-2520	61	9	and	and	CCONJ
aiti-2520	61	10	external	external	ADJ
aiti-2520	61	11	geomagnetism	geomagnetism	NOUN
aiti-2520	61	12	data	datum	NOUN
aiti-2520	61	13	.	.	PUNCT
aiti-2520	62	1	the	the	DET
aiti-2520	62	2	angular	angular	ADJ
aiti-2520	62	3	velocity	velocity	NOUN
aiti-2520	62	4	of	of	ADP
aiti-2520	62	5	rlg	rlg	PROPN
aiti-2520	62	6	is	be	AUX
aiti-2520	62	7	integrated	integrate	VERB
aiti-2520	62	8	by	by	ADP
aiti-2520	62	9	using	use	VERB
aiti-2520	62	10	the	the	DET
aiti-2520	62	11	relation	relation	NOUN
aiti-2520	62	12	between	between	ADP
aiti-2520	62	13	euler	euler	NOUN
aiti-2520	62	14	angle	angle	NOUN
aiti-2520	62	15	and	and	CCONJ
aiti-2520	62	16	angular	angular	ADJ
aiti-2520	62	17	velocity	velocity	NOUN
aiti-2520	62	18	,	,	PUNCT
aiti-2520	62	19	and	and	CCONJ
aiti-2520	62	20	the	the	DET
aiti-2520	62	21	data	datum	NOUN
aiti-2520	62	22	of	of	ADP
aiti-2520	62	23	roll	roll	NOUN
aiti-2520	62	24	,	,	PUNCT
aiti-2520	62	25	pitch	pitch	NOUN
aiti-2520	62	26	,	,	PUNCT
aiti-2520	62	27	and	and	CCONJ
aiti-2520	62	28	yaw	yaw	NOUN
aiti-2520	62	29	derived	derive	VERB
aiti-2520	62	30	are	be	AUX
aiti-2520	62	31	corrected	correct	VERB
aiti-2520	62	32	by	by	ADP
aiti-2520	62	33	the	the	DET
aiti-2520	62	34	extended	extended	ADJ
aiti-2520	62	35	kalman	kalman	NOUN
aiti-2520	62	36	filter	filter	NOUN
aiti-2520	62	37	.	.	PUNCT
aiti-2520	63	1	the	the	DET
aiti-2520	63	2	reason	reason	NOUN
aiti-2520	63	3	for	for	ADP
aiti-2520	63	4	using	use	VERB
aiti-2520	63	5	a	a	DET
aiti-2520	63	6	similar	similar	ADJ
aiti-2520	63	7	sensor	sensor	NOUN
aiti-2520	63	8	,	,	PUNCT
aiti-2520	63	9	gyro	gyro	NOUN
aiti-2520	63	10	,	,	PUNCT
aiti-2520	63	11	and	and	CCONJ
aiti-2520	63	12	geomagnetism	geomagnetism	NOUN
aiti-2520	63	13	is	be	AUX
aiti-2520	63	14	to	to	PART
aiti-2520	63	15	utilize	utilize	VERB
aiti-2520	63	16	the	the	DET
aiti-2520	63	17	advantages	advantage	NOUN
aiti-2520	63	18	of	of	ADP
aiti-2520	63	19	each	each	DET
aiti-2520	63	20	sensor	sensor	NOUN
aiti-2520	63	21	[	[	PUNCT
aiti-2520	63	22	10	10	NUM
aiti-2520	63	23	-	-	SYM
aiti-2520	63	24	11	11	NUM
aiti-2520	63	25	]	]	PUNCT
aiti-2520	63	26	.	.	PUNCT
aiti-2520	64	1	yaw	yaw	PROPN
aiti-2520	64	2	data	datum	NOUN
aiti-2520	64	3	from	from	ADP
aiti-2520	64	4	the	the	DET
aiti-2520	64	5	geomagnetic	geomagnetic	ADJ
aiti-2520	64	6	sensor	sensor	NOUN
aiti-2520	64	7	are	be	AUX
aiti-2520	64	8	sensitive	sensitive	ADJ
aiti-2520	64	9	to	to	ADP
aiti-2520	64	10	the	the	DET
aiti-2520	64	11	surrounding	surround	VERB
aiti-2520	64	12	magnetic	magnetic	ADJ
aiti-2520	64	13	field	field	NOUN
aiti-2520	64	14	and	and	CCONJ
aiti-2520	64	15	has	have	VERB
aiti-2520	64	16	a	a	DET
aiti-2520	64	17	large	large	ADJ
aiti-2520	64	18	error	error	NOUN
aiti-2520	64	19	.	.	PUNCT
aiti-2520	65	1	also	also	ADV
aiti-2520	65	2	,	,	PUNCT
aiti-2520	65	3	it	it	PRON
aiti-2520	65	4	is	be	AUX
aiti-2520	65	5	greatly	greatly	ADV
aiti-2520	65	6	affected	affect	VERB
aiti-2520	65	7	by	by	ADP
aiti-2520	65	8	the	the	DET
aiti-2520	65	9	surrounding	surround	VERB
aiti-2520	65	10	environment	environment	NOUN
aiti-2520	65	11	.	.	PUNCT
aiti-2520	66	1	to	to	PART
aiti-2520	66	2	grasp	grasp	VERB
aiti-2520	66	3	this	this	DET
aiti-2520	66	4	characteristic	characteristic	NOUN
aiti-2520	66	5	,	,	PUNCT
aiti-2520	66	6	we	we	PRON
aiti-2520	66	7	experimented	experiment	VERB
aiti-2520	66	8	with	with	ADP
aiti-2520	66	9	the	the	DET
aiti-2520	66	10	characteristics	characteristic	NOUN
aiti-2520	66	11	of	of	ADP
aiti-2520	66	12	the	the	DET
aiti-2520	66	13	geomagnetic	geomagnetic	ADJ
aiti-2520	66	14	sensor	sensor	NOUN
aiti-2520	66	15	and	and	CCONJ
aiti-2520	66	16	constructed	construct	VERB
aiti-2520	66	17	the	the	DET
aiti-2520	66	18	experimental	experimental	ADJ
aiti-2520	66	19	apparatus	apparatus	NOUN
aiti-2520	66	20	using	use	VERB
aiti-2520	66	21	the	the	DET
aiti-2520	66	22	gyro	gyro	NOUN
aiti-2520	66	23	and	and	CCONJ
aiti-2520	66	24	acceleration	acceleration	NOUN
aiti-2520	66	25	sensor	sensor	NOUN
aiti-2520	66	26	to	to	PART
aiti-2520	66	27	compare	compare	VERB
aiti-2520	66	28	with	with	ADP
aiti-2520	66	29	the	the	DET
aiti-2520	66	30	experimental	experimental	ADJ
aiti-2520	66	31	data	datum	NOUN
aiti-2520	66	32	.	.	PUNCT
aiti-2520	67	1	3.2	3.2	NUM
aiti-2520	67	2	.	.	PUNCT
aiti-2520	67	3	ars	ar	NOUN
aiti-2520	67	4	testbed	testbe	VERB
aiti-2520	67	5	the	the	DET
aiti-2520	67	6	testbed	testbe	VERB
aiti-2520	67	7	created	create	VERB
aiti-2520	67	8	for	for	ADP
aiti-2520	67	9	the	the	DET
aiti-2520	67	10	performance	performance	NOUN
aiti-2520	67	11	test	test	NOUN
aiti-2520	67	12	of	of	ADP
aiti-2520	67	13	the	the	DET
aiti-2520	67	14	ars	ar	NOUN
aiti-2520	67	15	consists	consist	VERB
aiti-2520	67	16	of	of	ADP
aiti-2520	67	17	rlg	rlg	PROPN
aiti-2520	67	18	,	,	PUNCT
aiti-2520	67	19	mems	mem	NOUN
aiti-2520	67	20	type	type	NOUN
aiti-2520	67	21	attitude	attitude	NOUN
aiti-2520	67	22	,	,	PUNCT
aiti-2520	67	23	heading	head	VERB
aiti-2520	67	24	reference	reference	NOUN
aiti-2520	67	25	system	system	NOUN
aiti-2520	67	26	(	(	PUNCT
aiti-2520	67	27	ahrs	ahrs	PROPN
aiti-2520	67	28	)	)	PUNCT
aiti-2520	67	29	that	that	PRON
aiti-2520	67	30	provides	provide	VERB
aiti-2520	67	31	information	information	NOUN
aiti-2520	67	32	on	on	ADP
aiti-2520	67	33	acceleration	acceleration	NOUN
aiti-2520	67	34	data	datum	NOUN
aiti-2520	67	35	and	and	CCONJ
aiti-2520	67	36	sensor	sensor	NOUN
aiti-2520	67	37	module	module	NOUN
aiti-2520	67	38	including	include	VERB
aiti-2520	67	39	the	the	DET
aiti-2520	67	40	geomagnetic	geomagnetic	ADJ
aiti-2520	67	41	sensor	sensor	NOUN
aiti-2520	67	42	.	.	PUNCT
aiti-2520	68	1	the	the	DET
aiti-2520	68	2	storage	storage	NOUN
aiti-2520	68	3	and	and	CCONJ
aiti-2520	68	4	computation	computation	NOUN
aiti-2520	68	5	of	of	ADP
aiti-2520	68	6	the	the	DET
aiti-2520	68	7	test	test	NOUN
aiti-2520	68	8	device	device	NOUN
aiti-2520	68	9	data	datum	NOUN
aiti-2520	68	10	were	be	AUX
aiti-2520	68	11	handled	handle	VERB
aiti-2520	68	12	using	use	VERB
aiti-2520	68	13	an	an	DET
aiti-2520	68	14	embedded	embed	VERB
aiti-2520	68	15	linux	linux	NOUN
aiti-2520	68	16	processor	processor	NOUN
aiti-2520	68	17	.	.	PUNCT
aiti-2520	69	1	fig	fig	NOUN
aiti-2520	69	2	.	.	PUNCT
aiti-2520	70	1	4	4	NUM
aiti-2520	70	2	shows	show	VERB
aiti-2520	70	3	a	a	DET
aiti-2520	70	4	diagram	diagram	NOUN
aiti-2520	70	5	of	of	ADP
aiti-2520	70	6	the	the	DET
aiti-2520	70	7	configuration	configuration	NOUN
aiti-2520	70	8	of	of	ADP
aiti-2520	70	9	the	the	DET
aiti-2520	70	10	ars	ar	NOUN
aiti-2520	70	11	.	.	PUNCT
aiti-2520	71	1	fig	fig	NOUN
aiti-2520	71	2	.	.	PUNCT
aiti-2520	72	1	4	4	NUM
aiti-2520	72	2	ars	ar	NOUN
aiti-2520	72	3	diagram	diagram	NOUN
aiti-2520	72	4	advances	advance	NOUN
aiti-2520	72	5	in	in	ADP
aiti-2520	72	6	technology	technology	NOUN
aiti-2520	72	7	innovation	innovation	NOUN
aiti-2520	72	8	,	,	PUNCT
aiti-2520	72	9	vol	vol	NOUN
aiti-2520	72	10	.	.	PROPN
aiti-2520	72	11	4	4	NUM
aiti-2520	72	12	,	,	PUNCT
aiti-2520	72	13	no	no	INTJ
aiti-2520	72	14	.	.	NOUN
aiti-2520	72	15	2	2	NUM
aiti-2520	72	16	,	,	PUNCT
aiti-2520	72	17	2019	2019	NUM
aiti-2520	72	18	,	,	PUNCT
aiti-2520	72	19	pp	pp	ADJ
aiti-2520	72	20	.	.	PUNCT
aiti-2520	73	1	84	84	NUM
aiti-2520	73	2	-	-	SYM
aiti-2520	73	3	93	93	NUM
aiti-2520	73	4	87	87	NUM
aiti-2520	73	5	in	in	ADP
aiti-2520	73	6	fig	fig	NOUN
aiti-2520	73	7	.	.	PUNCT
aiti-2520	74	1	4	4	NUM
aiti-2520	74	2	,	,	PUNCT
aiti-2520	74	3	the	the	DET
aiti-2520	74	4	ahrs	ahrs	NOUN
aiti-2520	74	5	,	,	PUNCT
aiti-2520	74	6	gps	gps	PROPN
aiti-2520	74	7	,	,	PUNCT
aiti-2520	74	8	and	and	CCONJ
aiti-2520	74	9	imu	imu	NOUN
aiti-2520	74	10	sensor	sensor	NOUN
aiti-2520	74	11	data	datum	NOUN
aiti-2520	74	12	is	be	AUX
aiti-2520	74	13	used	use	VERB
aiti-2520	74	14	for	for	ADP
aiti-2520	74	15	the	the	DET
aiti-2520	74	16	algorithm	algorithm	NOUN
aiti-2520	74	17	that	that	PRON
aiti-2520	74	18	is	be	AUX
aiti-2520	74	19	ported	port	VERB
aiti-2520	74	20	to	to	ADP
aiti-2520	74	21	the	the	DET
aiti-2520	74	22	embedded	embed	VERB
aiti-2520	74	23	linux	linux	PROPN
aiti-2520	74	24	.	.	PUNCT
aiti-2520	75	1	the	the	DET
aiti-2520	75	2	computed	compute	VERB
aiti-2520	75	3	data	datum	NOUN
aiti-2520	75	4	and	and	CCONJ
aiti-2520	75	5	the	the	DET
aiti-2520	75	6	stored	store	VERB
aiti-2520	75	7	data	datum	NOUN
aiti-2520	75	8	are	be	AUX
aiti-2520	75	9	sent	send	VERB
aiti-2520	75	10	to	to	ADP
aiti-2520	75	11	the	the	DET
aiti-2520	75	12	computer	computer	NOUN
aiti-2520	75	13	that	that	PRON
aiti-2520	75	14	stores	store	VERB
aiti-2520	75	15	the	the	DET
aiti-2520	75	16	data	datum	NOUN
aiti-2520	75	17	in	in	ADP
aiti-2520	75	18	rf	rf	ADJ
aiti-2520	75	19	wireless	wireless	ADJ
aiti-2520	75	20	communication	communication	NOUN
aiti-2520	75	21	.	.	PUNCT
aiti-2520	76	1	to	to	PART
aiti-2520	76	2	extract	extract	VERB
aiti-2520	76	3	the	the	DET
aiti-2520	76	4	data	datum	NOUN
aiti-2520	76	5	from	from	ADP
aiti-2520	76	6	the	the	DET
aiti-2520	76	7	sensors	sensor	NOUN
aiti-2520	76	8	,	,	PUNCT
aiti-2520	76	9	a	a	DET
aiti-2520	76	10	device	device	NOUN
aiti-2520	76	11	that	that	PRON
aiti-2520	76	12	provides	provide	VERB
aiti-2520	76	13	motion	motion	NOUN
aiti-2520	76	14	was	be	AUX
aiti-2520	76	15	created	create	VERB
aiti-2520	76	16	in	in	ADP
aiti-2520	76	17	the	the	DET
aiti-2520	76	18	form	form	NOUN
aiti-2520	76	19	of	of	ADP
aiti-2520	76	20	a	a	DET
aiti-2520	76	21	rotating	rotate	VERB
aiti-2520	76	22	table	table	NOUN
aiti-2520	76	23	.	.	PUNCT
aiti-2520	77	1	the	the	DET
aiti-2520	77	2	developed	develop	VERB
aiti-2520	77	3	equipment	equipment	NOUN
aiti-2520	77	4	is	be	AUX
aiti-2520	77	5	shown	show	VERB
aiti-2520	77	6	in	in	ADP
aiti-2520	77	7	fig	fig	NOUN
aiti-2520	77	8	.	.	PUNCT
aiti-2520	78	1	5	5	X
aiti-2520	78	2	.	.	X
aiti-2520	78	3	the	the	DET
aiti-2520	78	4	rotating	rotate	VERB
aiti-2520	78	5	table	table	NOUN
aiti-2520	78	6	was	be	AUX
aiti-2520	78	7	constructed	construct	VERB
aiti-2520	78	8	by	by	ADP
aiti-2520	78	9	applying	apply	VERB
aiti-2520	78	10	a	a	DET
aiti-2520	78	11	servo	servo	NOUN
aiti-2520	78	12	motor	motor	NOUN
aiti-2520	78	13	with	with	ADP
aiti-2520	78	14	a	a	DET
aiti-2520	78	15	resolution	resolution	NOUN
aiti-2520	78	16	of	of	ADP
aiti-2520	78	17	0.088	0.088	NUM
aiti-2520	78	18	°	°	PUNCT
aiti-2520	78	19	and	and	CCONJ
aiti-2520	78	20	arm	arm	NOUN
aiti-2520	78	21	-	-	PUNCT
aiti-2520	78	22	m4	m4	PROPN
aiti-2520	78	23	series	series	NOUN
aiti-2520	78	24	micro	micro	NOUN
aiti-2520	78	25	-	-	NOUN
aiti-2520	78	26	controller	controller	NOUN
aiti-2520	78	27	was	be	AUX
aiti-2520	78	28	used	use	VERB
aiti-2520	78	29	to	to	PART
aiti-2520	78	30	configure	configure	VERB
aiti-2520	78	31	the	the	DET
aiti-2520	78	32	system	system	NOUN
aiti-2520	78	33	to	to	PART
aiti-2520	78	34	control	control	VERB
aiti-2520	78	35	the	the	DET
aiti-2520	78	36	rotation	rotation	NOUN
aiti-2520	78	37	speed	speed	NOUN
aiti-2520	78	38	and	and	CCONJ
aiti-2520	78	39	the	the	DET
aiti-2520	78	40	rotation	rotation	NOUN
aiti-2520	78	41	angle	angle	NOUN
aiti-2520	78	42	of	of	ADP
aiti-2520	78	43	the	the	DET
aiti-2520	78	44	motor	motor	NOUN
aiti-2520	78	45	precisely	precisely	ADV
aiti-2520	78	46	.	.	PUNCT
aiti-2520	79	1	the	the	DET
aiti-2520	79	2	rotating	rotate	VERB
aiti-2520	79	3	table	table	NOUN
aiti-2520	79	4	is	be	AUX
aiti-2520	79	5	shown	show	VERB
aiti-2520	79	6	in	in	ADP
aiti-2520	79	7	fig	fig	NOUN
aiti-2520	79	8	.	.	PUNCT
aiti-2520	80	1	5	5	X
aiti-2520	80	2	.	.	X
aiti-2520	80	3	the	the	DET
aiti-2520	80	4	control	control	NOUN
aiti-2520	80	5	system	system	NOUN
aiti-2520	80	6	of	of	ADP
aiti-2520	80	7	the	the	DET
aiti-2520	80	8	rotating	rotate	VERB
aiti-2520	80	9	table	table	NOUN
aiti-2520	80	10	is	be	AUX
aiti-2520	80	11	shown	show	VERB
aiti-2520	80	12	in	in	ADP
aiti-2520	80	13	fig	fig	NOUN
aiti-2520	80	14	.	.	PUNCT
aiti-2520	81	1	6	6	NUM
aiti-2520	81	2	.	.	X
aiti-2520	81	3	fig	fig	NOUN
aiti-2520	81	4	.	.	PUNCT
aiti-2520	82	1	5	5	NUM
aiti-2520	82	2	ars	ar	NOUN
aiti-2520	82	3	test	test	NOUN
aiti-2520	82	4	-	-	PUNCT
aiti-2520	82	5	bed(left	bed(left	VERB
aiti-2520	82	6	)	)	PUNCT
aiti-2520	82	7	&	&	CCONJ
aiti-2520	82	8	rotating	rotate	VERB
aiti-2520	82	9	table(right	table(right	PROPN
aiti-2520	82	10	)	)	PUNCT
aiti-2520	82	11	fig	fig	NOUN
aiti-2520	82	12	.	.	PUNCT
aiti-2520	83	1	6	6	NUM
aiti-2520	83	2	composition	composition	NOUN
aiti-2520	83	3	of	of	ADP
aiti-2520	83	4	turntable	turntable	ADJ
aiti-2520	83	5	control	control	NOUN
aiti-2520	83	6	system	system	NOUN
aiti-2520	83	7	(	(	PUNCT
aiti-2520	83	8	a	a	X
aiti-2520	83	9	)	)	PUNCT
aiti-2520	83	10	result	result	NOUN
aiti-2520	83	11	of	of	ADP
aiti-2520	83	12	stop	stop	NOUN
aiti-2520	83	13	test	test	NOUN
aiti-2520	83	14	(	(	PUNCT
aiti-2520	83	15	b	b	NOUN
aiti-2520	83	16	)	)	PUNCT
aiti-2520	83	17	result	result	NOUN
aiti-2520	83	18	of	of	ADP
aiti-2520	83	19	exercise	exercise	NOUN
aiti-2520	83	20	test	test	NOUN
aiti-2520	83	21	fig	fig	NOUN
aiti-2520	83	22	.	.	PUNCT
aiti-2520	84	1	7	7	NUM
aiti-2520	84	2	analyze	analyze	VERB
aiti-2520	84	3	the	the	DET
aiti-2520	84	4	geomagnetic	geomagnetic	ADJ
aiti-2520	84	5	sensor	sensor	NOUN
aiti-2520	84	6	the	the	DET
aiti-2520	84	7	performance	performance	NOUN
aiti-2520	84	8	of	of	ADP
aiti-2520	84	9	the	the	DET
aiti-2520	84	10	ars	ar	NOUN
aiti-2520	84	11	placed	place	VERB
aiti-2520	84	12	on	on	ADP
aiti-2520	84	13	the	the	DET
aiti-2520	84	14	table	table	NOUN
aiti-2520	84	15	using	use	VERB
aiti-2520	84	16	the	the	DET
aiti-2520	84	17	rotating	rotate	VERB
aiti-2520	84	18	table	table	NOUN
aiti-2520	84	19	was	be	AUX
aiti-2520	84	20	tested	test	VERB
aiti-2520	84	21	and	and	CCONJ
aiti-2520	84	22	the	the	DET
aiti-2520	84	23	data	datum	NOUN
aiti-2520	84	24	of	of	ADP
aiti-2520	84	25	the	the	DET
aiti-2520	84	26	geomagnetic	geomagnetic	ADJ
aiti-2520	84	27	sensor	sensor	NOUN
aiti-2520	84	28	were	be	AUX
aiti-2520	84	29	analyzed	analyze	VERB
aiti-2520	84	30	.	.	PUNCT
aiti-2520	85	1	the	the	DET
aiti-2520	85	2	data	datum	NOUN
aiti-2520	85	3	of	of	ADP
aiti-2520	85	4	the	the	DET
aiti-2520	85	5	geomagnetic	geomagnetic	ADJ
aiti-2520	85	6	sensor	sensor	NOUN
aiti-2520	85	7	are	be	AUX
aiti-2520	85	8	shown	show	VERB
aiti-2520	85	9	in	in	ADP
aiti-2520	85	10	fig	fig	NOUN
aiti-2520	85	11	.	.	PUNCT
aiti-2520	85	12	7	7	NUM
aiti-2520	85	13	as	as	ADP
aiti-2520	85	14	a	a	DET
aiti-2520	85	15	result	result	NOUN
aiti-2520	85	16	of	of	ADP
aiti-2520	85	17	repeated	repeat	VERB
aiti-2520	85	18	rotation	rotation	NOUN
aiti-2520	85	19	test	test	NOUN
aiti-2520	85	20	at	at	ADP
aiti-2520	85	21	the	the	DET
aiti-2520	85	22	stopping	stop	VERB
aiti-2520	85	23	state	state	NOUN
aiti-2520	85	24	and	and	CCONJ
aiti-2520	85	25	the	the	DET
aiti-2520	85	26	constant	constant	ADJ
aiti-2520	85	27	angle	angle	NOUN
aiti-2520	85	28	.	.	PUNCT
aiti-2520	86	1	as	as	SCONJ
aiti-2520	86	2	shown	show	VERB
aiti-2520	86	3	in	in	ADP
aiti-2520	86	4	fig	fig	NOUN
aiti-2520	86	5	.	.	PUNCT
aiti-2520	87	1	7	7	NUM
aiti-2520	87	2	,	,	PUNCT
aiti-2520	87	3	the	the	DET
aiti-2520	87	4	heading	head	VERB
aiti-2520	87	5	error	error	NOUN
aiti-2520	87	6	in	in	ADP
aiti-2520	87	7	the	the	DET
aiti-2520	87	8	static	static	ADJ
aiti-2520	87	9	state	state	NOUN
aiti-2520	87	10	of	of	ADP
aiti-2520	87	11	the	the	DET
aiti-2520	87	12	geomagnetic	geomagnetic	ADJ
aiti-2520	87	13	sensor	sensor	NOUN
aiti-2520	87	14	is	be	AUX
aiti-2520	87	15	shown	show	VERB
aiti-2520	87	16	in	in	ADP
aiti-2520	87	17	fig	fig	NOUN
aiti-2520	87	18	.	.	PUNCT
aiti-2520	88	1	7(a	7(a	NUM
aiti-2520	88	2	)	)	PUNCT
aiti-2520	89	1	,	,	PUNCT
aiti-2520	89	2	advances	advance	NOUN
aiti-2520	89	3	in	in	ADP
aiti-2520	89	4	technology	technology	NOUN
aiti-2520	89	5	innovation	innovation	NOUN
aiti-2520	89	6	,	,	PUNCT
aiti-2520	89	7	vol	vol	NOUN
aiti-2520	89	8	.	.	PROPN
aiti-2520	89	9	4	4	NUM
aiti-2520	89	10	,	,	PUNCT
aiti-2520	89	11	no	no	INTJ
aiti-2520	89	12	.	.	NOUN
aiti-2520	89	13	2	2	NUM
aiti-2520	89	14	,	,	PUNCT
aiti-2520	89	15	2019	2019	NUM
aiti-2520	89	16	,	,	PUNCT
aiti-2520	89	17	pp	pp	ADJ
aiti-2520	89	18	.	.	PUNCT
aiti-2520	90	1	84	84	NUM
aiti-2520	90	2	-	-	SYM
aiti-2520	90	3	93	93	NUM
aiti-2520	90	4	88	88	NUM
aiti-2520	90	5	the	the	DET
aiti-2520	90	6	minimum	minimum	ADJ
aiti-2520	90	7	angle	angle	NOUN
aiti-2520	90	8	is	be	AUX
aiti-2520	90	9	0.1	0.1	NUM
aiti-2520	90	10	°	°	NOUN
aiti-2520	90	11	and	and	CCONJ
aiti-2520	90	12	the	the	DET
aiti-2520	90	13	maximum	maximum	ADJ
aiti-2520	90	14	angle	angle	NOUN
aiti-2520	90	15	is	be	AUX
aiti-2520	90	16	0.3	0.3	NUM
aiti-2520	90	17	°	°	NOUN
aiti-2520	90	18	.	.	PUNCT
aiti-2520	91	1	as	as	SCONJ
aiti-2520	91	2	shown	show	VERB
aiti-2520	91	3	in	in	ADP
aiti-2520	91	4	fig	fig	NOUN
aiti-2520	91	5	.	.	PUNCT
aiti-2520	92	1	7(b	7(b	X
aiti-2520	92	2	)	)	PUNCT
aiti-2520	92	3	,	,	PUNCT
aiti-2520	92	4	the	the	DET
aiti-2520	92	5	result	result	NOUN
aiti-2520	92	6	of	of	ADP
aiti-2520	92	7	each	each	DET
aiti-2520	92	8	repeated	repeat	VERB
aiti-2520	92	9	experiment	experiment	NOUN
aiti-2520	92	10	(	(	PUNCT
aiti-2520	92	11	0	0	NUM
aiti-2520	92	12	°	°	NUM
aiti-2520	92	13	-20	-20	NUM
aiti-2520	92	14	°	°	NOUN
aiti-2520	92	15	)	)	PUNCT
aiti-2520	92	16	showed	show	VERB
aiti-2520	92	17	an	an	DET
aiti-2520	92	18	error	error	NOUN
aiti-2520	92	19	of	of	ADP
aiti-2520	92	20	2.4	2.4	NUM
aiti-2520	92	21	°	°	NOUN
aiti-2520	92	22	or	or	CCONJ
aiti-2520	92	23	more	more	ADJ
aiti-2520	92	24	.	.	PUNCT
aiti-2520	93	1	also	also	ADV
aiti-2520	93	2	,	,	PUNCT
aiti-2520	93	3	the	the	DET
aiti-2520	93	4	overall	overall	ADJ
aiti-2520	93	5	error	error	NOUN
aiti-2520	93	6	in	in	ADP
aiti-2520	93	7	10	10	NUM
aiti-2520	93	8	times	time	NOUN
aiti-2520	93	9	independent	independent	ADJ
aiti-2520	93	10	geomagnetic	geomagnetic	ADJ
aiti-2520	93	11	sensor	sensor	NOUN
aiti-2520	93	12	tests	test	NOUN
aiti-2520	93	13	did	do	AUX
aiti-2520	93	14	not	not	PART
aiti-2520	93	15	deviate	deviate	VERB
aiti-2520	93	16	significantly	significantly	ADV
aiti-2520	93	17	from	from	ADP
aiti-2520	93	18	the	the	DET
aiti-2520	93	19	above	above	ADJ
aiti-2520	93	20	graph	graph	NOUN
aiti-2520	93	21	,	,	PUNCT
aiti-2520	93	22	but	but	CCONJ
aiti-2520	93	23	the	the	DET
aiti-2520	93	24	mean	mean	ADJ
aiti-2520	93	25	range	range	NOUN
aiti-2520	93	26	of	of	ADP
aiti-2520	93	27	errors	error	NOUN
aiti-2520	93	28	varied	vary	VERB
aiti-2520	93	29	finely	finely	ADV
aiti-2520	93	30	depending	depend	VERB
aiti-2520	93	31	on	on	ADP
aiti-2520	93	32	the	the	DET
aiti-2520	93	33	surrounding	surround	VERB
aiti-2520	93	34	environment	environment	NOUN
aiti-2520	93	35	.	.	PUNCT
aiti-2520	94	1	therefore	therefore	ADV
aiti-2520	94	2	,	,	PUNCT
aiti-2520	94	3	geomagnetic	geomagnetic	ADJ
aiti-2520	94	4	data	datum	NOUN
aiti-2520	94	5	in	in	ADP
aiti-2520	94	6	the	the	DET
aiti-2520	94	7	absence	absence	NOUN
aiti-2520	94	8	of	of	ADP
aiti-2520	94	9	motion	motion	NOUN
aiti-2520	94	10	does	do	AUX
aiti-2520	94	11	not	not	PART
aiti-2520	94	12	show	show	VERB
aiti-2520	94	13	large	large	ADJ
aiti-2520	94	14	error	error	NOUN
aiti-2520	94	15	,	,	PUNCT
aiti-2520	94	16	but	but	CCONJ
aiti-2520	94	17	the	the	DET
aiti-2520	94	18	operation	operation	NOUN
aiti-2520	94	19	in	in	ADP
aiti-2520	94	20	the	the	DET
aiti-2520	94	21	system	system	NOUN
aiti-2520	94	22	can	can	AUX
aiti-2520	94	23	not	not	PART
aiti-2520	94	24	guarantee	guarantee	VERB
aiti-2520	94	25	data	datum	NOUN
aiti-2520	94	26	in	in	ADP
aiti-2520	94	27	the	the	DET
aiti-2520	94	28	system	system	NOUN
aiti-2520	94	29	.	.	PUNCT
aiti-2520	95	1	in	in	ADP
aiti-2520	95	2	an	an	DET
aiti-2520	95	3	environment	environment	NOUN
aiti-2520	95	4	that	that	PRON
aiti-2520	95	5	exerts	exert	VERB
aiti-2520	95	6	a	a	DET
aiti-2520	95	7	magnetic	magnetic	ADJ
aiti-2520	95	8	force	force	NOUN
aiti-2520	95	9	on	on	ADP
aiti-2520	95	10	the	the	DET
aiti-2520	95	11	periphery	periphery	NOUN
aiti-2520	95	12	,	,	PUNCT
aiti-2520	95	13	the	the	DET
aiti-2520	95	14	error	error	NOUN
aiti-2520	95	15	value	value	NOUN
aiti-2520	95	16	is	be	AUX
aiti-2520	95	17	not	not	PART
aiti-2520	95	18	linear	linear	ADJ
aiti-2520	95	19	,	,	PUNCT
aiti-2520	95	20	so	so	SCONJ
aiti-2520	95	21	it	it	PRON
aiti-2520	95	22	is	be	AUX
aiti-2520	95	23	found	find	VERB
aiti-2520	95	24	difficult	difficult	ADJ
aiti-2520	95	25	to	to	PART
aiti-2520	95	26	use	use	VERB
aiti-2520	95	27	by	by	ADP
aiti-2520	95	28	itself	itself	PRON
aiti-2520	95	29	.	.	PUNCT
aiti-2520	96	1	the	the	DET
aiti-2520	96	2	rlg	rlg	PROPN
aiti-2520	96	3	has	have	VERB
aiti-2520	96	4	a	a	DET
aiti-2520	96	5	significant	significant	ADJ
aiti-2520	96	6	advantage	advantage	NOUN
aiti-2520	96	7	that	that	SCONJ
aiti-2520	96	8	it	it	PRON
aiti-2520	96	9	is	be	AUX
aiti-2520	96	10	not	not	PART
aiti-2520	96	11	affected	affect	VERB
aiti-2520	96	12	by	by	ADP
aiti-2520	96	13	the	the	DET
aiti-2520	96	14	surrounding	surround	VERB
aiti-2520	96	15	magnetic	magnetic	ADJ
aiti-2520	96	16	environment	environment	NOUN
aiti-2520	96	17	.	.	PUNCT
aiti-2520	97	1	however	however	ADV
aiti-2520	97	2	,	,	PUNCT
aiti-2520	97	3	since	since	SCONJ
aiti-2520	97	4	the	the	DET
aiti-2520	97	5	angular	angular	ADJ
aiti-2520	97	6	velocity	velocity	NOUN
aiti-2520	97	7	information	information	NOUN
aiti-2520	97	8	is	be	AUX
aiti-2520	97	9	provided	provide	VERB
aiti-2520	97	10	,	,	PUNCT
aiti-2520	97	11	integration	integration	NOUN
aiti-2520	97	12	is	be	AUX
aiti-2520	97	13	required	require	VERB
aiti-2520	97	14	to	to	PART
aiti-2520	97	15	obtain	obtain	VERB
aiti-2520	97	16	each	each	DET
aiti-2520	97	17	information	information	NOUN
aiti-2520	97	18	.	.	PUNCT
aiti-2520	98	1	at	at	ADP
aiti-2520	98	2	this	this	DET
aiti-2520	98	3	time	time	NOUN
aiti-2520	98	4	,	,	PUNCT
aiti-2520	98	5	the	the	DET
aiti-2520	98	6	cumulative	cumulative	ADJ
aiti-2520	98	7	error	error	NOUN
aiti-2520	98	8	occurs	occur	VERB
aiti-2520	98	9	with	with	ADP
aiti-2520	98	10	time	time	NOUN
aiti-2520	98	11	due	due	ADP
aiti-2520	98	12	to	to	ADP
aiti-2520	98	13	integration	integration	NOUN
aiti-2520	98	14	.	.	PUNCT
aiti-2520	99	1	in	in	ADP
aiti-2520	99	2	this	this	DET
aiti-2520	99	3	experiment	experiment	NOUN
aiti-2520	99	4	,	,	PUNCT
aiti-2520	99	5	the	the	DET
aiti-2520	99	6	euler	euler	PROPN
aiti-2520	99	7	angular	angular	ADJ
aiti-2520	99	8	data	datum	NOUN
aiti-2520	99	9	obtained	obtain	VERB
aiti-2520	99	10	by	by	ADP
aiti-2520	99	11	converting	convert	VERB
aiti-2520	99	12	the	the	DET
aiti-2520	99	13	rlg	rlg	PROPN
aiti-2520	99	14	rotation	rotation	NOUN
aiti-2520	99	15	experiment	experiment	NOUN
aiti-2520	99	16	results	result	NOUN
aiti-2520	99	17	into	into	ADP
aiti-2520	99	18	the	the	DET
aiti-2520	99	19	euler	euler	NOUN
aiti-2520	99	20	angles	angle	NOUN
aiti-2520	99	21	and	and	CCONJ
aiti-2520	99	22	integrating	integrate	VERB
aiti-2520	99	23	them	they	PRON
aiti-2520	99	24	are	be	AUX
aiti-2520	99	25	shown	show	VERB
aiti-2520	99	26	in	in	ADP
aiti-2520	99	27	fig	fig	NOUN
aiti-2520	99	28	.	.	PUNCT
aiti-2520	100	1	8	8	X
aiti-2520	100	2	.	.	PUNCT
aiti-2520	101	1	it	it	PRON
aiti-2520	101	2	shows	show	VERB
aiti-2520	101	3	the	the	DET
aiti-2520	101	4	integration	integration	NOUN
aiti-2520	101	5	error	error	NOUN
aiti-2520	101	6	of	of	ADP
aiti-2520	101	7	about	about	ADV
aiti-2520	101	8	1.5	1.5	NUM
aiti-2520	101	9	degrees	degree	NOUN
aiti-2520	101	10	due	due	ADJ
aiti-2520	101	11	to	to	ADP
aiti-2520	101	12	the	the	DET
aiti-2520	101	13	accumulation	accumulation	NOUN
aiti-2520	101	14	of	of	ADP
aiti-2520	101	15	the	the	DET
aiti-2520	101	16	integration	integration	NOUN
aiti-2520	101	17	error	error	NOUN
aiti-2520	101	18	when	when	SCONJ
aiti-2520	101	19	the	the	DET
aiti-2520	101	20	angular	angular	ADJ
aiti-2520	101	21	velocity	velocity	NOUN
aiti-2520	101	22	of	of	ADP
aiti-2520	101	23	the	the	DET
aiti-2520	101	24	ring	ring	NOUN
aiti-2520	101	25	laser	laser	NOUN
aiti-2520	101	26	gyro	gyro	NOUN
aiti-2520	101	27	is	be	AUX
aiti-2520	101	28	converted	convert	VERB
aiti-2520	101	29	into	into	ADP
aiti-2520	101	30	the	the	DET
aiti-2520	101	31	euler	euler	NOUN
aiti-2520	101	32	angle	angle	NOUN
aiti-2520	101	33	and	and	CCONJ
aiti-2520	101	34	the	the	DET
aiti-2520	101	35	result	result	NOUN
aiti-2520	101	36	is	be	AUX
aiti-2520	101	37	tested	test	VERB
aiti-2520	101	38	for	for	ADP
aiti-2520	101	39	about	about	ADV
aiti-2520	101	40	10	10	NUM
aiti-2520	101	41	minutes	minute	NOUN
aiti-2520	101	42	.	.	PUNCT
aiti-2520	102	1	fig	fig	NOUN
aiti-2520	102	2	.	.	PUNCT
aiti-2520	103	1	8	8	NUM
aiti-2520	103	2	result	result	NOUN
aiti-2520	103	3	of	of	ADP
aiti-2520	103	4	rlg	rlg	PROPN
aiti-2520	103	5	sensor	sensor	PROPN
aiti-2520	103	6	test	test	NOUN
aiti-2520	103	7	magnetic	magnetic	ADJ
aiti-2520	103	8	force	force	NOUN
aiti-2520	103	9	profoundly	profoundly	ADV
aiti-2520	103	10	influences	influence	VERB
aiti-2520	103	11	the	the	DET
aiti-2520	103	12	geomagnetic	geomagnetic	ADJ
aiti-2520	103	13	sensor	sensor	NOUN
aiti-2520	103	14	.	.	PUNCT
aiti-2520	104	1	therefore	therefore	ADV
aiti-2520	104	2	,	,	PUNCT
aiti-2520	104	3	we	we	PRON
aiti-2520	104	4	designed	design	VERB
aiti-2520	104	5	the	the	DET
aiti-2520	104	6	system	system	NOUN
aiti-2520	104	7	that	that	PRON
aiti-2520	104	8	uses	use	VERB
aiti-2520	104	9	only	only	ADV
aiti-2520	104	10	the	the	DET
aiti-2520	104	11	sensor	sensor	NOUN
aiti-2520	104	12	providing	provide	VERB
aiti-2520	104	13	initial	initial	ADJ
aiti-2520	104	14	yaw	yaw	NOUN
aiti-2520	104	15	angle	angle	NOUN
aiti-2520	104	16	information	information	NOUN
aiti-2520	104	17	,	,	PUNCT
aiti-2520	104	18	constructs	construct	VERB
aiti-2520	104	19	the	the	DET
aiti-2520	104	20	ars	ar	NOUN
aiti-2520	104	21	using	use	VERB
aiti-2520	104	22	the	the	DET
aiti-2520	104	23	rlg	rlg	PROPN
aiti-2520	104	24	sensor	sensor	NOUN
aiti-2520	104	25	,	,	PUNCT
aiti-2520	104	26	and	and	CCONJ
aiti-2520	104	27	processes	process	VERB
aiti-2520	104	28	the	the	DET
aiti-2520	104	29	sensor	sensor	NOUN
aiti-2520	104	30	data	datum	NOUN
aiti-2520	104	31	with	with	ADP
aiti-2520	104	32	the	the	DET
aiti-2520	104	33	extended	extended	ADJ
aiti-2520	104	34	kalman	kalman	NOUN
aiti-2520	104	35	filter	filter	PROPN
aiti-2520	104	36	(	(	PUNCT
aiti-2520	104	37	ekf	ekf	PROPN
aiti-2520	104	38	)	)	PUNCT
aiti-2520	104	39	.	.	PUNCT
aiti-2520	105	1	the	the	DET
aiti-2520	105	2	ekf	ekf	PROPN
aiti-2520	105	3	algorithm	algorithm	NOUN
aiti-2520	105	4	is	be	AUX
aiti-2520	105	5	constructed	construct	VERB
aiti-2520	105	6	as	as	SCONJ
aiti-2520	105	7	follows	follow	VERB
aiti-2520	105	8	.	.	PUNCT
aiti-2520	106	1	in	in	ADP
aiti-2520	106	2	this	this	DET
aiti-2520	106	3	system	system	NOUN
aiti-2520	106	4	,	,	PUNCT
aiti-2520	106	5	the	the	DET
aiti-2520	106	6	state	state	NOUN
aiti-2520	106	7	variable	variable	NOUN
aiti-2520	106	8	of	of	ADP
aiti-2520	106	9	the	the	DET
aiti-2520	106	10	ekf	ekf	NOUN
aiti-2520	106	11	is	be	AUX
aiti-2520	106	12	denoted	denote	VERB
aiti-2520	106	13	by	by	ADP
aiti-2520	106	14	x	x	X
aiti-2520	106	15	=	=	PUNCT
aiti-2520	107	1	[	[	X
aiti-2520	107	2	𝜙	𝜙	X
aiti-2520	107	3	𝜃	𝜃	X
aiti-2520	107	4	𝜓	𝜓	X
aiti-2520	107	5	]	]	PUNCT
aiti-2520	107	6	.	.	PUNCT
aiti-2520	108	1	the	the	DET
aiti-2520	108	2	system	system	NOUN
aiti-2520	108	3	model	model	NOUN
aiti-2520	108	4	shows	show	VERB
aiti-2520	108	5	the	the	DET
aiti-2520	108	6	relationship	relationship	NOUN
aiti-2520	108	7	between	between	ADP
aiti-2520	108	8	the	the	DET
aiti-2520	108	9	gyro	gyro	NOUN
aiti-2520	108	10	acceleration	acceleration	NOUN
aiti-2520	108	11	and	and	CCONJ
aiti-2520	108	12	the	the	DET
aiti-2520	108	13	euler	euler	NOUN
aiti-2520	108	14	angle	angle	NOUN
aiti-2520	108	15	as	as	SCONJ
aiti-2520	108	16	shown	show	VERB
aiti-2520	108	17	in	in	ADP
aiti-2520	108	18	eq	eq	ADP
aiti-2520	108	19	.	.	PUNCT
aiti-2520	109	1	(	(	PUNCT
aiti-2520	109	2	1	1	X
aiti-2520	109	3	)	)	PUNCT
aiti-2520	110	1	[	[	X
aiti-2520	110	2	12	12	NUM
aiti-2520	110	3	]	]	PUNCT
aiti-2520	110	4	.	.	PUNCT
aiti-2520	111	1			NOUN
aiti-2520	111	2			PUNCT
aiti-2520	111	3	1	1	NUM
aiti-2520	111	4	sin	sin	NOUN
aiti-2520	111	5	tan	tan	PROPN
aiti-2520	111	6	cos	cos	PROPN
aiti-2520	111	7	tan	tan	PROPN
aiti-2520	111	8	sin	sin	PROPN
aiti-2520	111	9	tan	tan	PROPN
aiti-2520	111	10	cos	cos	PROPN
aiti-2520	111	11	tan	tan	PROPN
aiti-2520	111	12	0	0	NUM
aiti-2520	111	13	cos	cos	PROPN
aiti-2520	111	14	sin	sin	PROPN
aiti-2520	111	15	cos	cos	PROPN
aiti-2520	111	16	sin	sin	NOUN
aiti-2520	111	17	0	0	NUM
aiti-2520	111	18	sin	sin	PROPN
aiti-2520	111	19	sec	sec	PROPN
aiti-2520	111	20	cos	cos	PROPN
aiti-2520	111	21	sec	sec	PROPN
aiti-2520	111	22	sin	sin	NOUN
aiti-2520	111	23	sec	sec	PROPN
aiti-2520	111	24	cos	cos	PROPN
aiti-2520	111	25	sec	sec	PROPN
aiti-2520	112	1	p	p	PROPN
aiti-2520	112	2	p	p	X
aiti-2520	112	3	q	q	NOUN
aiti-2520	112	4	r	r	NOUN
aiti-2520	112	5	q	q	NOUN
aiti-2520	112	6	w	w	NOUN
aiti-2520	112	7	q	q	NOUN
aiti-2520	112	8	r	r	NOUN
aiti-2520	112	9	w	w	NOUN
aiti-2520	112	10	f	f	NOUN
aiti-2520	112	11	x	x	SYM
aiti-2520	112	12	w	w	NOUN
aiti-2520	112	13	r	r	NOUN
aiti-2520	112	14	q	q	NOUN
aiti-2520	112	15	r	r	NOUN
aiti-2520	112	16			NOUN
aiti-2520	112	17			NOUN
aiti-2520	112	18			NOUN
aiti-2520	112	19			NOUN
aiti-2520	112	20			NOUN
aiti-2520	112	21			NOUN
aiti-2520	112	22			NOUN
aiti-2520	112	23			NOUN
aiti-2520	112	24			NOUN
aiti-2520	112	25			SYM
aiti-2520	112	26			NOUN
aiti-2520	112	27			NOUN
aiti-2520	112	28			NOUN
aiti-2520	112	29			NOUN
aiti-2520	112	30			NUM
aiti-2520	112	31			NOUN
aiti-2520	112	32			NOUN
aiti-2520	112	33			NOUN
aiti-2520	112	34			X
aiti-2520	112	35			NOUN
aiti-2520	112	36			X
aiti-2520	112	37			NOUN
aiti-2520	112	38			NOUN
aiti-2520	112	39			VERB
aiti-2520	112	40			PROPN
aiti-2520	112	41			NOUN
aiti-2520	112	42			PROPN
aiti-2520	112	43			ADJ
aiti-2520	112	44			PROPN
aiti-2520	112	45			ADJ
aiti-2520	112	46			PROPN
aiti-2520	112	47			ADJ
aiti-2520	112	48			NOUN
aiti-2520	112	49			PROPN
aiti-2520	112	50			NOUN
aiti-2520	112	51			NOUN
aiti-2520	112	52			NOUN
aiti-2520	112	53			NOUN
aiti-2520	112	54			NOUN
aiti-2520	112	55			NOUN
aiti-2520	112	56			PROPN
aiti-2520	112	57			PROPN
aiti-2520	112	58			VERB
aiti-2520	112	59			PROPN
aiti-2520	112	60			PROPN
aiti-2520	112	61			PROPN
aiti-2520	112	62			NUM
aiti-2520	112	63			PUNCT
aiti-2520	112	64			NOUN
aiti-2520	112	65			PROPN
aiti-2520	112	66			NOUN
aiti-2520	112	67			NOUN
aiti-2520	112	68			NOUN
aiti-2520	112	69			NOUN
aiti-2520	112	70			NOUN
aiti-2520	112	71			NOUN
aiti-2520	112	72			NOUN
aiti-2520	112	73			NOUN
aiti-2520	112	74			NOUN
aiti-2520	112	75			NOUN
aiti-2520	112	76			NOUN
aiti-2520	112	77			NOUN
aiti-2520	112	78			NOUN
aiti-2520	112	79			DET
aiti-2520	112	80			PROPN
aiti-2520	112	81			VERB
aiti-2520	112	82			PROPN
aiti-2520	112	83			NOUN
aiti-2520	112	84			PROPN
aiti-2520	112	85			NOUN
aiti-2520	112	86			PROPN
aiti-2520	112	87	(	(	PUNCT
aiti-2520	112	88	1	1	NUM
aiti-2520	112	89	)	)	PUNCT
aiti-2520	112	90	since	since	SCONJ
aiti-2520	112	91	the	the	DET
aiti-2520	112	92	nonlinear	nonlinear	ADJ
aiti-2520	112	93	function	function	NOUN
aiti-2520	112	94	𝑓(𝑥	𝑓(𝑥	NOUN
aiti-2520	112	95	)	)	PUNCT
aiti-2520	112	96	can	can	AUX
aiti-2520	112	97	not	not	PART
aiti-2520	112	98	be	be	AUX
aiti-2520	112	99	applied	apply	VERB
aiti-2520	112	100	to	to	ADP
aiti-2520	112	101	the	the	DET
aiti-2520	112	102	ekf	ekf	PROPN
aiti-2520	112	103	,	,	PUNCT
aiti-2520	112	104	the	the	DET
aiti-2520	112	105	𝑓(𝑥	𝑓(𝑥	NOUN
aiti-2520	112	106	)	)	PUNCT
aiti-2520	112	107	of	of	ADP
aiti-2520	112	108	eq	eq	PROPN
aiti-2520	112	109	.	.	PUNCT
aiti-2520	113	1	(	(	PUNCT
aiti-2520	113	2	1	1	X
aiti-2520	113	3	)	)	PUNCT
aiti-2520	113	4	is	be	AUX
aiti-2520	113	5	partially	partially	ADV
aiti-2520	113	6	differentiated	differentiate	VERB
aiti-2520	113	7	for	for	ADP
aiti-2520	113	8	each	each	DET
aiti-2520	113	9	state	state	NOUN
aiti-2520	113	10	variable	variable	NOUN
aiti-2520	113	11	to	to	PART
aiti-2520	113	12	obtain	obtain	VERB
aiti-2520	113	13	the	the	DET
aiti-2520	113	14	jacobian	jacobian	NOUN
aiti-2520	113	15	as	as	ADP
aiti-2520	113	16	eq	eq	ADP
aiti-2520	113	17	.	.	PUNCT
aiti-2520	114	1	(	(	PUNCT
aiti-2520	114	2	2	2	NUM
aiti-2520	114	3	)	)	PUNCT
aiti-2520	114	4	.	.	PUNCT
aiti-2520	115	1	1	1	NUM
aiti-2520	115	2	1	1	NUM
aiti-2520	115	3	1	1	NUM
aiti-2520	115	4	2	2	NUM
aiti-2520	115	5	2cos	2co	NOUN
aiti-2520	115	6	tan	tan	PROPN
aiti-2520	115	7	sin	sin	NOUN
aiti-2520	115	8	tan	tan	PROPN
aiti-2520	115	9	sin	sin	VERB
aiti-2520	115	10	sec	sec	PROPN
aiti-2520	115	11	cos	cos	PROPN
aiti-2520	115	12	sec	sec	PROPN
aiti-2520	115	13	0	0	NUM
aiti-2520	115	14	2	2	NUM
aiti-2520	115	15	2	2	NUM
aiti-2520	115	16	2	2	NUM
aiti-2520	115	17	sin	sin	NOUN
aiti-2520	115	18	cos	cos	ADP
aiti-2520	115	19	0	0	NUM
aiti-2520	115	20	0	0	NUM
aiti-2520	116	1	cos	cos	ADP
aiti-2520	116	2	sec	sec	PROPN
aiti-2520	116	3	sin	sin	NOUN
aiti-2520	116	4	sec	sec	PROPN
aiti-2520	116	5	sin	sin	NOUN
aiti-2520	116	6	sec	sec	PROPN
aiti-2520	116	7	tan	tan	PROPN
aiti-2520	116	8	cos	cos	PROPN
aiti-2520	116	9	sec	sec	PROPN
aiti-2520	116	10	tan	tan	PROPN
aiti-2520	116	11	0	0	NUM
aiti-2520	116	12	3	3	NUM
aiti-2520	116	13	3	3	NUM
aiti-2520	116	14	3	3	NUM
aiti-2520	117	1	f	f	NOUN
aiti-2520	117	2	f	f	PROPN
aiti-2520	117	3	f	f	X
aiti-2520	117	4	q	q	NOUN
aiti-2520	117	5	r	r	NOUN
aiti-2520	117	6	q	q	NOUN
aiti-2520	117	7	r	r	NOUN
aiti-2520	118	1	f	f	NOUN
aiti-2520	118	2	f	f	PROPN
aiti-2520	118	3	f	f	PROPN
aiti-2520	119	1	a	a	DET
aiti-2520	119	2	q	q	NOUN
aiti-2520	119	3	r	r	NOUN
aiti-2520	119	4	q	q	NOUN
aiti-2520	119	5	r	r	NOUN
aiti-2520	119	6	q	q	NOUN
aiti-2520	119	7	r	r	NOUN
aiti-2520	119	8	f	f	NOUN
aiti-2520	119	9	f	f	NOUN
aiti-2520	119	10	f	f	PROPN
aiti-2520	119	11			NOUN
aiti-2520	119	12			NOUN
aiti-2520	119	13			NOUN
aiti-2520	119	14			NOUN
aiti-2520	119	15			NOUN
aiti-2520	119	16			X
aiti-2520	119	17			NOUN
aiti-2520	119	18			NOUN
aiti-2520	119	19			NOUN
aiti-2520	119	20			NOUN
aiti-2520	119	21			NOUN
aiti-2520	119	22			NOUN
aiti-2520	119	23			NOUN
aiti-2520	119	24			NOUN
aiti-2520	119	25			NOUN
aiti-2520	119	26			NOUN
aiti-2520	119	27			X
aiti-2520	119	28			NOUN
aiti-2520	119	29			PROPN
aiti-2520	119	30			PROPN
aiti-2520	119	31			PROPN
aiti-2520	119	32			ADJ
aiti-2520	119	33			NOUN
aiti-2520	119	34			PROPN
aiti-2520	119	35			NOUN
aiti-2520	119	36			NOUN
aiti-2520	119	37			NUM
aiti-2520	119	38			ADJ
aiti-2520	119	39			NOUN
aiti-2520	119	40			PROPN
aiti-2520	119	41			NOUN
aiti-2520	119	42			NOUN
aiti-2520	119	43			NOUN
aiti-2520	119	44			NOUN
aiti-2520	119	45			NOUN
aiti-2520	119	46			NOUN
aiti-2520	119	47			NOUN
aiti-2520	119	48			NOUN
aiti-2520	119	49			NOUN
aiti-2520	119	50			NOUN
aiti-2520	119	51			NOUN
aiti-2520	119	52			NOUN
aiti-2520	119	53			NOUN
aiti-2520	119	54			PROPN
aiti-2520	119	55			PROPN
aiti-2520	119	56			NOUN
aiti-2520	119	57			PROPN
aiti-2520	119	58			NOUN
aiti-2520	119	59			NOUN
aiti-2520	119	60			VERB
aiti-2520	119	61			PROPN
aiti-2520	119	62			ADJ
aiti-2520	119	63			ADJ
aiti-2520	119	64			ADJ
aiti-2520	119	65			ADJ
aiti-2520	119	66			ADJ
aiti-2520	119	67			ADJ
aiti-2520	119	68			PROPN
aiti-2520	119	69			PROPN
aiti-2520	119	70			PROPN
aiti-2520	119	71			ADJ
aiti-2520	119	72			ADJ
aiti-2520	119	73			PROPN
aiti-2520	119	74			PROPN
aiti-2520	119	75			PROPN
aiti-2520	119	76			PROPN
aiti-2520	119	77			PROPN
aiti-2520	119	78			PROPN
aiti-2520	119	79			PROPN
aiti-2520	119	80			PROPN
aiti-2520	119	81			PUNCT
aiti-2520	119	82			ADJ
aiti-2520	119	83			ADJ
aiti-2520	119	84			ADJ
aiti-2520	119	85			ADJ
aiti-2520	119	86			ADJ
aiti-2520	119	87			ADJ
aiti-2520	119	88	(	(	PUNCT
aiti-2520	119	89	2	2	NUM
aiti-2520	119	90	)	)	PUNCT
aiti-2520	119	91	the	the	DET
aiti-2520	119	92	ekf	ekf	NOUN
aiti-2520	119	93	is	be	AUX
aiti-2520	119	94	an	an	DET
aiti-2520	119	95	algorithm	algorithm	NOUN
aiti-2520	119	96	for	for	ADP
aiti-2520	119	97	discrete	discrete	NOUN
aiti-2520	119	98	-	-	PUNCT
aiti-2520	119	99	time	time	NOUN
aiti-2520	119	100	.	.	PUNCT
aiti-2520	120	1	therefore	therefore	ADV
aiti-2520	120	2	,	,	PUNCT
aiti-2520	120	3	when	when	SCONJ
aiti-2520	120	4	the	the	DET
aiti-2520	120	5	eq	eq	NOUN
aiti-2520	120	6	.	.	PUNCT
aiti-2520	120	7	(	(	PUNCT
aiti-2520	120	8	2	2	X
aiti-2520	120	9	)	)	PUNCT
aiti-2520	120	10	is	be	AUX
aiti-2520	120	11	discretized	discretize	VERB
aiti-2520	120	12	,	,	PUNCT
aiti-2520	120	13	the	the	DET
aiti-2520	120	14	system	system	NOUN
aiti-2520	120	15	matrix	matrix	NOUN
aiti-2520	120	16	a	a	PRON
aiti-2520	120	17	is	be	AUX
aiti-2520	120	18	expressed	express	VERB
aiti-2520	120	19	by	by	ADP
aiti-2520	120	20	eq	eq	PROPN
aiti-2520	120	21	.	.	PUNCT
aiti-2520	121	1	(	(	PUNCT
aiti-2520	121	2	3	3	NUM
aiti-2520	121	3	)	)	PUNCT
aiti-2520	121	4	.	.	PUNCT
aiti-2520	122	1	advances	advance	NOUN
aiti-2520	122	2	in	in	ADP
aiti-2520	122	3	technology	technology	NOUN
aiti-2520	122	4	innovation	innovation	NOUN
aiti-2520	122	5	,	,	PUNCT
aiti-2520	122	6	vol	vol	NOUN
aiti-2520	122	7	.	.	PROPN
aiti-2520	122	8	4	4	NUM
aiti-2520	122	9	,	,	PUNCT
aiti-2520	122	10	no	no	INTJ
aiti-2520	122	11	.	.	NOUN
aiti-2520	122	12	2	2	NUM
aiti-2520	122	13	,	,	PUNCT
aiti-2520	122	14	2019	2019	NUM
aiti-2520	122	15	,	,	PUNCT
aiti-2520	122	16	pp	pp	ADJ
aiti-2520	122	17	.	.	PUNCT
aiti-2520	123	1	84	84	NUM
aiti-2520	123	2	-	-	SYM
aiti-2520	123	3	93	93	NUM
aiti-2520	123	4	89	89	NUM
aiti-2520	123	5	a	a	PRON
aiti-2520	124	1	i	i	PRON
aiti-2520	124	2	dt	dt	VERB
aiti-2520	124	3	a	a	NOUN
aiti-2520	124	4			PROPN
aiti-2520	124	5			PROPN
aiti-2520	124	6	(	(	PUNCT
aiti-2520	124	7	3	3	NUM
aiti-2520	124	8	)	)	PUNCT
aiti-2520	124	9	in	in	ADP
aiti-2520	124	10	eq	eq	ADP
aiti-2520	124	11	.	.	PUNCT
aiti-2520	125	1	(	(	PUNCT
aiti-2520	125	2	3	3	NUM
aiti-2520	125	3	)	)	PUNCT
aiti-2520	125	4	,	,	PUNCT
aiti-2520	125	5	dt	dt	PROPN
aiti-2520	125	6	is	be	AUX
aiti-2520	125	7	the	the	DET
aiti-2520	125	8	sample	sample	NOUN
aiti-2520	125	9	time	time	NOUN
aiti-2520	125	10	and	and	CCONJ
aiti-2520	125	11	i	i	PRON
aiti-2520	125	12	is	be	AUX
aiti-2520	125	13	the	the	DET
aiti-2520	125	14	identity	identity	NOUN
aiti-2520	125	15	matrix	matrix	NOUN
aiti-2520	125	16	.	.	PUNCT
aiti-2520	126	1	the	the	DET
aiti-2520	126	2	acceleration	acceleration	NOUN
aiti-2520	126	3	and	and	CCONJ
aiti-2520	126	4	geomagnetism	geomagnetism	NOUN
aiti-2520	126	5	data	datum	NOUN
aiti-2520	126	6	are	be	AUX
aiti-2520	126	7	used	use	VERB
aiti-2520	126	8	as	as	ADP
aiti-2520	126	9	the	the	DET
aiti-2520	126	10	correction	correction	NOUN
aiti-2520	126	11	values	value	NOUN
aiti-2520	126	12	and	and	CCONJ
aiti-2520	126	13	are	be	AUX
aiti-2520	126	14	calculated	calculate	VERB
aiti-2520	126	15	as	as	SCONJ
aiti-2520	126	16	shown	show	VERB
aiti-2520	126	17	in	in	ADP
aiti-2520	126	18	eq	eq	ADP
aiti-2520	126	19	.	.	PUNCT
aiti-2520	127	1	(	(	PUNCT
aiti-2520	127	2	4	4	NUM
aiti-2520	127	3	)	)	PUNCT
aiti-2520	127	4	.	.	PUNCT
aiti-2520	127	5	0	0	NUM
aiti-2520	128	1	sin	sin	NOUN
aiti-2520	128	2	0	0	PUNCT
aiti-2520	128	3	cos	cos	PROPN
aiti-2520	128	4	sin	sin	PROPN
aiti-2520	128	5	0	0	PUNCT
aiti-2520	128	6	cos	cos	PROPN
aiti-2520	128	7	cos	cos	PROPN
aiti-2520	128	8	fx	fx	PROPN
aiti-2520	128	9	u	u	PROPN
aiti-2520	128	10	w	w	PROPN
aiti-2520	128	11	v	v	ADP
aiti-2520	128	12	p	p	NOUN
aiti-2520	128	13	g	g	PROPN
aiti-2520	128	14	fy	fy	PROPN
aiti-2520	128	15	v	v	PROPN
aiti-2520	128	16	w	w	PROPN
aiti-2520	128	17	u	u	PROPN
aiti-2520	128	18	q	q	PROPN
aiti-2520	128	19	g	g	NOUN
aiti-2520	128	20	fz	fz	VERB
aiti-2520	128	21	w	w	PROPN
aiti-2520	128	22	v	v	NOUN
aiti-2520	128	23	u	u	NOUN
aiti-2520	128	24	r	r	NOUN
aiti-2520	128	25	g	g	NOUN
aiti-2520	128	26			PROPN
aiti-2520	128	27			X
aiti-2520	128	28			NOUN
aiti-2520	128	29			NOUN
aiti-2520	128	30			NOUN
aiti-2520	128	31			NOUN
aiti-2520	128	32			NOUN
aiti-2520	128	33			PROPN
aiti-2520	128	34			ADJ
aiti-2520	128	35			PROPN
aiti-2520	128	36			ADJ
aiti-2520	128	37			PROPN
aiti-2520	128	38			ADJ
aiti-2520	128	39			PROPN
aiti-2520	128	40			ADJ
aiti-2520	128	41			NOUN
aiti-2520	128	42			PROPN
aiti-2520	128	43			NOUN
aiti-2520	128	44			NOUN
aiti-2520	128	45			NOUN
aiti-2520	128	46			NOUN
aiti-2520	128	47			NOUN
aiti-2520	128	48			NOUN
aiti-2520	128	49			NOUN
aiti-2520	128	50			NOUN
aiti-2520	128	51			NUM
aiti-2520	128	52			ADV
aiti-2520	128	53			PROPN
aiti-2520	128	54			PROPN
aiti-2520	128	55			PROPN
aiti-2520	128	56			NOUN
aiti-2520	128	57			PROPN
aiti-2520	128	58			NOUN
aiti-2520	128	59			NOUN
aiti-2520	128	60			NOUN
aiti-2520	128	61			NOUN
aiti-2520	128	62			NOUN
aiti-2520	128	63			NOUN
aiti-2520	128	64			NOUN
aiti-2520	128	65			NOUN
aiti-2520	128	66			NOUN
aiti-2520	128	67			NOUN
aiti-2520	128	68			NOUN
aiti-2520	128	69			NOUN
aiti-2520	128	70			NOUN
aiti-2520	128	71			NOUN
aiti-2520	128	72			NOUN
aiti-2520	128	73			NOUN
aiti-2520	128	74			NOUN
aiti-2520	128	75			NOUN
aiti-2520	128	76			NOUN
aiti-2520	128	77			PROPN
aiti-2520	128	78			VERB
aiti-2520	128	79			PROPN
aiti-2520	128	80			NOUN
aiti-2520	128	81			PROPN
aiti-2520	128	82			NOUN
aiti-2520	128	83			PROPN
aiti-2520	128	84			NOUN
aiti-2520	128	85			PROPN
aiti-2520	128	86	(	(	PUNCT
aiti-2520	128	87	4	4	NUM
aiti-2520	128	88	)	)	PUNCT
aiti-2520	128	89	about	about	ADV
aiti-2520	128	90	1	1	NUM
aiti-2520	128	91	1sin	1sin	NUM
aiti-2520	128	92	sin	sin	NOUN
aiti-2520	128	93	cos	cos	PROPN
aiti-2520	128	94	fy	fy	PROPN
aiti-2520	128	95	fx	fx	PROPN
aiti-2520	129	1	mag	mag	INTJ
aiti-2520	129	2	kg	kg	NOUN
aiti-2520	129	3	g	g	NOUN
aiti-2520	129	4			NOUN
aiti-2520	129	5			NOUN
aiti-2520	130	1			NUM
aiti-2520	130	2			PROPN
aiti-2520	130	3			NOUN
aiti-2520	130	4			PROPN
aiti-2520	130	5			NOUN
aiti-2520	130	6			ADJ
aiti-2520	130	7			PROPN
aiti-2520	130	8			ADJ
aiti-2520	130	9			ADJ
aiti-2520	130	10			PUNCT
aiti-2520	130	11			PROPN
aiti-2520	131	1			PROPN
aiti-2520	131	2			PROPN
aiti-2520	132	1			PROPN
aiti-2520	132	2			PROPN
aiti-2520	132	3			PROPN
aiti-2520	132	4			NOUN
aiti-2520	132	5	，	，	PUNCT
aiti-2520	132	6	，	，	ADJ
aiti-2520	132	7	1	1	NUM
aiti-2520	133	1	mag	mag	INTJ
aiti-2520	134	1	mag	mag	INTJ
aiti-2520	134	2	mag	mag	INTJ
aiti-2520	134	3	k	k	NOUN
aiti-2520	135	1	k	k	PROPN
aiti-2520	135	2			PROPN
aiti-2520	135	3			NOUN
aiti-2520	135	4	(	(	PUNCT
aiti-2520	135	5	5	5	NUM
aiti-2520	135	6	)	)	PUNCT
aiti-2520	135	7	in	in	ADP
aiti-2520	135	8	eq	eq	ADP
aiti-2520	135	9	.	.	PUNCT
aiti-2520	135	10	(	(	PUNCT
aiti-2520	135	11	4	4	NUM
aiti-2520	135	12	)	)	PUNCT
aiti-2520	135	13	,	,	PUNCT
aiti-2520	135	14	ϕ	ϕ	NOUN
aiti-2520	135	15	and	and	CCONJ
aiti-2520	135	16	θ	θ	PROPN
aiti-2520	135	17	are	be	AUX
aiti-2520	135	18	calculated	calculate	VERB
aiti-2520	135	19	approximately	approximately	ADV
aiti-2520	135	20	by	by	ADP
aiti-2520	135	21	acceleration	acceleration	NOUN
aiti-2520	135	22	and	and	CCONJ
aiti-2520	135	23	the	the	DET
aiti-2520	135	24	calculated	calculated	ADJ
aiti-2520	135	25	ϕ	ϕ	NOUN
aiti-2520	135	26	and	and	CCONJ
aiti-2520	135	27	θ	θ	PROPN
aiti-2520	135	28	have	have	VERB
aiti-2520	135	29	large	large	ADJ
aiti-2520	135	30	errors	error	NOUN
aiti-2520	135	31	.	.	PUNCT
aiti-2520	136	1	the	the	DET
aiti-2520	136	2	correction	correction	NOUN
aiti-2520	136	3	data	datum	NOUN
aiti-2520	136	4	ψ	ψ	NOUN
aiti-2520	136	5	is	be	AUX
aiti-2520	136	6	obtained	obtain	VERB
aiti-2520	136	7	by	by	ADP
aiti-2520	136	8	using	use	VERB
aiti-2520	136	9	the	the	DET
aiti-2520	136	10	geomagnetism	geomagnetism	NOUN
aiti-2520	136	11	data	datum	NOUN
aiti-2520	136	12	as	as	SCONJ
aiti-2520	136	13	shown	show	VERB
aiti-2520	136	14	in	in	ADP
aiti-2520	136	15	eq	eq	ADP
aiti-2520	136	16	.	.	PUNCT
aiti-2520	137	1	(	(	PUNCT
aiti-2520	137	2	5	5	NUM
aiti-2520	137	3	)	)	PUNCT
aiti-2520	137	4	.	.	PUNCT
aiti-2520	138	1	by	by	ADP
aiti-2520	138	2	subtracting	subtract	VERB
aiti-2520	138	3	the	the	DET
aiti-2520	138	4	first	first	ADJ
aiti-2520	138	5	measured	measure	VERB
aiti-2520	138	6	data	datum	NOUN
aiti-2520	138	7	from	from	ADP
aiti-2520	138	8	the	the	DET
aiti-2520	138	9	measured	measure	VERB
aiti-2520	138	10	geomagnetism	geomagnetism	NOUN
aiti-2520	138	11	data	datum	NOUN
aiti-2520	138	12	,	,	PUNCT
aiti-2520	138	13	a	a	DET
aiti-2520	138	14	change	change	NOUN
aiti-2520	138	15	in	in	ADP
aiti-2520	138	16	angle	angle	NOUN
aiti-2520	138	17	can	can	AUX
aiti-2520	138	18	be	be	AUX
aiti-2520	138	19	obtained	obtain	VERB
aiti-2520	138	20	.	.	PUNCT
aiti-2520	139	1	the	the	DET
aiti-2520	139	2	data	data	PROPN
aiti-2520	139	3	ψ	ψ	X
aiti-2520	139	4	including	include	VERB
aiti-2520	139	5	the	the	DET
aiti-2520	139	6	integration	integration	NOUN
aiti-2520	139	7	error	error	NOUN
aiti-2520	139	8	of	of	ADP
aiti-2520	139	9	the	the	DET
aiti-2520	139	10	rlg	rlg	PROPN
aiti-2520	139	11	is	be	AUX
aiti-2520	139	12	corrected	correct	VERB
aiti-2520	139	13	using	use	VERB
aiti-2520	139	14	the	the	DET
aiti-2520	139	15	angular	angular	ADJ
aiti-2520	139	16	variation	variation	NOUN
aiti-2520	139	17	of	of	ADP
aiti-2520	139	18	the	the	DET
aiti-2520	139	19	geomagnetism	geomagnetism	NOUN
aiti-2520	139	20	data	datum	NOUN
aiti-2520	139	21	.	.	PUNCT
aiti-2520	140	1	next	next	ADV
aiti-2520	140	2	,	,	PUNCT
aiti-2520	140	3	the	the	DET
aiti-2520	140	4	measured	measured	ADJ
aiti-2520	140	5	model	model	NOUN
aiti-2520	140	6	equation	equation	NOUN
aiti-2520	140	7	(	(	PUNCT
aiti-2520	140	8	z	z	NOUN
aiti-2520	140	9	)	)	PUNCT
aiti-2520	140	10	can	can	AUX
aiti-2520	140	11	be	be	AUX
aiti-2520	140	12	calculated	calculate	VERB
aiti-2520	140	13	from	from	ADP
aiti-2520	140	14	the	the	DET
aiti-2520	140	15	acceleration	acceleration	NOUN
aiti-2520	140	16	data	datum	NOUN
aiti-2520	140	17	and	and	CCONJ
aiti-2520	140	18	the	the	DET
aiti-2520	140	19	geomagnetism	geomagnetism	NOUN
aiti-2520	140	20	data	datum	NOUN
aiti-2520	140	21	as	as	SCONJ
aiti-2520	140	22	shown	show	VERB
aiti-2520	140	23	in	in	ADP
aiti-2520	140	24	eq	eq	ADP
aiti-2520	140	25	.	.	PUNCT
aiti-2520	141	1	(	(	PUNCT
aiti-2520	141	2	6	6	NUM
aiti-2520	141	3	)	)	PUNCT
aiti-2520	141	4	to	to	PART
aiti-2520	141	5	measure	measure	VERB
aiti-2520	141	6	all	all	DET
aiti-2520	141	7	three	three	NUM
aiti-2520	141	8	state	state	NOUN
aiti-2520	141	9	variables	variable	NOUN
aiti-2520	141	10	.	.	PUNCT
aiti-2520	142	1	therefore	therefore	ADV
aiti-2520	142	2	,	,	PUNCT
aiti-2520	142	3	it	it	PRON
aiti-2520	142	4	can	can	AUX
aiti-2520	142	5	be	be	AUX
aiti-2520	142	6	expressed	express	VERB
aiti-2520	142	7	by	by	ADP
aiti-2520	142	8	eq	eq	PROPN
aiti-2520	142	9	.	.	PUNCT
aiti-2520	143	1	(	(	PUNCT
aiti-2520	143	2	6	6	NUM
aiti-2520	143	3	)	)	PUNCT
aiti-2520	143	4	.	.	PUNCT
aiti-2520	144	1	1	1	NUM
aiti-2520	144	2	0	0	NUM
aiti-2520	144	3	0	0	NUM
aiti-2520	144	4	0	0	NUM
aiti-2520	144	5	1	1	NUM
aiti-2520	144	6	0	0	NUM
aiti-2520	144	7	0	0	NUM
aiti-2520	144	8	0	0	NUM
aiti-2520	144	9	1	1	NUM
aiti-2520	144	10	z	z	NOUN
aiti-2520	144	11	v	v	ADP
aiti-2520	144	12	hx	hx	NOUN
aiti-2520	144	13	v	v	NOUN
aiti-2520	144	14			NOUN
aiti-2520	144	15			PROPN
aiti-2520	145	1			PROPN
aiti-2520	146	1			PROPN
aiti-2520	146	2			ADJ
aiti-2520	146	3			PROPN
aiti-2520	146	4			ADJ
aiti-2520	146	5			NOUN
aiti-2520	146	6			PROPN
aiti-2520	146	7			NOUN
aiti-2520	146	8			NOUN
aiti-2520	146	9			NUM
aiti-2520	146	10			ADV
aiti-2520	146	11			NUM
aiti-2520	146	12			ADJ
aiti-2520	146	13			NOUN
aiti-2520	146	14			PROPN
aiti-2520	146	15			NOUN
aiti-2520	146	16			NOUN
aiti-2520	146	17			NOUN
aiti-2520	146	18			NOUN
aiti-2520	146	19			NOUN
aiti-2520	146	20			PROPN
aiti-2520	146	21			PROPN
aiti-2520	146	22			NOUN
aiti-2520	146	23			PROPN
aiti-2520	146	24	(	(	PUNCT
aiti-2520	146	25	6	6	NUM
aiti-2520	146	26	)	)	PUNCT
aiti-2520	146	27	eq	eq	NOUN
aiti-2520	146	28	.	.	PUNCT
aiti-2520	147	1	(	(	PUNCT
aiti-2520	147	2	6	6	NUM
aiti-2520	147	3	)	)	PUNCT
aiti-2520	147	4	does	do	AUX
aiti-2520	147	5	not	not	PART
aiti-2520	147	6	need	need	VERB
aiti-2520	147	7	to	to	PART
aiti-2520	147	8	find	find	VERB
aiti-2520	147	9	a	a	DET
aiti-2520	147	10	jacobian	jacobian	NOUN
aiti-2520	147	11	in	in	ADP
aiti-2520	147	12	a	a	DET
aiti-2520	147	13	linear	linear	ADJ
aiti-2520	147	14	form	form	NOUN
aiti-2520	147	15	with	with	ADP
aiti-2520	147	16	measured	measure	VERB
aiti-2520	147	17	values	value	NOUN
aiti-2520	147	18	.	.	PUNCT
aiti-2520	148	1	finally	finally	ADV
aiti-2520	148	2	,	,	PUNCT
aiti-2520	148	3	the	the	DET
aiti-2520	148	4	system	system	NOUN
aiti-2520	148	5	noise	noise	NOUN
aiti-2520	148	6	covariance	covariance	NOUN
aiti-2520	148	7	and	and	CCONJ
aiti-2520	148	8	the	the	DET
aiti-2520	148	9	measurement	measurement	NOUN
aiti-2520	148	10	noise	noise	NOUN
aiti-2520	148	11	covariance	covariance	PROPN
aiti-2520	148	12	q	q	NOUN
aiti-2520	148	13	,	,	PUNCT
aiti-2520	148	14	r	r	NOUN
aiti-2520	148	15	matrix	matrix	NOUN
aiti-2520	148	16	can	can	AUX
aiti-2520	148	17	be	be	AUX
aiti-2520	148	18	measured	measure	VERB
aiti-2520	148	19	close	close	ADV
aiti-2520	148	20	to	to	ADP
aiti-2520	148	21	the	the	DET
aiti-2520	148	22	real	real	ADJ
aiti-2520	148	23	one	one	NUM
aiti-2520	148	24	by	by	ADP
aiti-2520	148	25	having	have	VERB
aiti-2520	148	26	equipment	equipment	NOUN
aiti-2520	148	27	that	that	PRON
aiti-2520	148	28	can	can	AUX
aiti-2520	148	29	accurately	accurately	ADV
aiti-2520	148	30	measure	measure	VERB
aiti-2520	148	31	signal	signal	NOUN
aiti-2520	148	32	characteristics	characteristic	NOUN
aiti-2520	148	33	and	and	CCONJ
aiti-2520	148	34	rlg	rlg	PROPN
aiti-2520	148	35	characteristics	characteristic	NOUN
aiti-2520	148	36	.	.	PUNCT
aiti-2520	149	1	however	however	ADV
aiti-2520	149	2	,	,	PUNCT
aiti-2520	149	3	since	since	SCONJ
aiti-2520	149	4	the	the	DET
aiti-2520	149	5	measurement	measurement	NOUN
aiti-2520	149	6	pieces	piece	NOUN
aiti-2520	149	7	of	of	ADP
aiti-2520	149	8	equipment	equipment	NOUN
aiti-2520	149	9	are	be	AUX
aiti-2520	149	10	costly	costly	ADJ
aiti-2520	149	11	,	,	PUNCT
aiti-2520	149	12	the	the	DET
aiti-2520	149	13	q	q	NOUN
aiti-2520	149	14	and	and	CCONJ
aiti-2520	149	15	r	r	NOUN
aiti-2520	149	16	matrices	matrix	NOUN
aiti-2520	149	17	are	be	AUX
aiti-2520	149	18	considered	consider	VERB
aiti-2520	149	19	as	as	ADP
aiti-2520	149	20	design	design	NOUN
aiti-2520	149	21	factors	factor	NOUN
aiti-2520	149	22	and	and	CCONJ
aiti-2520	149	23	the	the	DET
aiti-2520	149	24	performance	performance	NOUN
aiti-2520	149	25	trends	trend	NOUN
aiti-2520	149	26	are	be	AUX
aiti-2520	149	27	observed	observe	VERB
aiti-2520	149	28	and	and	CCONJ
aiti-2520	149	29	determined	determine	VERB
aiti-2520	149	30	.	.	PUNCT
aiti-2520	150	1	the	the	DET
aiti-2520	150	2	system	system	NOUN
aiti-2520	150	3	design	design	NOUN
aiti-2520	150	4	and	and	CCONJ
aiti-2520	150	5	matrices	matrix	NOUN
aiti-2520	150	6	used	use	VERB
aiti-2520	150	7	for	for	ADP
aiti-2520	150	8	the	the	DET
aiti-2520	150	9	ekf	ekf	NOUN
aiti-2520	150	10	are	be	AUX
aiti-2520	150	11	obtained	obtain	VERB
aiti-2520	150	12	through	through	ADP
aiti-2520	150	13	eqs	eqs	PROPN
aiti-2520	150	14	.	.	PUNCT
aiti-2520	151	1	(	(	PUNCT
aiti-2520	151	2	1)-(6	1)-(6	NUM
aiti-2520	151	3	)	)	PUNCT
aiti-2520	151	4	and	and	CCONJ
aiti-2520	151	5	the	the	DET
aiti-2520	151	6	calculation	calculation	NOUN
aiti-2520	151	7	is	be	AUX
aiti-2520	151	8	performed	perform	VERB
aiti-2520	151	9	by	by	ADP
aiti-2520	151	10	applying	apply	VERB
aiti-2520	151	11	the	the	DET
aiti-2520	151	12	ekf	ekf	NOUN
aiti-2520	151	13	according	accord	VERB
aiti-2520	151	14	to	to	ADP
aiti-2520	151	15	calculation	calculation	NOUN
aiti-2520	151	16	order	order	NOUN
aiti-2520	151	17	.	.	PUNCT
aiti-2520	152	1	4	4	X
aiti-2520	152	2	.	.	X
aiti-2520	152	3	experiments	experiment	NOUN
aiti-2520	152	4	and	and	CCONJ
aiti-2520	152	5	considerations	consideration	NOUN
aiti-2520	152	6	of	of	ADP
aiti-2520	152	7	ars	ar	NOUN
aiti-2520	152	8	4.1	4.1	NUM
aiti-2520	152	9	.	.	PUNCT
aiti-2520	153	1	calibration	calibration	NOUN
aiti-2520	153	2	of	of	ADP
aiti-2520	153	3	the	the	DET
aiti-2520	153	4	ars	ar	NOUN
aiti-2520	153	5	the	the	DET
aiti-2520	153	6	corrected	correct	VERB
aiti-2520	153	7	data	datum	NOUN
aiti-2520	153	8	using	use	VERB
aiti-2520	153	9	the	the	DET
aiti-2520	153	10	correction	correction	NOUN
aiti-2520	153	11	algorithm	algorithm	NOUN
aiti-2520	153	12	was	be	AUX
aiti-2520	153	13	verified	verify	VERB
aiti-2520	153	14	by	by	ADP
aiti-2520	153	15	comparing	compare	VERB
aiti-2520	153	16	the	the	DET
aiti-2520	153	17	experimental	experimental	ADJ
aiti-2520	153	18	data	datum	NOUN
aiti-2520	153	19	.	.	PUNCT
aiti-2520	154	1	the	the	DET
aiti-2520	154	2	data	datum	NOUN
aiti-2520	154	3	was	be	AUX
aiti-2520	154	4	obtained	obtain	VERB
aiti-2520	154	5	at	at	ADP
aiti-2520	154	6	a	a	DET
aiti-2520	154	7	sampling	sampling	NOUN
aiti-2520	154	8	time	time	NOUN
aiti-2520	154	9	of	of	ADP
aiti-2520	154	10	100	100	NUM
aiti-2520	154	11	hz	hz	NOUN
aiti-2520	154	12	and	and	CCONJ
aiti-2520	154	13	data	datum	NOUN
aiti-2520	154	14	of	of	ADP
aiti-2520	154	15	12	12	NUM
aiti-2520	154	16	,	,	PUNCT
aiti-2520	154	17	6400	6400	NUM
aiti-2520	154	18	pieces	piece	NOUN
aiti-2520	154	19	in	in	ADP
aiti-2520	154	20	about	about	ADV
aiti-2520	154	21	21	21	NUM
aiti-2520	154	22	minutes	minute	NOUN
aiti-2520	154	23	.	.	PUNCT
aiti-2520	155	1	the	the	DET
aiti-2520	155	2	measured	measure	VERB
aiti-2520	155	3	data	datum	NOUN
aiti-2520	155	4	are	be	AUX
aiti-2520	155	5	shown	show	VERB
aiti-2520	155	6	in	in	ADP
aiti-2520	155	7	fig	fig	NOUN
aiti-2520	155	8	.	.	PUNCT
aiti-2520	156	1	9	9	NUM
aiti-2520	156	2	as	as	ADP
aiti-2520	156	3	a	a	DET
aiti-2520	156	4	graph	graph	NOUN
aiti-2520	156	5	.	.	PUNCT
aiti-2520	157	1	in	in	ADP
aiti-2520	157	2	fig	fig	NOUN
aiti-2520	157	3	.	.	PUNCT
aiti-2520	158	1	9	9	NUM
aiti-2520	158	2	,	,	PUNCT
aiti-2520	158	3	the	the	DET
aiti-2520	158	4	three	three	NUM
aiti-2520	158	5	graphs	graph	NOUN
aiti-2520	158	6	located	locate	VERB
aiti-2520	158	7	on	on	ADP
aiti-2520	158	8	the	the	DET
aiti-2520	158	9	left	left	ADJ
aiti-2520	158	10	side	side	NOUN
aiti-2520	158	11	are	be	AUX
aiti-2520	158	12	rlg	rlg	PROPN
aiti-2520	158	13	data	datum	NOUN
aiti-2520	158	14	alone	alone	ADV
aiti-2520	158	15	and	and	CCONJ
aiti-2520	158	16	euler	euler	NOUN
aiti-2520	158	17	angles	angle	NOUN
aiti-2520	158	18	are	be	AUX
aiti-2520	158	19	converted	convert	VERB
aiti-2520	158	20	and	and	CCONJ
aiti-2520	158	21	integrated	integrate	VERB
aiti-2520	158	22	.	.	PUNCT
aiti-2520	159	1	in	in	ADP
aiti-2520	159	2	this	this	DET
aiti-2520	159	3	case	case	NOUN
aiti-2520	159	4	,	,	PUNCT
aiti-2520	159	5	an	an	DET
aiti-2520	159	6	integration	integration	NOUN
aiti-2520	159	7	error	error	NOUN
aiti-2520	159	8	of	of	ADP
aiti-2520	159	9	about	about	ADP
aiti-2520	159	10	2.4	2.4	NUM
aiti-2520	159	11	°	°	NOUN
aiti-2520	159	12	to	to	ADP
aiti-2520	159	13	3.7	3.7	NUM
aiti-2520	159	14	°	°	NOUN
aiti-2520	159	15	occurred	occur	VERB
aiti-2520	159	16	for	for	ADP
aiti-2520	159	17	about	about	ADV
aiti-2520	159	18	20	20	NUM
aiti-2520	159	19	minutes	minute	NOUN
aiti-2520	159	20	.	.	PUNCT
aiti-2520	160	1	however	however	ADV
aiti-2520	160	2	,	,	PUNCT
aiti-2520	160	3	after	after	ADP
aiti-2520	160	4	applying	apply	VERB
aiti-2520	160	5	the	the	DET
aiti-2520	160	6	ekf	ekf	PROPN
aiti-2520	160	7	,	,	PUNCT
aiti-2520	160	8	the	the	DET
aiti-2520	160	9	integral	integral	ADJ
aiti-2520	160	10	error	error	NOUN
aiti-2520	160	11	hardly	hardly	ADV
aiti-2520	160	12	occurred	occur	VERB
aiti-2520	160	13	.	.	PUNCT
aiti-2520	161	1	the	the	DET
aiti-2520	161	2	offsets	offset	NOUN
aiti-2520	161	3	are	be	AUX
aiti-2520	161	4	0.3	0.3	NUM
aiti-2520	161	5	°	°	NUM
aiti-2520	161	6	and	and	CCONJ
aiti-2520	161	7	1.2	1.2	NUM
aiti-2520	161	8	°	°	NOUN
aiti-2520	161	9	,	,	PUNCT
aiti-2520	161	10	respectively	respectively	ADV
aiti-2520	161	11	,	,	PUNCT
aiti-2520	161	12	at	at	ADP
aiti-2520	161	13	the	the	DET
aiti-2520	161	14	roll	roll	NOUN
aiti-2520	161	15	and	and	CCONJ
aiti-2520	161	16	pitch	pitch	NOUN
aiti-2520	161	17	angles	angle	NOUN
aiti-2520	161	18	,	,	PUNCT
aiti-2520	161	19	are	be	AUX
aiti-2520	161	20	the	the	DET
aiti-2520	161	21	error	error	NOUN
aiti-2520	161	22	with	with	ADP
aiti-2520	161	23	the	the	DET
aiti-2520	161	24	mechanism	mechanism	NOUN
aiti-2520	161	25	that	that	PRON
aiti-2520	161	26	fixes	fix	VERB
aiti-2520	161	27	the	the	DET
aiti-2520	161	28	rlg	rlg	PROPN
aiti-2520	161	29	.	.	PUNCT
aiti-2520	162	1	next	next	ADV
aiti-2520	162	2	,	,	PUNCT
aiti-2520	162	3	an	an	DET
aiti-2520	162	4	experiment	experiment	NOUN
aiti-2520	162	5	was	be	AUX
aiti-2520	162	6	conducted	conduct	VERB
aiti-2520	162	7	to	to	PART
aiti-2520	162	8	evaluate	evaluate	VERB
aiti-2520	162	9	the	the	DET
aiti-2520	162	10	error	error	NOUN
aiti-2520	162	11	of	of	ADP
aiti-2520	162	12	posture	posture	NOUN
aiti-2520	162	13	by	by	ADP
aiti-2520	162	14	rotating	rotate	VERB
aiti-2520	162	15	forward	forward	ADV
aiti-2520	162	16	and	and	CCONJ
aiti-2520	162	17	backward	backward	ADV
aiti-2520	162	18	by	by	ADP
aiti-2520	162	19	repeating	repeat	VERB
aiti-2520	162	20	the	the	DET
aiti-2520	162	21	attitude	attitude	NOUN
aiti-2520	162	22	constantly	constantly	ADV
aiti-2520	162	23	.	.	PUNCT
aiti-2520	163	1	experiments	experiment	NOUN
aiti-2520	163	2	were	be	AUX
aiti-2520	163	3	carried	carry	VERB
aiti-2520	163	4	out	out	ADP
aiti-2520	163	5	in	in	ADP
aiti-2520	163	6	the	the	DET
aiti-2520	163	7	range	range	NOUN
aiti-2520	163	8	of	of	ADP
aiti-2520	163	9	-30	-30	PROPN
aiti-2520	163	10	°	°	NOUN
aiti-2520	163	11	to	to	ADP
aiti-2520	163	12	0	0	NUM
aiti-2520	163	13	°	°	NOUN
aiti-2520	163	14	for	for	ADP
aiti-2520	163	15	a	a	DET
aiti-2520	163	16	period	period	NOUN
aiti-2520	163	17	using	use	VERB
aiti-2520	163	18	the	the	DET
aiti-2520	163	19	experimental	experimental	ADJ
aiti-2520	163	20	setup	setup	NOUN
aiti-2520	163	21	of	of	ADP
aiti-2520	163	22	fig	fig	NOUN
aiti-2520	163	23	.	.	PUNCT
aiti-2520	164	1	5	5	X
aiti-2520	164	2	.	.	X
aiti-2520	164	3	advances	advance	NOUN
aiti-2520	164	4	in	in	ADP
aiti-2520	164	5	technology	technology	NOUN
aiti-2520	164	6	innovation	innovation	NOUN
aiti-2520	164	7	,	,	PUNCT
aiti-2520	164	8	vol	vol	NOUN
aiti-2520	164	9	.	.	PROPN
aiti-2520	164	10	4	4	NUM
aiti-2520	164	11	,	,	PUNCT
aiti-2520	164	12	no	no	INTJ
aiti-2520	164	13	.	.	NOUN
aiti-2520	164	14	2	2	NUM
aiti-2520	164	15	,	,	PUNCT
aiti-2520	164	16	2019	2019	NUM
aiti-2520	164	17	,	,	PUNCT
aiti-2520	164	18	pp	pp	ADJ
aiti-2520	164	19	.	.	PUNCT
aiti-2520	165	1	84	84	NUM
aiti-2520	165	2	-	-	SYM
aiti-2520	165	3	93	93	NUM
aiti-2520	165	4	90	90	NUM
aiti-2520	165	5	about	about	ADV
aiti-2520	165	6	500,000	500,000	NUM
aiti-2520	165	7	data	datum	NOUN
aiti-2520	165	8	were	be	AUX
aiti-2520	165	9	received	receive	VERB
aiti-2520	165	10	for	for	ADP
aiti-2520	165	11	about	about	ADV
aiti-2520	165	12	83	83	NUM
aiti-2520	165	13	minutes	minute	NOUN
aiti-2520	165	14	with	with	ADP
aiti-2520	165	15	a	a	DET
aiti-2520	165	16	sampling	sampling	NOUN
aiti-2520	165	17	time	time	NOUN
aiti-2520	165	18	of	of	ADP
aiti-2520	165	19	100hz	100hz	PROPN
aiti-2520	165	20	.	.	PUNCT
aiti-2520	166	1	the	the	DET
aiti-2520	166	2	measured	measure	VERB
aiti-2520	166	3	data	datum	NOUN
aiti-2520	166	4	are	be	AUX
aiti-2520	166	5	shown	show	VERB
aiti-2520	166	6	in	in	ADP
aiti-2520	166	7	figs	fig	NOUN
aiti-2520	166	8	.	.	PUNCT
aiti-2520	167	1	10	10	NUM
aiti-2520	167	2	-	-	SYM
aiti-2520	167	3	11	11	NUM
aiti-2520	167	4	are	be	AUX
aiti-2520	167	5	shown	show	VERB
aiti-2520	167	6	.	.	PUNCT
aiti-2520	168	1	fig	fig	NOUN
aiti-2520	168	2	.	.	PUNCT
aiti-2520	169	1	9	9	NUM
aiti-2520	169	2	attitude	attitude	NOUN
aiti-2520	169	3	correction	correction	NOUN
aiti-2520	169	4	in	in	ADP
aiti-2520	169	5	the	the	DET
aiti-2520	169	6	stationary	stationary	ADJ
aiti-2520	169	7	state	state	NOUN
aiti-2520	169	8	in	in	ADP
aiti-2520	169	9	fig	fig	NOUN
aiti-2520	169	10	.	.	PUNCT
aiti-2520	170	1	10	10	NUM
aiti-2520	170	2	,	,	PUNCT
aiti-2520	170	3	the	the	DET
aiti-2520	170	4	uncorrected	uncorrected	ADJ
aiti-2520	170	5	yaw	yaw	NOUN
aiti-2520	170	6	data	datum	NOUN
aiti-2520	170	7	exhibited	exhibit	VERB
aiti-2520	170	8	an	an	DET
aiti-2520	170	9	error	error	NOUN
aiti-2520	170	10	of	of	ADP
aiti-2520	170	11	more	more	ADJ
aiti-2520	170	12	than	than	ADP
aiti-2520	170	13	about	about	ADP
aiti-2520	170	14	12	12	NUM
aiti-2520	170	15	°	°	NOUN
aiti-2520	170	16	during	during	ADP
aiti-2520	170	17	rotation	rotation	NOUN
aiti-2520	170	18	of	of	ADP
aiti-2520	170	19	about	about	ADP
aiti-2520	170	20	-30	-30	PROPN
aiti-2520	170	21	°	°	NOUN
aiti-2520	170	22	to	to	ADP
aiti-2520	170	23	0	0	NUM
aiti-2520	170	24	°	°	NOUN
aiti-2520	170	25	for	for	ADP
aiti-2520	170	26	about	about	ADV
aiti-2520	170	27	83	83	NUM
aiti-2520	170	28	minutes	minute	NOUN
aiti-2520	170	29	.	.	PUNCT
aiti-2520	171	1	fig	fig	NOUN
aiti-2520	171	2	.	.	PUNCT
aiti-2520	172	1	11	11	NUM
aiti-2520	172	2	is	be	AUX
aiti-2520	172	3	a	a	DET
aiti-2520	172	4	graph	graph	NOUN
aiti-2520	172	5	of	of	ADP
aiti-2520	172	6	geomagnetism	geomagnetism	NOUN
aiti-2520	172	7	data	datum	NOUN
aiti-2520	172	8	used	use	VERB
aiti-2520	172	9	as	as	ADP
aiti-2520	172	10	correction	correction	NOUN
aiti-2520	172	11	data	datum	NOUN
aiti-2520	172	12	.	.	PUNCT
aiti-2520	173	1	since	since	SCONJ
aiti-2520	173	2	there	there	PRON
aiti-2520	173	3	is	be	VERB
aiti-2520	173	4	no	no	DET
aiti-2520	173	5	integration	integration	NOUN
aiti-2520	173	6	as	as	SCONJ
aiti-2520	173	7	shown	show	VERB
aiti-2520	173	8	in	in	ADP
aiti-2520	173	9	the	the	DET
aiti-2520	173	10	graph	graph	NOUN
aiti-2520	173	11	,	,	PUNCT
aiti-2520	173	12	there	there	PRON
aiti-2520	173	13	is	be	VERB
aiti-2520	173	14	no	no	DET
aiti-2520	173	15	integration	integration	NOUN
aiti-2520	173	16	error	error	NOUN
aiti-2520	173	17	.	.	PUNCT
aiti-2520	174	1	however	however	ADV
aiti-2520	174	2	,	,	PUNCT
aiti-2520	174	3	it	it	PRON
aiti-2520	174	4	shows	show	VERB
aiti-2520	174	5	a	a	DET
aiti-2520	174	6	measurement	measurement	NOUN
aiti-2520	174	7	error	error	NOUN
aiti-2520	174	8	of	of	ADP
aiti-2520	174	9	6	6	NUM
aiti-2520	174	10	°	°	NOUN
aiti-2520	174	11	to	to	ADP
aiti-2520	174	12	7	7	NUM
aiti-2520	174	13	°	°	NOUN
aiti-2520	174	14	by	by	ADP
aiti-2520	174	15	repeatedly	repeatedly	ADV
aiti-2520	174	16	rotating	rotate	VERB
aiti-2520	174	17	about	about	ADP
aiti-2520	174	18	-30	-30	PROPN
aiti-2520	174	19	°	°	NOUN
aiti-2520	174	20	to	to	ADP
aiti-2520	174	21	0	0	NUM
aiti-2520	174	22	°	°	NOUN
aiti-2520	174	23	for	for	ADP
aiti-2520	174	24	about	about	ADV
aiti-2520	174	25	83	83	NUM
aiti-2520	174	26	minutes	minute	NOUN
aiti-2520	174	27	.	.	PUNCT
aiti-2520	175	1	fig	fig	NOUN
aiti-2520	175	2	.	.	PUNCT
aiti-2520	176	1	10	10	NUM
aiti-2520	176	2	yaw	yaw	NOUN
aiti-2520	176	3	angle	angle	NOUN
aiti-2520	176	4	of	of	ADP
aiti-2520	176	5	raw	raw	ADJ
aiti-2520	176	6	gyro	gyro	NOUN
aiti-2520	176	7	fig	fig	NOUN
aiti-2520	176	8	.	.	PUNCT
aiti-2520	177	1	11	11	NUM
aiti-2520	177	2	yaw	yaw	NOUN
aiti-2520	177	3	angle	angle	NOUN
aiti-2520	177	4	of	of	ADP
aiti-2520	177	5	raw	raw	ADJ
aiti-2520	177	6	magnetometer	magnetometer	NOUN
aiti-2520	177	7	the	the	DET
aiti-2520	177	8	results	result	NOUN
aiti-2520	177	9	are	be	AUX
aiti-2520	177	10	shown	show	VERB
aiti-2520	177	11	in	in	ADP
aiti-2520	177	12	fig	fig	NOUN
aiti-2520	177	13	.	.	PUNCT
aiti-2520	178	1	12	12	NUM
aiti-2520	178	2	as	as	ADP
aiti-2520	178	3	a	a	DET
aiti-2520	178	4	result	result	NOUN
aiti-2520	178	5	of	of	ADP
aiti-2520	178	6	fusing	fuse	VERB
aiti-2520	178	7	data	datum	NOUN
aiti-2520	178	8	of	of	ADP
aiti-2520	178	9	figs	fig	NOUN
aiti-2520	178	10	.	.	PUNCT
aiti-2520	179	1	10	10	NUM
aiti-2520	179	2	-	-	SYM
aiti-2520	179	3	11	11	NUM
aiti-2520	179	4	with	with	ADP
aiti-2520	179	5	an	an	DET
aiti-2520	179	6	extended	extended	ADJ
aiti-2520	179	7	kalman	kalman	NOUN
aiti-2520	179	8	filter	filter	NOUN
aiti-2520	179	9	.	.	PUNCT
aiti-2520	180	1	in	in	ADP
aiti-2520	180	2	fig	fig	NOUN
aiti-2520	180	3	.	.	PUNCT
aiti-2520	181	1	12	12	NUM
aiti-2520	181	2	,	,	PUNCT
aiti-2520	181	3	it	it	PRON
aiti-2520	181	4	is	be	AUX
aiti-2520	181	5	shown	show	VERB
aiti-2520	181	6	that	that	SCONJ
aiti-2520	181	7	there	there	PRON
aiti-2520	181	8	is	be	VERB
aiti-2520	181	9	a	a	DET
aiti-2520	181	10	slight	slight	ADJ
aiti-2520	181	11	error	error	NOUN
aiti-2520	181	12	in	in	ADP
aiti-2520	181	13	the	the	DET
aiti-2520	181	14	starting	starting	NOUN
aiti-2520	181	15	position	position	NOUN
aiti-2520	181	16	and	and	CCONJ
aiti-2520	181	17	the	the	DET
aiti-2520	181	18	final	final	ADJ
aiti-2520	181	19	position	position	NOUN
aiti-2520	181	20	due	due	ADP
aiti-2520	181	21	to	to	ADP
aiti-2520	181	22	the	the	DET
aiti-2520	181	23	mechanical	mechanical	ADJ
aiti-2520	181	24	error	error	NOUN
aiti-2520	181	25	of	of	ADP
aiti-2520	181	26	the	the	DET
aiti-2520	181	27	rotating	rotate	VERB
aiti-2520	181	28	table	table	NOUN
aiti-2520	181	29	advances	advance	NOUN
aiti-2520	181	30	in	in	ADP
aiti-2520	181	31	technology	technology	NOUN
aiti-2520	181	32	innovation	innovation	NOUN
aiti-2520	181	33	,	,	PUNCT
aiti-2520	181	34	vol	vol	NOUN
aiti-2520	181	35	.	.	PROPN
aiti-2520	181	36	4	4	NUM
aiti-2520	181	37	,	,	PUNCT
aiti-2520	181	38	no	no	INTJ
aiti-2520	181	39	.	.	NOUN
aiti-2520	181	40	2	2	NUM
aiti-2520	181	41	,	,	PUNCT
aiti-2520	181	42	2019	2019	NUM
aiti-2520	181	43	,	,	PUNCT
aiti-2520	181	44	pp	pp	ADJ
aiti-2520	181	45	.	.	PUNCT
aiti-2520	182	1	84	84	NUM
aiti-2520	182	2	-	-	SYM
aiti-2520	182	3	93	93	NUM
aiti-2520	182	4	91	91	NUM
aiti-2520	182	5	system	system	NOUN
aiti-2520	182	6	.	.	PUNCT
aiti-2520	183	1	therefore	therefore	ADV
aiti-2520	183	2	,	,	PUNCT
aiti-2520	183	3	as	as	SCONJ
aiti-2520	183	4	shown	show	VERB
aiti-2520	183	5	in	in	ADP
aiti-2520	183	6	fig	fig	NOUN
aiti-2520	183	7	.	.	PUNCT
aiti-2520	184	1	12	12	NUM
aiti-2520	184	2	,	,	PUNCT
aiti-2520	184	3	there	there	PRON
aiti-2520	184	4	is	be	VERB
aiti-2520	184	5	a	a	DET
aiti-2520	184	6	slight	slight	ADJ
aiti-2520	184	7	error	error	NOUN
aiti-2520	184	8	in	in	ADP
aiti-2520	184	9	the	the	DET
aiti-2520	184	10	position	position	NOUN
aiti-2520	184	11	of	of	ADP
aiti-2520	184	12	the	the	DET
aiti-2520	184	13	start	start	NOUN
aiti-2520	184	14	point	point	NOUN
aiti-2520	184	15	and	and	CCONJ
aiti-2520	184	16	the	the	DET
aiti-2520	184	17	end	end	NOUN
aiti-2520	184	18	position	position	NOUN
aiti-2520	184	19	.	.	PUNCT
aiti-2520	185	1	however	however	ADV
aiti-2520	185	2	,	,	PUNCT
aiti-2520	185	3	the	the	DET
aiti-2520	185	4	results	result	NOUN
aiti-2520	185	5	of	of	ADP
aiti-2520	185	6	the	the	DET
aiti-2520	185	7	whole	whole	ADJ
aiti-2520	185	8	experiment	experiment	NOUN
aiti-2520	185	9	are	be	AUX
aiti-2520	185	10	shown	show	VERB
aiti-2520	185	11	in	in	ADP
aiti-2520	185	12	figs	fig	NOUN
aiti-2520	185	13	.	.	PUNCT
aiti-2520	186	1	10	10	NUM
aiti-2520	186	2	-	-	SYM
aiti-2520	186	3	11	11	NUM
aiti-2520	186	4	and	and	CCONJ
aiti-2520	186	5	it	it	PRON
aiti-2520	186	6	can	can	AUX
aiti-2520	186	7	be	be	AUX
aiti-2520	186	8	confirmed	confirm	VERB
aiti-2520	186	9	that	that	SCONJ
aiti-2520	186	10	the	the	DET
aiti-2520	186	11	proposed	propose	VERB
aiti-2520	186	12	algorithm	algorithm	NOUN
aiti-2520	186	13	does	do	AUX
aiti-2520	186	14	not	not	PART
aiti-2520	186	15	diverge	diverge	VERB
aiti-2520	186	16	for	for	ADP
aiti-2520	186	17	about	about	ADV
aiti-2520	186	18	83	83	NUM
aiti-2520	186	19	minutes	minute	NOUN
aiti-2520	186	20	.	.	PUNCT
aiti-2520	187	1	fig	fig	NOUN
aiti-2520	187	2	.	.	PUNCT
aiti-2520	188	1	12	12	NUM
aiti-2520	188	2	yaw	yaw	NOUN
aiti-2520	188	3	angle	angle	NOUN
aiti-2520	188	4	of	of	ADP
aiti-2520	188	5	calibrated	calibrate	VERB
aiti-2520	188	6	ars	ar	NOUN
aiti-2520	188	7	4.2	4.2	NUM
aiti-2520	188	8	.	.	PUNCT
aiti-2520	189	1	test	test	NOUN
aiti-2520	189	2	of	of	ADP
aiti-2520	189	3	platform	platform	NOUN
aiti-2520	189	4	the	the	DET
aiti-2520	189	5	calibrated	calibrate	VERB
aiti-2520	189	6	ars	ar	NOUN
aiti-2520	189	7	was	be	AUX
aiti-2520	189	8	applied	apply	VERB
aiti-2520	189	9	to	to	ADP
aiti-2520	189	10	the	the	DET
aiti-2520	189	11	actual	actual	ADJ
aiti-2520	189	12	moving	move	VERB
aiti-2520	189	13	platform	platform	NOUN
aiti-2520	189	14	(	(	PUNCT
aiti-2520	189	15	utv	utv	NOUN
aiti-2520	189	16	)	)	PUNCT
aiti-2520	189	17	to	to	PART
aiti-2520	189	18	check	check	VERB
aiti-2520	189	19	the	the	DET
aiti-2520	189	20	performance	performance	NOUN
aiti-2520	189	21	of	of	ADP
aiti-2520	189	22	the	the	DET
aiti-2520	189	23	ars	ar	NOUN
aiti-2520	189	24	under	under	ADP
aiti-2520	189	25	study	study	NOUN
aiti-2520	189	26	.	.	PUNCT
aiti-2520	190	1	the	the	DET
aiti-2520	190	2	turntable	turntable	ADJ
aiti-2520	190	3	test	test	NOUN
aiti-2520	190	4	showed	show	VERB
aiti-2520	190	5	satisfactory	satisfactory	ADJ
aiti-2520	190	6	performance	performance	NOUN
aiti-2520	190	7	for	for	ADP
aiti-2520	190	8	the	the	DET
aiti-2520	190	9	ars	ar	NOUN
aiti-2520	190	10	under	under	ADP
aiti-2520	190	11	study	study	NOUN
aiti-2520	190	12	.	.	PUNCT
aiti-2520	191	1	however	however	ADV
aiti-2520	191	2	,	,	PUNCT
aiti-2520	191	3	in	in	ADP
aiti-2520	191	4	application	application	NOUN
aiti-2520	191	5	to	to	ADP
aiti-2520	191	6	an	an	DET
aiti-2520	191	7	actual	actual	ADJ
aiti-2520	191	8	platform	platform	NOUN
aiti-2520	191	9	,	,	PUNCT
aiti-2520	191	10	the	the	DET
aiti-2520	191	11	performance	performance	NOUN
aiti-2520	191	12	is	be	AUX
aiti-2520	191	13	affected	affect	VERB
aiti-2520	191	14	by	by	ADP
aiti-2520	191	15	the	the	DET
aiti-2520	191	16	actuating	actuate	VERB
aiti-2520	191	17	mechanism	mechanism	NOUN
aiti-2520	191	18	that	that	PRON
aiti-2520	191	19	generates	generate	VERB
aiti-2520	191	20	many	many	ADJ
aiti-2520	191	21	vibrations	vibration	NOUN
aiti-2520	191	22	during	during	ADP
aiti-2520	191	23	movement	movement	NOUN
aiti-2520	191	24	is	be	AUX
aiti-2520	191	25	shown	show	VERB
aiti-2520	191	26	in	in	ADP
aiti-2520	191	27	fig	fig	NOUN
aiti-2520	191	28	13	13	NUM
aiti-2520	191	29	;	;	PUNCT
aiti-2520	191	30	it	it	PRON
aiti-2520	191	31	might	might	AUX
aiti-2520	191	32	cause	cause	VERB
aiti-2520	191	33	a	a	DET
aiti-2520	191	34	little	little	ADJ
aiti-2520	191	35	more	more	ADV
aiti-2520	191	36	positioning	positioning	NOUN
aiti-2520	191	37	and	and	CCONJ
aiti-2520	191	38	attitude	attitude	NOUN
aiti-2520	191	39	errors	error	NOUN
aiti-2520	191	40	.	.	PUNCT
aiti-2520	192	1	fig	fig	NOUN
aiti-2520	192	2	.	.	PUNCT
aiti-2520	193	1	13	13	NUM
aiti-2520	193	2	test	test	NOUN
aiti-2520	193	3	-	-	PUNCT
aiti-2520	193	4	bed	bed	NOUN
aiti-2520	193	5	for	for	ADP
aiti-2520	193	6	ars	ar	NOUN
aiti-2520	193	7	fig	fig	NOUN
aiti-2520	193	8	.	.	PUNCT
aiti-2520	194	1	14	14	NUM
aiti-2520	194	2	outdoor	outdoor	ADJ
aiti-2520	194	3	driving	driving	NOUN
aiti-2520	194	4	test	test	NOUN
aiti-2520	194	5	fig	fig	NOUN
aiti-2520	194	6	.	.	PUNCT
aiti-2520	195	1	15	15	NUM
aiti-2520	195	2	result	result	NOUN
aiti-2520	195	3	of	of	ADP
aiti-2520	195	4	outdoor	outdoor	ADJ
aiti-2520	195	5	driving	driving	NOUN
aiti-2520	195	6	test	test	NOUN
aiti-2520	195	7	advances	advance	NOUN
aiti-2520	195	8	in	in	ADP
aiti-2520	195	9	technology	technology	NOUN
aiti-2520	195	10	innovation	innovation	NOUN
aiti-2520	195	11	,	,	PUNCT
aiti-2520	195	12	vol	vol	NOUN
aiti-2520	195	13	.	.	PROPN
aiti-2520	195	14	4	4	NUM
aiti-2520	195	15	,	,	PUNCT
aiti-2520	195	16	no	no	INTJ
aiti-2520	195	17	.	.	NOUN
aiti-2520	195	18	2	2	NUM
aiti-2520	195	19	,	,	PUNCT
aiti-2520	195	20	2019	2019	NUM
aiti-2520	195	21	,	,	PUNCT
aiti-2520	195	22	pp	pp	ADJ
aiti-2520	195	23	.	.	PUNCT
aiti-2520	196	1	84	84	NUM
aiti-2520	196	2	-	-	SYM
aiti-2520	196	3	93	93	NUM
aiti-2520	196	4	92	92	NUM
aiti-2520	196	5	the	the	DET
aiti-2520	196	6	configuration	configuration	NOUN
aiti-2520	196	7	of	of	ADP
aiti-2520	196	8	the	the	DET
aiti-2520	196	9	utv	utv	PROPN
aiti-2520	196	10	consisted	consist	VERB
aiti-2520	196	11	of	of	ADP
aiti-2520	196	12	the	the	DET
aiti-2520	196	13	rlg	rlg	PROPN
aiti-2520	196	14	constituting	constitute	VERB
aiti-2520	196	15	the	the	DET
aiti-2520	196	16	ars	ar	NOUN
aiti-2520	196	17	and	and	CCONJ
aiti-2520	196	18	the	the	DET
aiti-2520	196	19	correction	correction	NOUN
aiti-2520	196	20	geomagnetic	geomagnetic	ADJ
aiti-2520	196	21	sensor	sensor	NOUN
aiti-2520	196	22	tcm-3	tcm-3	NUM
aiti-2520	196	23	.	.	PUNCT
aiti-2520	197	1	the	the	DET
aiti-2520	197	2	ars	ar	NOUN
aiti-2520	197	3	was	be	AUX
aiti-2520	197	4	installed	instal	VERB
aiti-2520	197	5	in	in	ADP
aiti-2520	197	6	the	the	DET
aiti-2520	197	7	waterproof	waterproof	ADJ
aiti-2520	197	8	housing	housing	NOUN
aiti-2520	197	9	of	of	ADP
aiti-2520	197	10	the	the	DET
aiti-2520	197	11	utv	utv	PROPN
aiti-2520	197	12	.	.	PUNCT
aiti-2520	198	1	also	also	ADV
aiti-2520	198	2	,	,	PUNCT
aiti-2520	198	3	a	a	DET
aiti-2520	198	4	similar	similar	ADJ
aiti-2520	198	5	mems	mem	NOUN
aiti-2520	198	6	type	type	NOUN
aiti-2520	198	7	imu	imu	NOUN
aiti-2520	198	8	was	be	AUX
aiti-2520	198	9	installed	instal	VERB
aiti-2520	198	10	and	and	CCONJ
aiti-2520	198	11	all	all	DET
aiti-2520	198	12	the	the	DET
aiti-2520	198	13	obtained	obtain	VERB
aiti-2520	198	14	data	data	NOUN
aiti-2520	198	15	is	be	AUX
aiti-2520	198	16	recorded	record	VERB
aiti-2520	198	17	using	use	VERB
aiti-2520	198	18	rf	rf	NUM
aiti-2520	198	19	wireless	wireless	ADJ
aiti-2520	198	20	communication	communication	NOUN
aiti-2520	198	21	system	system	NOUN
aiti-2520	198	22	in	in	ADP
aiti-2520	198	23	real	real	ADJ
aiti-2520	198	24	time	time	NOUN
aiti-2520	198	25	.	.	PUNCT
aiti-2520	199	1	the	the	DET
aiti-2520	199	2	ars	ar	NOUN
aiti-2520	199	3	has	have	AUX
aiti-2520	199	4	been	be	AUX
aiti-2520	199	5	developed	develop	VERB
aiti-2520	199	6	for	for	ADP
aiti-2520	199	7	underwater	underwater	ADJ
aiti-2520	199	8	usage	usage	NOUN
aiti-2520	199	9	.	.	PUNCT
aiti-2520	200	1	however	however	ADV
aiti-2520	200	2	,	,	PUNCT
aiti-2520	200	3	it	it	PRON
aiti-2520	200	4	is	be	AUX
aiti-2520	200	5	difficult	difficult	ADJ
aiti-2520	200	6	to	to	PART
aiti-2520	200	7	verify	verify	VERB
aiti-2520	200	8	the	the	DET
aiti-2520	200	9	performance	performance	NOUN
aiti-2520	200	10	under	under	ADP
aiti-2520	200	11	the	the	DET
aiti-2520	200	12	water	water	NOUN
aiti-2520	200	13	.	.	PUNCT
aiti-2520	201	1	therefore	therefore	ADV
aiti-2520	201	2	,	,	PUNCT
aiti-2520	201	3	the	the	DET
aiti-2520	201	4	land	land	NOUN
aiti-2520	201	5	test	test	NOUN
aiti-2520	201	6	was	be	AUX
aiti-2520	201	7	carried	carry	VERB
aiti-2520	201	8	out	out	ADP
aiti-2520	201	9	to	to	PART
aiti-2520	201	10	confirm	confirm	VERB
aiti-2520	201	11	the	the	DET
aiti-2520	201	12	performance	performance	NOUN
aiti-2520	201	13	.	.	PUNCT
aiti-2520	202	1	the	the	DET
aiti-2520	202	2	scene	scene	NOUN
aiti-2520	202	3	of	of	ADP
aiti-2520	202	4	the	the	DET
aiti-2520	202	5	outdoor	outdoor	ADJ
aiti-2520	202	6	test	test	NOUN
aiti-2520	202	7	is	be	AUX
aiti-2520	202	8	shown	show	VERB
aiti-2520	202	9	in	in	ADP
aiti-2520	202	10	fig	fig	NOUN
aiti-2520	202	11	.	.	PUNCT
aiti-2520	203	1	14	14	NUM
aiti-2520	204	1	and	and	CCONJ
aiti-2520	204	2	the	the	DET
aiti-2520	204	3	results	result	NOUN
aiti-2520	204	4	are	be	AUX
aiti-2520	204	5	shown	show	VERB
aiti-2520	204	6	in	in	ADP
aiti-2520	204	7	fig	fig	NOUN
aiti-2520	204	8	.	.	PUNCT
aiti-2520	205	1	15	15	NUM
aiti-2520	205	2	.	.	X
aiti-2520	205	3	fig	fig	NOUN
aiti-2520	205	4	.	.	PUNCT
aiti-2520	206	1	15	15	NUM
aiti-2520	206	2	shows	show	VERB
aiti-2520	206	3	the	the	DET
aiti-2520	206	4	result	result	NOUN
aiti-2520	206	5	of	of	ADP
aiti-2520	206	6	applying	apply	VERB
aiti-2520	206	7	the	the	DET
aiti-2520	206	8	algorithm	algorithm	NOUN
aiti-2520	206	9	and	and	CCONJ
aiti-2520	206	10	the	the	DET
aiti-2520	206	11	result	result	NOUN
aiti-2520	206	12	of	of	ADP
aiti-2520	206	13	non	non	ADJ
aiti-2520	206	14	-	-	ADJ
aiti-2520	206	15	using	use	VERB
aiti-2520	206	16	the	the	DET
aiti-2520	206	17	algorithm	algorithm	NOUN
aiti-2520	206	18	.	.	PUNCT
aiti-2520	207	1	the	the	DET
aiti-2520	207	2	graph	graph	NOUN
aiti-2520	207	3	without	without	ADP
aiti-2520	207	4	the	the	DET
aiti-2520	207	5	algorithm	algorithm	NOUN
aiti-2520	207	6	(	(	PUNCT
aiti-2520	207	7	red	red	ADJ
aiti-2520	207	8	color	color	NOUN
aiti-2520	207	9	)	)	PUNCT
aiti-2520	207	10	diverges	diverge	VERB
aiti-2520	207	11	from	from	ADP
aiti-2520	207	12	the	the	DET
aiti-2520	207	13	heading	head	VERB
aiti-2520	207	14	angle	angle	NOUN
aiti-2520	207	15	.	.	PUNCT
aiti-2520	208	1	during	during	ADP
aiti-2520	208	2	the	the	DET
aiti-2520	208	3	10	10	NUM
aiti-2520	208	4	-	-	PUNCT
aiti-2520	208	5	minute	minute	NOUN
aiti-2520	208	6	test	test	NOUN
aiti-2520	208	7	time	time	NOUN
aiti-2520	208	8	,	,	PUNCT
aiti-2520	208	9	the	the	DET
aiti-2520	208	10	cumulative	cumulative	ADJ
aiti-2520	208	11	error	error	NOUN
aiti-2520	208	12	occurred	occur	VERB
aiti-2520	208	13	at	at	ADP
aiti-2520	208	14	about	about	ADV
aiti-2520	208	15	2	2	NUM
aiti-2520	208	16	°	°	NOUN
aiti-2520	208	17	.	.	PUNCT
aiti-2520	209	1	since	since	SCONJ
aiti-2520	209	2	the	the	DET
aiti-2520	209	3	error	error	NOUN
aiti-2520	209	4	due	due	ADP
aiti-2520	209	5	to	to	ADP
aiti-2520	209	6	integration	integration	NOUN
aiti-2520	209	7	increases	increase	VERB
aiti-2520	209	8	rapidly	rapidly	ADV
aiti-2520	209	9	with	with	ADP
aiti-2520	209	10	time	time	NOUN
aiti-2520	209	11	,	,	PUNCT
aiti-2520	209	12	data	datum	NOUN
aiti-2520	209	13	that	that	PRON
aiti-2520	209	14	do	do	AUX
aiti-2520	209	15	not	not	PART
aiti-2520	209	16	apply	apply	VERB
aiti-2520	209	17	the	the	DET
aiti-2520	209	18	algorithm	algorithm	NOUN
aiti-2520	209	19	will	will	AUX
aiti-2520	209	20	quickly	quickly	ADV
aiti-2520	209	21	diverge	diverge	VERB
aiti-2520	209	22	in	in	ADP
aiti-2520	209	23	the	the	DET
aiti-2520	209	24	future	future	NOUN
aiti-2520	209	25	.	.	PUNCT
aiti-2520	210	1	therefore	therefore	ADV
aiti-2520	210	2	,	,	PUNCT
aiti-2520	210	3	the	the	DET
aiti-2520	210	4	current	current	ADJ
aiti-2520	210	5	test	test	NOUN
aiti-2520	210	6	results	result	NOUN
aiti-2520	210	7	show	show	VERB
aiti-2520	210	8	approximately	approximately	ADV
aiti-2520	210	9	2	2	NUM
aiti-2520	210	10	°	°	NUM
aiti-2520	210	11	difference	difference	NOUN
aiti-2520	210	12	between	between	ADP
aiti-2520	210	13	using	use	VERB
aiti-2520	210	14	and	and	CCONJ
aiti-2520	210	15	non	non	ADJ
aiti-2520	210	16	-	-	ADJ
aiti-2520	210	17	using	use	VERB
aiti-2520	210	18	the	the	DET
aiti-2520	210	19	algorithms	algorithm	NOUN
aiti-2520	210	20	.	.	PUNCT
aiti-2520	211	1	if	if	SCONJ
aiti-2520	211	2	the	the	DET
aiti-2520	211	3	test	test	NOUN
aiti-2520	211	4	is	be	AUX
aiti-2520	211	5	performed	perform	VERB
aiti-2520	211	6	for	for	ADP
aiti-2520	211	7	a	a	DET
aiti-2520	211	8	long	long	ADJ
aiti-2520	211	9	time	time	NOUN
aiti-2520	211	10	,	,	PUNCT
aiti-2520	211	11	the	the	DET
aiti-2520	211	12	error	error	NOUN
aiti-2520	211	13	due	due	ADP
aiti-2520	211	14	to	to	ADP
aiti-2520	211	15	integration	integration	NOUN
aiti-2520	211	16	will	will	AUX
aiti-2520	211	17	increase	increase	VERB
aiti-2520	211	18	.	.	PUNCT
aiti-2520	212	1	despite	despite	SCONJ
aiti-2520	212	2	a	a	DET
aiti-2520	212	3	lot	lot	NOUN
aiti-2520	212	4	of	of	ADP
aiti-2520	212	5	vibration	vibration	NOUN
aiti-2520	212	6	while	while	SCONJ
aiti-2520	212	7	driving	drive	VERB
aiti-2520	212	8	on	on	ADP
aiti-2520	212	9	uneven	uneven	ADJ
aiti-2520	212	10	surfaces	surface	NOUN
aiti-2520	212	11	,	,	PUNCT
aiti-2520	212	12	the	the	DET
aiti-2520	212	13	heading	head	VERB
aiti-2520	212	14	data	datum	NOUN
aiti-2520	212	15	of	of	ADP
aiti-2520	212	16	the	the	DET
aiti-2520	212	17	ars	ar	NOUN
aiti-2520	212	18	showed	show	VERB
aiti-2520	212	19	an	an	DET
aiti-2520	212	20	error	error	NOUN
aiti-2520	212	21	of	of	ADP
aiti-2520	212	22	about	about	ADV
aiti-2520	212	23	0.02	0.02	NUM
aiti-2520	212	24	°	°	NOUN
aiti-2520	212	25	to	to	ADP
aiti-2520	212	26	0.5	0.5	NUM
aiti-2520	212	27	°	°	NOUN
aiti-2520	212	28	,	,	PUNCT
aiti-2520	212	29	which	which	PRON
aiti-2520	212	30	is	be	AUX
aiti-2520	212	31	quite	quite	ADV
aiti-2520	212	32	small	small	ADJ
aiti-2520	212	33	.	.	PUNCT
aiti-2520	213	1	5	5	X
aiti-2520	213	2	.	.	X
aiti-2520	213	3	conclusions	conclusion	NOUN
aiti-2520	213	4	in	in	ADP
aiti-2520	213	5	this	this	DET
aiti-2520	213	6	paper	paper	NOUN
aiti-2520	213	7	,	,	PUNCT
aiti-2520	213	8	ars	ar	NOUN
aiti-2520	213	9	which	which	PRON
aiti-2520	213	10	can	can	AUX
aiti-2520	213	11	acquire	acquire	VERB
aiti-2520	213	12	the	the	DET
aiti-2520	213	13	attitude	attitude	NOUN
aiti-2520	213	14	of	of	ADP
aiti-2520	213	15	the	the	DET
aiti-2520	213	16	underwater	underwater	ADJ
aiti-2520	213	17	vehicle	vehicle	NOUN
aiti-2520	213	18	is	be	AUX
aiti-2520	213	19	an	an	DET
aiti-2520	213	20	essential	essential	ADJ
aiti-2520	213	21	factor	factor	NOUN
aiti-2520	213	22	in	in	ADP
aiti-2520	213	23	underwater	underwater	ADJ
aiti-2520	213	24	navigation	navigation	NOUN
aiti-2520	213	25	and	and	CCONJ
aiti-2520	213	26	is	be	AUX
aiti-2520	213	27	designed	design	VERB
aiti-2520	213	28	by	by	ADP
aiti-2520	213	29	using	use	VERB
aiti-2520	213	30	rlg	rlg	PROPN
aiti-2520	213	31	and	and	CCONJ
aiti-2520	213	32	magnetometer	magnetometer	NOUN
aiti-2520	213	33	.	.	PUNCT
aiti-2520	214	1	also	also	ADV
aiti-2520	214	2	,	,	PUNCT
aiti-2520	214	3	a	a	DET
aiti-2520	214	4	small	small	ADJ
aiti-2520	214	5	utv	utv	NOUN
aiti-2520	214	6	was	be	AUX
aiti-2520	214	7	designed	design	VERB
aiti-2520	214	8	and	and	CCONJ
aiti-2520	214	9	fabricated	fabricate	VERB
aiti-2520	214	10	to	to	PART
aiti-2520	214	11	verify	verify	VERB
aiti-2520	214	12	the	the	DET
aiti-2520	214	13	performance	performance	NOUN
aiti-2520	214	14	of	of	ADP
aiti-2520	214	15	the	the	DET
aiti-2520	214	16	designed	design	VERB
aiti-2520	214	17	underwater	underwater	ADJ
aiti-2520	214	18	navigation	navigation	NOUN
aiti-2520	214	19	system	system	NOUN
aiti-2520	214	20	through	through	ADP
aiti-2520	214	21	a	a	DET
aiti-2520	214	22	water	water	NOUN
aiti-2520	214	23	tank	tank	NOUN
aiti-2520	214	24	and	and	CCONJ
aiti-2520	214	25	sea	sea	NOUN
aiti-2520	214	26	area	area	NOUN
aiti-2520	214	27	experiment	experiment	NOUN
aiti-2520	214	28	.	.	PUNCT
aiti-2520	215	1	in	in	ADP
aiti-2520	215	2	the	the	DET
aiti-2520	215	3	study	study	NOUN
aiti-2520	215	4	,	,	PUNCT
aiti-2520	215	5	the	the	DET
aiti-2520	215	6	extended	extended	ADJ
aiti-2520	215	7	kalman	kalman	NOUN
aiti-2520	215	8	filter	filter	NOUN
aiti-2520	215	9	was	be	AUX
aiti-2520	215	10	used	use	VERB
aiti-2520	215	11	to	to	PART
aiti-2520	215	12	reduce	reduce	VERB
aiti-2520	215	13	the	the	DET
aiti-2520	215	14	integration	integration	NOUN
aiti-2520	215	15	error	error	NOUN
aiti-2520	215	16	of	of	ADP
aiti-2520	215	17	data	datum	NOUN
aiti-2520	215	18	over	over	ADP
aiti-2520	215	19	time	time	NOUN
aiti-2520	215	20	,	,	PUNCT
aiti-2520	215	21	which	which	PRON
aiti-2520	215	22	is	be	AUX
aiti-2520	215	23	the	the	DET
aiti-2520	215	24	biggest	big	ADJ
aiti-2520	215	25	problem	problem	NOUN
aiti-2520	215	26	of	of	ADP
aiti-2520	215	27	ars	ar	NOUN
aiti-2520	215	28	using	use	VERB
aiti-2520	215	29	rlg	rlg	PROPN
aiti-2520	215	30	.	.	PUNCT
aiti-2520	216	1	then	then	ADV
aiti-2520	216	2	,	,	PUNCT
aiti-2520	216	3	by	by	ADP
aiti-2520	216	4	using	use	VERB
aiti-2520	216	5	this	this	PRON
aiti-2520	216	6	,	,	PUNCT
aiti-2520	216	7	an	an	DET
aiti-2520	216	8	algorithm	algorithm	NOUN
aiti-2520	216	9	that	that	PRON
aiti-2520	216	10	efficiently	efficiently	ADV
aiti-2520	216	11	removes	remove	VERB
aiti-2520	216	12	the	the	DET
aiti-2520	216	13	integration	integration	NOUN
aiti-2520	216	14	error	error	NOUN
aiti-2520	216	15	of	of	ADP
aiti-2520	216	16	the	the	DET
aiti-2520	216	17	yaw	yaw	NOUN
aiti-2520	216	18	angle	angle	NOUN
aiti-2520	216	19	by	by	ADP
aiti-2520	216	20	correcting	correct	VERB
aiti-2520	216	21	it	it	PRON
aiti-2520	216	22	through	through	ADP
aiti-2520	216	23	the	the	DET
aiti-2520	216	24	fusion	fusion	NOUN
aiti-2520	216	25	of	of	ADP
aiti-2520	216	26	the	the	DET
aiti-2520	216	27	gyro	gyro	NOUN
aiti-2520	216	28	,	,	PUNCT
aiti-2520	216	29	acceleration	acceleration	NOUN
aiti-2520	216	30	,	,	PUNCT
aiti-2520	216	31	and	and	CCONJ
aiti-2520	216	32	geomagnetism	geomagnetism	NOUN
aiti-2520	216	33	data	datum	NOUN
aiti-2520	216	34	was	be	AUX
aiti-2520	216	35	studied	study	VERB
aiti-2520	216	36	and	and	CCONJ
aiti-2520	216	37	was	be	AUX
aiti-2520	216	38	implemented	implement	VERB
aiti-2520	216	39	in	in	ADP
aiti-2520	216	40	the	the	DET
aiti-2520	216	41	system	system	NOUN
aiti-2520	216	42	.	.	PUNCT
aiti-2520	217	1	through	through	ADP
aiti-2520	217	2	the	the	DET
aiti-2520	217	3	turntable	turntable	ADJ
aiti-2520	217	4	experiment	experiment	NOUN
aiti-2520	217	5	,	,	PUNCT
aiti-2520	217	6	it	it	PRON
aiti-2520	217	7	was	be	AUX
aiti-2520	217	8	confirmed	confirm	VERB
aiti-2520	217	9	that	that	SCONJ
aiti-2520	217	10	the	the	DET
aiti-2520	217	11	cumulative	cumulative	ADJ
aiti-2520	217	12	error	error	NOUN
aiti-2520	217	13	accumulation	accumulation	NOUN
aiti-2520	217	14	amount	amount	NOUN
aiti-2520	217	15	before	before	ADP
aiti-2520	217	16	the	the	DET
aiti-2520	217	17	correction	correction	NOUN
aiti-2520	217	18	was	be	AUX
aiti-2520	217	19	more	more	ADJ
aiti-2520	217	20	than	than	ADP
aiti-2520	217	21	12	12	NUM
aiti-2520	217	22	°	°	NOUN
aiti-2520	217	23	in	in	ADP
aiti-2520	217	24	the	the	DET
aiti-2520	217	25	result	result	NOUN
aiti-2520	217	26	of	of	ADP
aiti-2520	217	27	about	about	ADV
aiti-2520	217	28	83	83	NUM
aiti-2520	217	29	minutes	minute	NOUN
aiti-2520	217	30	.	.	PUNCT
aiti-2520	218	1	the	the	DET
aiti-2520	218	2	geomagnetism	geomagnetism	NOUN
aiti-2520	218	3	data	data	VERB
aiti-2520	218	4	to	to	PART
aiti-2520	218	5	correct	correct	VERB
aiti-2520	218	6	this	this	DET
aiti-2520	218	7	error	error	NOUN
aiti-2520	218	8	also	also	ADV
aiti-2520	218	9	showed	show	VERB
aiti-2520	218	10	measurement	measurement	NOUN
aiti-2520	218	11	error	error	NOUN
aiti-2520	218	12	more	more	ADJ
aiti-2520	218	13	than	than	ADP
aiti-2520	218	14	6	6	NUM
aiti-2520	218	15	°	°	NOUN
aiti-2520	218	16	to	to	PART
aiti-2520	218	17	8	8	NUM
aiti-2520	218	18	°	°	NOUN
aiti-2520	218	19	.	.	PUNCT
aiti-2520	219	1	as	as	ADP
aiti-2520	219	2	a	a	DET
aiti-2520	219	3	result	result	NOUN
aiti-2520	219	4	of	of	ADP
aiti-2520	219	5	calibrating	calibrate	VERB
aiti-2520	219	6	the	the	DET
aiti-2520	219	7	gyro	gyro	NOUN
aiti-2520	219	8	data	datum	NOUN
aiti-2520	219	9	and	and	CCONJ
aiti-2520	219	10	geomagnetism	geomagnetism	NOUN
aiti-2520	219	11	data	datum	NOUN
aiti-2520	219	12	with	with	ADP
aiti-2520	219	13	the	the	DET
aiti-2520	219	14	extended	extended	ADJ
aiti-2520	219	15	kalman	kalman	NOUN
aiti-2520	219	16	filter	filter	NOUN
aiti-2520	219	17	,	,	PUNCT
aiti-2520	219	18	the	the	DET
aiti-2520	219	19	postural	postural	ADJ
aiti-2520	219	20	error	error	NOUN
aiti-2520	219	21	of	of	ADP
aiti-2520	219	22	about	about	ADV
aiti-2520	219	23	0.2	0.2	NUM
aiti-2520	219	24	°	°	NOUN
aiti-2520	219	25	to	to	ADP
aiti-2520	219	26	0.4	0.4	NUM
aiti-2520	219	27	°	°	NOUN
aiti-2520	219	28	in	in	ADP
aiti-2520	219	29	the	the	DET
aiti-2520	219	30	experiment	experiment	NOUN
aiti-2520	219	31	over	over	ADV
aiti-2520	219	32	1	1	NUM
aiti-2520	219	33	hour	hour	NOUN
aiti-2520	219	34	occurred	occur	VERB
aiti-2520	219	35	.	.	PUNCT
aiti-2520	220	1	this	this	DET
aiti-2520	220	2	error	error	NOUN
aiti-2520	220	3	is	be	AUX
aiti-2520	220	4	also	also	ADV
aiti-2520	220	5	assumed	assume	VERB
aiti-2520	220	6	to	to	PART
aiti-2520	220	7	be	be	AUX
aiti-2520	220	8	caused	cause	VERB
aiti-2520	220	9	by	by	ADP
aiti-2520	220	10	the	the	DET
aiti-2520	220	11	mechanical	mechanical	ADJ
aiti-2520	220	12	part	part	NOUN
aiti-2520	220	13	of	of	ADP
aiti-2520	220	14	the	the	DET
aiti-2520	220	15	experimental	experimental	ADJ
aiti-2520	220	16	equipment	equipment	NOUN
aiti-2520	220	17	.	.	PUNCT
aiti-2520	221	1	the	the	DET
aiti-2520	221	2	algorithm	algorithm	NOUN
aiti-2520	221	3	of	of	ADP
aiti-2520	221	4	the	the	DET
aiti-2520	221	5	ars	ar	NOUN
aiti-2520	221	6	was	be	AUX
aiti-2520	221	7	verified	verify	VERB
aiti-2520	221	8	by	by	ADP
aiti-2520	221	9	the	the	DET
aiti-2520	221	10	ars	ar	NOUN
aiti-2520	221	11	applied	apply	VERB
aiti-2520	221	12	to	to	ADP
aiti-2520	221	13	the	the	DET
aiti-2520	221	14	test	test	NOUN
aiti-2520	221	15	-	-	PUNCT
aiti-2520	221	16	bed	bed	NOUN
aiti-2520	221	17	.	.	PUNCT
aiti-2520	222	1	it	it	PRON
aiti-2520	222	2	can	can	AUX
aiti-2520	222	3	be	be	AUX
aiti-2520	222	4	seen	see	VERB
aiti-2520	222	5	that	that	SCONJ
aiti-2520	222	6	only	only	ADV
aiti-2520	222	7	a	a	DET
aiti-2520	222	8	slight	slight	ADJ
aiti-2520	222	9	error	error	NOUN
aiti-2520	222	10	of	of	ADP
aiti-2520	222	11	about	about	ADV
aiti-2520	222	12	0.02	0.02	NUM
aiti-2520	222	13	°	°	NOUN
aiti-2520	222	14	to	to	ADP
aiti-2520	222	15	0.4	0.4	NUM
aiti-2520	222	16	°	°	PROPN
aiti-2520	222	17	occurred	occur	VERB
aiti-2520	222	18	in	in	ADP
aiti-2520	222	19	the	the	DET
aiti-2520	222	20	straight	straight	ADJ
aiti-2520	222	21	running	running	NOUN
aiti-2520	222	22	of	of	ADP
aiti-2520	222	23	approximately	approximately	ADV
aiti-2520	222	24	100	100	NUM
aiti-2520	222	25	m.	m.	NOUN
aiti-2520	222	26	however	however	ADV
aiti-2520	222	27	,	,	PUNCT
aiti-2520	222	28	due	due	ADP
aiti-2520	222	29	to	to	ADP
aiti-2520	222	30	the	the	DET
aiti-2520	222	31	nature	nature	NOUN
aiti-2520	222	32	of	of	ADP
aiti-2520	222	33	the	the	DET
aiti-2520	222	34	integral	integral	ADJ
aiti-2520	222	35	error	error	NOUN
aiti-2520	222	36	that	that	PRON
aiti-2520	222	37	rapidly	rapidly	ADV
aiti-2520	222	38	diverges	diverge	VERB
aiti-2520	222	39	instantaneously	instantaneously	ADV
aiti-2520	222	40	,	,	PUNCT
aiti-2520	222	41	many	many	ADJ
aiti-2520	222	42	platform	platform	NOUN
aiti-2520	222	43	application	application	NOUN
aiti-2520	222	44	tests	test	NOUN
aiti-2520	222	45	in	in	ADP
aiti-2520	222	46	various	various	ADJ
aiti-2520	222	47	situations	situation	NOUN
aiti-2520	222	48	are	be	AUX
aiti-2520	222	49	required	require	VERB
aiti-2520	222	50	.	.	PUNCT
aiti-2520	223	1	acknowledgments	acknowledgment	NOUN
aiti-2520	223	2	this	this	DET
aiti-2520	223	3	research	research	NOUN
aiti-2520	223	4	is	be	AUX
aiti-2520	223	5	a	a	DET
aiti-2520	223	6	part	part	NOUN
aiti-2520	223	7	of	of	ADP
aiti-2520	223	8	the	the	DET
aiti-2520	223	9	project	project	NOUN
aiti-2520	223	10	national	national	PROPN
aiti-2520	223	11	research	research	PROPN
aiti-2520	223	12	foundation	foundation	PROPN
aiti-2520	223	13	of	of	ADP
aiti-2520	223	14	korea	korea	PROPN
aiti-2520	223	15	(	(	PUNCT
aiti-2520	223	16	nrf-2016r1a2b4011875	nrf-2016r1a2b4011875	PROPN
aiti-2520	223	17	)	)	PUNCT
aiti-2520	223	18	and	and	CCONJ
aiti-2520	223	19	a	a	DET
aiti-2520	223	20	part	part	NOUN
aiti-2520	223	21	of	of	ADP
aiti-2520	223	22	project	project	NOUN
aiti-2520	223	23	titled	title	VERB
aiti-2520	223	24	“	"	PUNCT
aiti-2520	223	25	r&d	r&d	NOUN
aiti-2520	223	26	center	center	NOUN
aiti-2520	223	27	for	for	ADP
aiti-2520	223	28	underwater	underwater	ADJ
aiti-2520	223	29	construction	construction	NOUN
aiti-2520	223	30	robotics	robotic	NOUN
aiti-2520	223	31	”	"	PUNCT
aiti-2520	223	32	,	,	PUNCT
aiti-2520	223	33	south	south	PROPN
aiti-2520	223	34	korea	korea	PROPN
aiti-2520	223	35	(	(	PUNCT
aiti-2520	223	36	pjt200539	pjt200539	PROPN
aiti-2520	223	37	)	)	PUNCT
aiti-2520	223	38	,	,	PUNCT
aiti-2520	223	39	funded	fund	VERB
aiti-2520	223	40	by	by	ADP
aiti-2520	223	41	the	the	DET
aiti-2520	223	42	ministry	ministry	PROPN
aiti-2520	223	43	of	of	ADP
aiti-2520	223	44	oceans	ocean	NOUN
aiti-2520	223	45	and	and	CCONJ
aiti-2520	223	46	fisheries	fishery	NOUN
aiti-2520	223	47	(	(	PUNCT
aiti-2520	223	48	mof	mof	NOUN
aiti-2520	223	49	)	)	PUNCT
aiti-2520	223	50	.	.	PUNCT
aiti-2520	224	1	conflicts	conflict	NOUN
aiti-2520	224	2	of	of	ADP
aiti-2520	224	3	interest	interest	NOUN
aiti-2520	224	4	the	the	DET
aiti-2520	224	5	authors	author	NOUN
aiti-2520	224	6	declare	declare	VERB
aiti-2520	224	7	no	no	DET
aiti-2520	224	8	conflict	conflict	NOUN
aiti-2520	224	9	of	of	ADP
aiti-2520	224	10	interest	interest	NOUN
aiti-2520	224	11	.	.	PUNCT
aiti-2520	225	1	references	reference	NOUN
aiti-2520	225	2	[	[	X
aiti-2520	225	3	1	1	X
aiti-2520	225	4	]	]	PUNCT
aiti-2520	225	5	t.	t.	PROPN
aiti-2520	225	6	s.	s.	PROPN
aiti-2520	225	7	kim	kim	PROPN
aiti-2520	225	8	,	,	PUNCT
aiti-2520	225	9	i.	i.	PROPN
aiti-2520	225	10	s.	s.	PROPN
aiti-2520	225	11	jang	jang	PROPN
aiti-2520	225	12	,	,	PUNCT
aiti-2520	225	13	c.	c.	PROPN
aiti-2520	225	14	j.	j.	PROPN
aiti-2520	225	15	shin	shin	PROPN
aiti-2520	225	16	,	,	PUNCT
aiti-2520	225	17	and	and	CCONJ
aiti-2520	225	18	m.	m.	PROPN
aiti-2520	225	19	k.	k.	PROPN
aiti-2520	225	20	lee	lee	PROPN
aiti-2520	225	21	,	,	PUNCT
aiti-2520	225	22	“	"	PUNCT
aiti-2520	225	23	underwater	underwater	ADJ
aiti-2520	225	24	construction	construction	NOUN
aiti-2520	225	25	robot	robot	NOUN
aiti-2520	225	26	for	for	ADP
aiti-2520	225	27	rubble	rubble	NOUN
aiti-2520	225	28	leveling	leveling	NOUN
aiti-2520	225	29	on	on	ADP
aiti-2520	225	30	the	the	DET
aiti-2520	225	31	seabed	seabed	NOUN
aiti-2520	225	32	for	for	ADP
aiti-2520	225	33	port	port	NOUN
aiti-2520	225	34	construction	construction	NOUN
aiti-2520	225	35	,	,	PUNCT
aiti-2520	225	36	”	"	PUNCT
aiti-2520	225	37	14th	14th	ADJ
aiti-2520	225	38	international	international	ADJ
aiti-2520	225	39	conference	conference	NOUN
aiti-2520	225	40	on	on	ADP
aiti-2520	225	41	control	control	NOUN
aiti-2520	225	42	,	,	PUNCT
aiti-2520	225	43	automation	automation	NOUN
aiti-2520	225	44	and	and	CCONJ
aiti-2520	225	45	systems	system	NOUN
aiti-2520	225	46	,	,	PUNCT
aiti-2520	225	47	2014	2014	NUM
aiti-2520	225	48	,	,	PUNCT
aiti-2520	225	49	pp	pp	ADJ
aiti-2520	225	50	.	.	PUNCT
aiti-2520	225	51	1657	1657	NUM
aiti-2520	225	52	-	-	SYM
aiti-2520	225	53	1661	1661	NUM
aiti-2520	225	54	.	.	PUNCT
aiti-2520	226	1	[	[	X
aiti-2520	226	2	2	2	NUM
aiti-2520	226	3	]	]	PUNCT
aiti-2520	226	4	c.	c.	PROPN
aiti-2520	226	5	h.	h.	PROPN
aiti-2520	226	6	kim	kim	PROPN
aiti-2520	226	7	,	,	PUNCT
aiti-2520	226	8	t.	t.	PROPN
aiti-2520	226	9	s.	s.	PROPN
aiti-2520	226	10	kim	kim	PROPN
aiti-2520	226	11	,	,	PUNCT
aiti-2520	226	12	and	and	CCONJ
aiti-2520	226	13	m.	m.	PROPN
aiti-2520	226	14	k.	k.	PROPN
aiti-2520	226	15	lee	lee	PROPN
aiti-2520	226	16	,	,	PUNCT
aiti-2520	226	17	“	"	PUNCT
aiti-2520	226	18	study	study	NOUN
aiti-2520	226	19	on	on	ADP
aiti-2520	226	20	the	the	DET
aiti-2520	226	21	estimation	estimation	NOUN
aiti-2520	226	22	of	of	ADP
aiti-2520	226	23	the	the	DET
aiti-2520	226	24	cylinder	cylinder	NOUN
aiti-2520	226	25	displacement	displacement	NOUN
aiti-2520	226	26	of	of	ADP
aiti-2520	226	27	an	an	DET
aiti-2520	226	28	underwater	underwater	ADJ
aiti-2520	226	29	robot	robot	NOUN
aiti-2520	226	30	for	for	ADP
aiti-2520	226	31	harbor	harbor	NOUN
aiti-2520	226	32	construction	construction	NOUN
aiti-2520	226	33	using	use	VERB
aiti-2520	226	34	a	a	DET
aiti-2520	226	35	pressure	pressure	NOUN
aiti-2520	226	36	sensor	sensor	NOUN
aiti-2520	226	37	,	,	PUNCT
aiti-2520	226	38	”	"	PUNCT
aiti-2520	226	39	journal	journal	NOUN
aiti-2520	226	40	of	of	ADP
aiti-2520	226	41	navigation	navigation	NOUN
aiti-2520	226	42	and	and	CCONJ
aiti-2520	226	43	port	port	NOUN
aiti-2520	226	44	research	research	NOUN
aiti-2520	226	45	,	,	PUNCT
aiti-2520	226	46	vol	vol	NOUN
aiti-2520	226	47	.	.	PROPN
aiti-2520	226	48	36	36	NUM
aiti-2520	226	49	,	,	PUNCT
aiti-2520	226	50	no	no	INTJ
aiti-2520	226	51	.	.	NOUN
aiti-2520	226	52	10	10	NUM
aiti-2520	226	53	,	,	PUNCT
aiti-2520	226	54	pp	pp	ADJ
aiti-2520	226	55	.	.	PUNCT
aiti-2520	226	56	865	865	NUM
aiti-2520	226	57	-	-	NUM
aiti-2520	226	58	871	871	NUM
aiti-2520	226	59	,	,	PUNCT
aiti-2520	226	60	2012	2012	NUM
aiti-2520	226	61	.	.	PUNCT
aiti-2520	227	1	advances	advance	NOUN
aiti-2520	227	2	in	in	ADP
aiti-2520	227	3	technology	technology	NOUN
aiti-2520	227	4	innovation	innovation	NOUN
aiti-2520	227	5	,	,	PUNCT
aiti-2520	227	6	vol	vol	NOUN
aiti-2520	227	7	.	.	PROPN
aiti-2520	227	8	4	4	NUM
aiti-2520	227	9	,	,	PUNCT
aiti-2520	227	10	no	no	INTJ
aiti-2520	227	11	.	.	NOUN
aiti-2520	227	12	2	2	NUM
aiti-2520	227	13	,	,	PUNCT
aiti-2520	227	14	2019	2019	NUM
aiti-2520	227	15	,	,	PUNCT
aiti-2520	227	16	pp	pp	ADJ
aiti-2520	227	17	.	.	PUNCT
aiti-2520	228	1	84	84	NUM
aiti-2520	228	2	-	-	SYM
aiti-2520	228	3	93	93	NUM
aiti-2520	228	4	93	93	NUM
aiti-2520	229	1	[	[	X
aiti-2520	229	2	3	3	X
aiti-2520	229	3	]	]	X
aiti-2520	229	4	d.	d.	PROPN
aiti-2520	229	5	h.	h.	PROPN
aiti-2520	229	6	choi	choi	PROPN
aiti-2520	229	7	,	,	PUNCT
aiti-2520	229	8	y.	y.	PROPN
aiti-2520	229	9	j.	j.	PROPN
aiti-2520	229	10	lee	lee	PROPN
aiti-2520	229	11	,	,	PUNCT
aiti-2520	229	12	s.	s.	PROPN
aiti-2520	229	13	m.	m.	PROPN
aiti-2520	229	14	hong	hong	PROPN
aiti-2520	229	15	,	,	PUNCT
aiti-2520	229	16	h.	h.	PROPN
aiti-2520	229	17	s.	s.	PROPN
aiti-2520	229	18	choi	choi	PROPN
aiti-2520	229	19	,	,	PUNCT
aiti-2520	229	20	and	and	CCONJ
aiti-2520	229	21	j.	j.	PROPN
aiti-2520	229	22	y.	y.	PROPN
aiti-2520	229	23	kim	kim	PROPN
aiti-2520	229	24	,	,	PUNCT
aiti-2520	229	25	“	"	PUNCT
aiti-2520	229	26	a	a	DET
aiti-2520	229	27	study	study	NOUN
aiti-2520	229	28	on	on	ADP
aiti-2520	229	29	dynamic	dynamic	ADJ
aiti-2520	229	30	modeling	modeling	NOUN
aiti-2520	229	31	for	for	ADP
aiti-2520	229	32	underwater	underwater	ADJ
aiti-2520	229	33	tracked	track	VERB
aiti-2520	229	34	vehicle	vehicle	NOUN
aiti-2520	229	35	,	,	PUNCT
aiti-2520	229	36	”	"	PUNCT
aiti-2520	229	37	journal	journal	NOUN
aiti-2520	229	38	of	of	ADP
aiti-2520	229	39	ocean	ocean	PROPN
aiti-2520	229	40	engineering	engineering	NOUN
aiti-2520	229	41	and	and	CCONJ
aiti-2520	229	42	technology	technology	NOUN
aiti-2520	229	43	,	,	PUNCT
aiti-2520	229	44	vol	vol	NOUN
aiti-2520	229	45	.	.	PROPN
aiti-2520	229	46	29	29	NUM
aiti-2520	229	47	,	,	PUNCT
aiti-2520	229	48	no	no	INTJ
aiti-2520	229	49	.	.	NOUN
aiti-2520	229	50	5	5	NUM
aiti-2520	229	51	,	,	PUNCT
aiti-2520	229	52	pp	pp	ADJ
aiti-2520	229	53	.	.	PUNCT
aiti-2520	230	1	386	386	NUM
aiti-2520	230	2	-	-	SYM
aiti-2520	230	3	391	391	NUM
aiti-2520	230	4	,	,	PUNCT
aiti-2520	230	5	2015	2015	NUM
aiti-2520	230	6	.	.	PUNCT
aiti-2520	231	1	[	[	X
aiti-2520	231	2	4	4	X
aiti-2520	231	3	]	]	PUNCT
aiti-2520	231	4	j.	j.	PROPN
aiti-2520	231	5	h.	h.	PROPN
aiti-2520	231	6	kim	kim	PROPN
aiti-2520	231	7	,	,	PUNCT
aiti-2520	231	8	h.	h.	PROPN
aiti-2520	231	9	g.	g.	PROPN
aiti-2520	231	10	min	min	PROPN
aiti-2520	231	11	,	,	PUNCT
aiti-2520	231	12	j.	j.	PROPN
aiti-2520	231	13	d.	d.	PROPN
aiti-2520	231	14	cho	cho	PROPN
aiti-2520	231	15	,	,	PUNCT
aiti-2520	231	16	j.	j.	PROPN
aiti-2520	231	17	h.	h.	PROPN
aiti-2520	231	18	jang	jang	PROPN
aiti-2520	231	19	,	,	PUNCT
aiti-2520	231	20	s.	s.	PROPN
aiti-2520	231	21	h.	h.	PROPN
aiti-2520	231	22	kwon	kwon	PROPN
aiti-2520	231	23	,	,	PUNCT
aiti-2520	231	24	and	and	CCONJ
aiti-2520	231	25	e.	e.	PROPN
aiti-2520	231	26	t.	t.	PROPN
aiti-2520	231	27	jeung	jeung	PROPN
aiti-2520	231	28	,	,	PUNCT
aiti-2520	231	29	“	"	PUNCT
aiti-2520	231	30	design	design	NOUN
aiti-2520	231	31	of	of	ADP
aiti-2520	231	32	angular	angular	ADJ
aiti-2520	231	33	estimator	estimator	NOUN
aiti-2520	231	34	of	of	ADP
aiti-2520	231	35	inertial	inertial	ADJ
aiti-2520	231	36	sensor	sensor	NOUN
aiti-2520	231	37	using	use	VERB
aiti-2520	231	38	the	the	DET
aiti-2520	231	39	least	least	ADJ
aiti-2520	231	40	square	square	ADJ
aiti-2520	231	41	method	method	NOUN
aiti-2520	231	42	,	,	PUNCT
aiti-2520	231	43	”	"	PUNCT
aiti-2520	231	44	world	world	NOUN
aiti-2520	231	45	academy	academy	PROPN
aiti-2520	231	46	of	of	ADP
aiti-2520	231	47	science	science	PROPN
aiti-2520	231	48	,	,	PUNCT
aiti-2520	231	49	engineering	engineering	NOUN
aiti-2520	231	50	and	and	CCONJ
aiti-2520	231	51	technology	technology	NOUN
aiti-2520	231	52	,	,	PUNCT
aiti-2520	231	53	vol	vol	NOUN
aiti-2520	231	54	.	.	PROPN
aiti-2520	231	55	60	60	NUM
aiti-2520	231	56	,	,	PUNCT
aiti-2520	231	57	pp	pp	ADJ
aiti-2520	231	58	.	.	PUNCT
aiti-2520	232	1	1541	1541	NUM
aiti-2520	232	2	-	-	SYM
aiti-2520	232	3	1544	1544	NUM
aiti-2520	232	4	,	,	PUNCT
aiti-2520	232	5	2009	2009	NUM
aiti-2520	232	6	.	.	PUNCT
aiti-2520	233	1	[	[	X
aiti-2520	233	2	5	5	X
aiti-2520	233	3	]	]	PUNCT
aiti-2520	233	4	d.	d.	PROPN
aiti-2520	233	5	jung	jung	PROPN
aiti-2520	233	6	and	and	CCONJ
aiti-2520	233	7	p.	p.	NOUN
aiti-2520	233	8	tsiotras	tsiotra	NOUN
aiti-2520	233	9	,	,	PUNCT
aiti-2520	233	10	“	"	PUNCT
aiti-2520	233	11	inertial	inertial	ADJ
aiti-2520	233	12	attitude	attitude	NOUN
aiti-2520	233	13	and	and	CCONJ
aiti-2520	233	14	position	position	NOUN
aiti-2520	233	15	reference	reference	NOUN
aiti-2520	233	16	system	system	NOUN
aiti-2520	233	17	development	development	NOUN
aiti-2520	233	18	for	for	ADP
aiti-2520	233	19	a	a	DET
aiti-2520	233	20	small	small	ADJ
aiti-2520	233	21	uav	uav	PROPN
aiti-2520	233	22	,	,	PUNCT
aiti-2520	233	23	”	"	PUNCT
aiti-2520	233	24	in	in	ADP
aiti-2520	233	25	aiaa	aiaa	PROPN
aiti-2520	233	26	infotech@	infotech@	PROPN
aiti-2520	233	27	aerospace	aerospace	PROPN
aiti-2520	233	28	2007	2007	NUM
aiti-2520	233	29	conference	conference	NOUN
aiti-2520	233	30	and	and	CCONJ
aiti-2520	233	31	exhibit	exhibit	NOUN
aiti-2520	233	32	,	,	PUNCT
aiti-2520	233	33	may	may	AUX
aiti-2520	233	34	2007	2007	NUM
aiti-2520	233	35	,	,	PUNCT
aiti-2520	233	36	pp	pp	ADJ
aiti-2520	233	37	.	.	PUNCT
aiti-2520	234	1	2763	2763	NUM
aiti-2520	234	2	.	.	PUNCT
aiti-2520	235	1	[	[	X
aiti-2520	235	2	6	6	NUM
aiti-2520	235	3	]	]	X
aiti-2520	235	4	y.	y.	PROPN
aiti-2520	235	5	c.	c.	PROPN
aiti-2520	235	6	lai	lai	PROPN
aiti-2520	235	7	,	,	PUNCT
aiti-2520	235	8	s.	s.	PROPN
aiti-2520	235	9	s.	s.	PROPN
aiti-2520	235	10	jan	jan	PROPN
aiti-2520	235	11	,	,	PUNCT
aiti-2520	235	12	and	and	CCONJ
aiti-2520	235	13	f.	f.	PROPN
aiti-2520	235	14	b.	b.	PROPN
aiti-2520	235	15	hsiao	hsiao	PROPN
aiti-2520	235	16	,	,	PUNCT
aiti-2520	235	17	“	"	PUNCT
aiti-2520	235	18	development	development	NOUN
aiti-2520	235	19	of	of	ADP
aiti-2520	235	20	a	a	DET
aiti-2520	235	21	low	low	ADJ
aiti-2520	235	22	-	-	PUNCT
aiti-2520	235	23	cost	cost	NOUN
aiti-2520	235	24	attitude	attitude	NOUN
aiti-2520	235	25	and	and	CCONJ
aiti-2520	235	26	heading	head	VERB
aiti-2520	235	27	reference	reference	NOUN
aiti-2520	235	28	system	system	NOUN
aiti-2520	235	29	using	use	VERB
aiti-2520	235	30	a	a	DET
aiti-2520	235	31	three	three	NUM
aiti-2520	235	32	-	-	PUNCT
aiti-2520	235	33	axis	axis	NOUN
aiti-2520	235	34	rotating	rotate	VERB
aiti-2520	235	35	platform	platform	NOUN
aiti-2520	235	36	,	,	PUNCT
aiti-2520	235	37	”	"	PUNCT
aiti-2520	235	38	sensors	sensor	NOUN
aiti-2520	235	39	,	,	PUNCT
aiti-2520	235	40	vol	vol	NOUN
aiti-2520	235	41	.	.	PROPN
aiti-2520	235	42	10	10	NUM
aiti-2520	235	43	,	,	PUNCT
aiti-2520	235	44	no	no	INTJ
aiti-2520	235	45	.	.	NOUN
aiti-2520	235	46	4	4	NUM
aiti-2520	235	47	,	,	PUNCT
aiti-2520	235	48	pp	pp	ADJ
aiti-2520	235	49	.	.	PUNCT
aiti-2520	236	1	2472	2472	NUM
aiti-2520	236	2	-	-	SYM
aiti-2520	236	3	2491	2491	NUM
aiti-2520	236	4	,	,	PUNCT
aiti-2520	236	5	2010	2010	NUM
aiti-2520	236	6	.	.	PUNCT
aiti-2520	237	1	[	[	X
aiti-2520	237	2	7	7	X
aiti-2520	237	3	]	]	X
aiti-2520	237	4	d.	d.	PROPN
aiti-2520	237	5	gebre	gebre	PROPN
aiti-2520	237	6	-	-	PUNCT
aiti-2520	237	7	egziabher	egziabher	NOUN
aiti-2520	237	8	,	,	PUNCT
aiti-2520	237	9	r.	r.	PROPN
aiti-2520	237	10	c.	c.	PROPN
aiti-2520	237	11	hayward	hayward	PROPN
aiti-2520	237	12	,	,	PUNCT
aiti-2520	237	13	and	and	CCONJ
aiti-2520	237	14	j.	j.	PROPN
aiti-2520	237	15	d.	d.	PROPN
aiti-2520	237	16	powell	powell	PROPN
aiti-2520	237	17	,	,	PUNCT
aiti-2520	237	18	“	"	PUNCT
aiti-2520	237	19	a	a	DET
aiti-2520	237	20	low	low	ADJ
aiti-2520	237	21	-	-	PUNCT
aiti-2520	237	22	cost	cost	NOUN
aiti-2520	237	23	gps	gps	NOUN
aiti-2520	237	24	/	/	SYM
aiti-2520	237	25	inertial	inertial	ADJ
aiti-2520	237	26	attitude	attitude	NOUN
aiti-2520	237	27	heading	head	VERB
aiti-2520	237	28	reference	reference	NOUN
aiti-2520	237	29	system	system	NOUN
aiti-2520	237	30	(	(	PUNCT
aiti-2520	237	31	ahrs	ahrs	PROPN
aiti-2520	237	32	)	)	PUNCT
aiti-2520	237	33	for	for	ADP
aiti-2520	237	34	general	general	ADJ
aiti-2520	237	35	aviation	aviation	NOUN
aiti-2520	237	36	applications	application	NOUN
aiti-2520	237	37	,	,	PUNCT
aiti-2520	237	38	”	"	PUNCT
aiti-2520	237	39	proc	proc	NOUN
aiti-2520	237	40	.	.	PUNCT
aiti-2520	238	1	of	of	ADP
aiti-2520	238	2	the	the	DET
aiti-2520	238	3	1998	1998	NUM
aiti-2520	238	4	ieee	ieee	NOUN
aiti-2520	238	5	position	position	NOUN
aiti-2520	238	6	location	location	NOUN
aiti-2520	238	7	and	and	CCONJ
aiti-2520	238	8	navigation	navigation	NOUN
aiti-2520	238	9	symposium	symposium	NOUN
aiti-2520	238	10	,	,	PUNCT
aiti-2520	238	11	january	january	PROPN
aiti-2520	238	12	1998	1998	NUM
aiti-2520	238	13	,	,	PUNCT
aiti-2520	238	14	pp	pp	ADP
aiti-2520	238	15	.	.	PUNCT
aiti-2520	239	1	518	518	NUM
aiti-2520	239	2	-	-	SYM
aiti-2520	239	3	525	525	NUM
aiti-2520	239	4	.	.	PUNCT
aiti-2520	240	1	[	[	X
aiti-2520	240	2	8	8	NUM
aiti-2520	240	3	]	]	X
aiti-2520	240	4	w.	w.	PROPN
aiti-2520	240	5	qin	qin	PROPN
aiti-2520	240	6	,	,	PUNCT
aiti-2520	240	7	w.	w.	PROPN
aiti-2520	240	8	yuan	yuan	PROPN
aiti-2520	240	9	,	,	PUNCT
aiti-2520	240	10	h.	h.	PROPN
aiti-2520	240	11	chang	chang	PROPN
aiti-2520	240	12	,	,	PUNCT
aiti-2520	240	13	l.	l.	PROPN
aiti-2520	240	14	xue	xue	PROPN
aiti-2520	240	15	,	,	PUNCT
aiti-2520	240	16	and	and	CCONJ
aiti-2520	240	17	g.	g.	PROPN
aiti-2520	240	18	yuan	yuan	PROPN
aiti-2520	240	19	,	,	PUNCT
aiti-2520	240	20	“	"	PUNCT
aiti-2520	240	21	fuzzy	fuzzy	ADJ
aiti-2520	240	22	adaptive	adaptive	ADJ
aiti-2520	240	23	extended	extend	VERB
aiti-2520	240	24	kalman	kalman	NOUN
aiti-2520	240	25	filter	filter	NOUN
aiti-2520	240	26	for	for	ADP
aiti-2520	240	27	miniature	miniature	ADJ
aiti-2520	240	28	attitude	attitude	NOUN
aiti-2520	240	29	and	and	CCONJ
aiti-2520	240	30	heading	head	VERB
aiti-2520	240	31	reference	reference	NOUN
aiti-2520	240	32	system	system	NOUN
aiti-2520	240	33	,	,	PUNCT
aiti-2520	240	34	”	"	PUNCT
aiti-2520	240	35	in	in	ADP
aiti-2520	240	36	proc	proc	NOUN
aiti-2520	240	37	.	.	PUNCT
aiti-2520	241	1	of	of	ADP
aiti-2520	241	2	the	the	DET
aiti-2520	241	3	2009	2009	NUM
aiti-2520	241	4	4th	4th	ADJ
aiti-2520	241	5	ieee	ieee	NOUN
aiti-2520	241	6	international	international	ADJ
aiti-2520	241	7	conference	conference	NOUN
aiti-2520	241	8	on	on	ADP
aiti-2520	241	9	nano	nano	NOUN
aiti-2520	241	10	/	/	SYM
aiti-2520	241	11	micro	micro	ADJ
aiti-2520	241	12	engineered	engineer	VERB
aiti-2520	241	13	and	and	CCONJ
aiti-2520	241	14	molecular	molecular	ADJ
aiti-2520	241	15	systems	system	NOUN
aiti-2520	241	16	,	,	PUNCT
aiti-2520	241	17	january	january	PROPN
aiti-2520	241	18	2009	2009	NUM
aiti-2520	241	19	,	,	PUNCT
aiti-2520	241	20	pp	pp	ADP
aiti-2520	241	21	.	.	PUNCT
aiti-2520	241	22	1026	1026	NUM
aiti-2520	241	23	-	-	SYM
aiti-2520	241	24	1030	1030	NUM
aiti-2520	241	25	.	.	PUNCT
aiti-2520	242	1	[	[	X
aiti-2520	242	2	9	9	NUM
aiti-2520	242	3	]	]	PUNCT
aiti-2520	242	4	j.	j.	PROPN
aiti-2520	242	5	l.	l.	PROPN
aiti-2520	242	6	marins	marins	PROPN
aiti-2520	242	7	,	,	PUNCT
aiti-2520	242	8	x.	x.	NOUN
aiti-2520	242	9	yun	yun	PROPN
aiti-2520	242	10	,	,	PUNCT
aiti-2520	242	11	e.	e.	PROPN
aiti-2520	242	12	r.	r.	PROPN
aiti-2520	242	13	bachmann	bachmann	PROPN
aiti-2520	242	14	,	,	PUNCT
aiti-2520	242	15	r.	r.	PROPN
aiti-2520	242	16	b.	b.	PROPN
aiti-2520	242	17	mcghee	mcghee	PROPN
aiti-2520	242	18	,	,	PUNCT
aiti-2520	242	19	and	and	CCONJ
aiti-2520	242	20	m.	m.	PROPN
aiti-2520	242	21	j.	j.	PROPN
aiti-2520	242	22	zyda	zyda	PROPN
aiti-2520	242	23	,	,	PUNCT
aiti-2520	242	24	“	"	PUNCT
aiti-2520	242	25	an	an	DET
aiti-2520	242	26	extended	extended	ADJ
aiti-2520	242	27	kalman	kalman	NOUN
aiti-2520	242	28	filter	filter	NOUN
aiti-2520	242	29	for	for	ADP
aiti-2520	242	30	quaternion	quaternion	NOUN
aiti-2520	242	31	-	-	PUNCT
aiti-2520	242	32	based	base	VERB
aiti-2520	242	33	orientation	orientation	NOUN
aiti-2520	242	34	estimation	estimation	NOUN
aiti-2520	242	35	using	use	VERB
aiti-2520	242	36	marg	marg	NOUN
aiti-2520	242	37	sensors	sensor	NOUN
aiti-2520	242	38	,	,	PUNCT
aiti-2520	242	39	”	"	PUNCT
aiti-2520	242	40	proceedings	proceeding	NOUN
aiti-2520	242	41	of	of	ADP
aiti-2520	242	42	the	the	DET
aiti-2520	242	43	2001	2001	NUM
aiti-2520	242	44	ieee	ieee	NOUN
aiti-2520	242	45	/	/	SYM
aiti-2520	242	46	rsj	rsj	NOUN
aiti-2520	242	47	international	international	ADJ
aiti-2520	242	48	conference	conference	NOUN
aiti-2520	242	49	on	on	ADP
aiti-2520	242	50	intelligent	intelligent	ADJ
aiti-2520	242	51	robots	robot	NOUN
aiti-2520	242	52	and	and	CCONJ
aiti-2520	242	53	systems	system	NOUN
aiti-2520	242	54	,	,	PUNCT
aiti-2520	242	55	november	november	PROPN
aiti-2520	242	56	2001	2001	NUM
aiti-2520	242	57	,	,	PUNCT
aiti-2520	242	58	vol	vol	NOUN
aiti-2520	242	59	.	.	PROPN
aiti-2520	242	60	4	4	NUM
aiti-2520	242	61	,	,	PUNCT
aiti-2520	242	62	pp	pp	ADJ
aiti-2520	242	63	.	.	PUNCT
aiti-2520	243	1	2003	2003	NUM
aiti-2520	243	2	-	-	SYM
aiti-2520	243	3	2011	2011	NUM
aiti-2520	243	4	.	.	PUNCT
aiti-2520	244	1	[	[	X
aiti-2520	244	2	10	10	NUM
aiti-2520	244	3	]	]	X
aiti-2520	244	4	d.	d.	PROPN
aiti-2520	244	5	w.	w.	PROPN
aiti-2520	244	6	jung	jung	PROPN
aiti-2520	244	7	,	,	PUNCT
aiti-2520	244	8	s.	s.	PROPN
aiti-2520	244	9	m.	m.	PROPN
aiti-2520	244	10	hong	hong	PROPN
aiti-2520	244	11	,	,	PUNCT
aiti-2520	244	12	j.	j.	PROPN
aiti-2520	244	13	h.	h.	PROPN
aiti-2520	244	14	lee	lee	PROPN
aiti-2520	244	15	,	,	PUNCT
aiti-2520	244	16	h.	h.	PROPN
aiti-2520	244	17	j.	j.	PROPN
aiti-2520	244	18	cho	cho	PROPN
aiti-2520	244	19	,	,	PUNCT
aiti-2520	244	20	h.	h.	PROPN
aiti-2520	244	21	s.	s.	PROPN
aiti-2520	244	22	choi	choi	PROPN
aiti-2520	244	23	,	,	PUNCT
aiti-2520	244	24	and	and	CCONJ
aiti-2520	244	25	m.	m.	NOUN
aiti-2520	244	26	t.	t.	PROPN
aiti-2520	244	27	vu	vu	PROPN
aiti-2520	244	28	,	,	PUNCT
aiti-2520	244	29	“	"	PUNCT
aiti-2520	244	30	a	a	DET
aiti-2520	244	31	study	study	NOUN
aiti-2520	244	32	on	on	ADP
aiti-2520	244	33	unmanned	unmanned	ADJ
aiti-2520	244	34	surface	surface	NOUN
aiti-2520	244	35	vehicle	vehicle	NOUN
aiti-2520	244	36	combined	combine	VERB
aiti-2520	244	37	with	with	ADP
aiti-2520	244	38	remotely	remotely	ADV
aiti-2520	244	39	operated	operate	VERB
aiti-2520	244	40	vehicle	vehicle	NOUN
aiti-2520	244	41	system	system	NOUN
aiti-2520	244	42	,	,	PUNCT
aiti-2520	244	43	”	"	PUNCT
aiti-2520	244	44	proceedings	proceeding	NOUN
aiti-2520	244	45	of	of	ADP
aiti-2520	244	46	engineering	engineering	NOUN
aiti-2520	244	47	and	and	CCONJ
aiti-2520	244	48	technology	technology	NOUN
aiti-2520	244	49	innovation	innovation	NOUN
aiti-2520	244	50	(	(	PUNCT
aiti-2520	244	51	2018	2018	NUM
aiti-2520	244	52	)	)	PUNCT
aiti-2520	244	53	,	,	PUNCT
aiti-2520	244	54	vol	vol	NOUN
aiti-2520	244	55	.	.	PROPN
aiti-2520	244	56	9	9	NUM
aiti-2520	244	57	,	,	PUNCT
aiti-2520	244	58	pp	pp	ADJ
aiti-2520	244	59	.	.	PUNCT
aiti-2520	245	1	17	17	NUM
aiti-2520	245	2	-	-	SYM
aiti-2520	245	3	24	24	NUM
aiti-2520	245	4	.	.	PUNCT
aiti-2520	246	1	[	[	X
aiti-2520	246	2	11	11	NUM
aiti-2520	246	3	]	]	PUNCT
aiti-2520	246	4	h.	h.	PROPN
aiti-2520	246	5	s.	s.	PROPN
aiti-2520	246	6	yu	yu	PROPN
aiti-2520	246	7	,	,	PUNCT
aiti-2520	246	8	c.	c.	PROPN
aiti-2520	246	9	j.	j.	PROPN
aiti-2520	246	10	kim	kim	PROPN
aiti-2520	246	11	,	,	PUNCT
aiti-2520	246	12	c.	c.	PROPN
aiti-2520	246	13	k.	k.	PROPN
aiti-2520	246	14	song	song	PROPN
aiti-2520	246	15	,	,	PUNCT
aiti-2520	246	16	and	and	CCONJ
aiti-2520	246	17	h.	h.	PROPN
aiti-2520	246	18	w.	w.	PROPN
aiti-2520	246	19	park	park	PROPN
aiti-2520	246	20	,	,	PUNCT
aiti-2520	246	21	“	"	PUNCT
aiti-2520	246	22	an	an	DET
aiti-2520	246	23	application	application	NOUN
aiti-2520	246	24	of	of	ADP
aiti-2520	246	25	large	large	ADJ
aiti-2520	246	26	heading	heading	ADJ
aiti-2520	246	27	attitude	attitude	NOUN
aiti-2520	246	28	model	model	NOUN
aiti-2520	246	29	for	for	ADP
aiti-2520	246	30	initial	initial	ADJ
aiti-2520	246	31	alignment	alignment	NOUN
aiti-2520	246	32	of	of	ADP
aiti-2520	246	33	inertial	inertial	ADJ
aiti-2520	246	34	navigation	navigation	NOUN
aiti-2520	246	35	system	system	NOUN
aiti-2520	246	36	,	,	PUNCT
aiti-2520	246	37	”	"	PUNCT
aiti-2520	246	38	the	the	DET
aiti-2520	246	39	korean	korean	ADJ
aiti-2520	246	40	society	society	NOUN
aiti-2520	246	41	for	for	ADP
aiti-2520	246	42	aeronautical	aeronautical	NOUN
aiti-2520	246	43	and	and	CCONJ
aiti-2520	246	44	space	space	NOUN
aiti-2520	246	45	sciences	science	NOUN
aiti-2520	246	46	,	,	PUNCT
aiti-2520	246	47	pp	pp	ADV
aiti-2520	246	48	.	.	PUNCT
aiti-2520	247	1	1983	1983	NUM
aiti-2520	247	2	-	-	SYM
aiti-2520	247	3	1988	1988	NUM
aiti-2520	247	4	,	,	PUNCT
aiti-2520	247	5	2012	2012	NUM
aiti-2520	247	6	.	.	PUNCT
aiti-2520	248	1	[	[	X
aiti-2520	248	2	12	12	NUM
aiti-2520	248	3	]	]	PUNCT
aiti-2520	248	4	h.	h.	PROPN
aiti-2520	248	5	s.	s.	PROPN
aiti-2520	248	6	yu	yu	PROPN
aiti-2520	248	7	,	,	PUNCT
aiti-2520	248	8	s.	s.	PROPN
aiti-2520	248	9	w.	w.	PROPN
aiti-2520	248	10	choi	choi	PROPN
aiti-2520	248	11	,	,	PUNCT
aiti-2520	248	12	and	and	CCONJ
aiti-2520	248	13	s.	s.	PROPN
aiti-2520	248	14	j.	j.	PROPN
aiti-2520	248	15	lee	lee	PROPN
aiti-2520	248	16	,	,	PUNCT
aiti-2520	248	17	“	"	PUNCT
aiti-2520	248	18	nonlinear	nonlinear	ADJ
aiti-2520	248	19	filtering	filtering	NOUN
aiti-2520	248	20	approaches	approach	NOUN
aiti-2520	248	21	to	to	ADP
aiti-2520	248	22	in	in	ADP
aiti-2520	248	23	-	-	PUNCT
aiti-2520	248	24	flight	flight	NOUN
aiti-2520	248	25	alignment	alignment	NOUN
aiti-2520	248	26	of	of	ADP
aiti-2520	248	27	sdins	sdin	NOUN
aiti-2520	248	28	with	with	ADP
aiti-2520	248	29	large	large	ADJ
aiti-2520	248	30	initial	initial	ADJ
aiti-2520	248	31	attitude	attitude	NOUN
aiti-2520	248	32	error	error	NOUN
aiti-2520	248	33	,	,	PUNCT
aiti-2520	248	34	”	"	PUNCT
aiti-2520	248	35	journal	journal	NOUN
aiti-2520	248	36	of	of	ADP
aiti-2520	248	37	institute	institute	PROPN
aiti-2520	248	38	of	of	ADP
aiti-2520	248	39	control	control	PROPN
aiti-2520	248	40	robotics	robotic	NOUN
aiti-2520	248	41	and	and	CCONJ
aiti-2520	248	42	systems	system	NOUN
aiti-2520	248	43	,	,	PUNCT
aiti-2520	248	44	pp	pp	ADP
aiti-2520	248	45	.	.	PUNCT
aiti-2520	249	1	468	468	NUM
aiti-2520	249	2	-	-	SYM
aiti-2520	249	3	473	473	NUM
aiti-2520	249	4	,	,	PUNCT
aiti-2520	249	5	2014	2014	NUM
aiti-2520	249	6	.	.	PUNCT
aiti-2520	250	1	[	[	X
aiti-2520	250	2	13	13	NUM
aiti-2520	250	3	]	]	PUNCT
aiti-2520	250	4	t.	t.	PROPN
aiti-2520	250	5	h.	h.	PROPN
aiti-2520	250	6	chung	chung	PROPN
aiti-2520	250	7	,	,	PUNCT
aiti-2520	250	8	k.	k.	PROPN
aiti-2520	250	9	w.	w.	PROPN
aiti-2520	250	10	song	song	PROPN
aiti-2520	250	11	,	,	PUNCT
aiti-2520	250	12	and	and	CCONJ
aiti-2520	250	13	b.	b.	PROPN
aiti-2520	250	14	j.	j.	PROPN
aiti-2520	250	15	chang	chang	PROPN
aiti-2520	250	16	,	,	PUNCT
aiti-2520	250	17	“	"	PUNCT
aiti-2520	250	18	design	design	NOUN
aiti-2520	250	19	of	of	ADP
aiti-2520	250	20	the	the	DET
aiti-2520	250	21	kalman	kalman	NOUN
aiti-2520	250	22	filter	filter	NOUN
aiti-2520	250	23	for	for	ADP
aiti-2520	250	24	transfer	transfer	NOUN
aiti-2520	250	25	alignment	alignment	NOUN
aiti-2520	250	26	of	of	ADP
aiti-2520	250	27	strapdown	strapdown	ADJ
aiti-2520	250	28	inertial	inertial	ADJ
aiti-2520	250	29	navigation	navigation	NOUN
aiti-2520	250	30	system	system	NOUN
aiti-2520	250	31	,	,	PUNCT
aiti-2520	250	32	”	"	PUNCT
aiti-2520	250	33	journal	journal	NOUN
aiti-2520	250	34	of	of	ADP
aiti-2520	250	35	institute	institute	PROPN
aiti-2520	250	36	of	of	ADP
aiti-2520	250	37	control	control	PROPN
aiti-2520	250	38	,	,	PUNCT
aiti-2520	250	39	robotics	robotic	NOUN
aiti-2520	250	40	and	and	CCONJ
aiti-2520	250	41	systems	system	NOUN
aiti-2520	250	42	,	,	PUNCT
aiti-2520	250	43	1991	1991	NUM
aiti-2520	250	44	,	,	PUNCT
aiti-2520	250	45	pp	pp	ADJ
aiti-2520	250	46	.	.	PUNCT
aiti-2520	251	1	142	142	NUM
aiti-2520	251	2	-	-	SYM
aiti-2520	251	3	146	146	NUM
aiti-2520	251	4	.	.	PUNCT
aiti-2520	252	1	copyright	copyright	NOUN
aiti-2520	252	2	©	©	PROPN
aiti-2520	252	3	by	by	ADP
aiti-2520	252	4	the	the	DET
aiti-2520	252	5	authors	author	NOUN
aiti-2520	252	6	.	.	PUNCT
aiti-2520	253	1	licensee	licensee	PROPN
aiti-2520	253	2	taeti	taeti	PROPN
aiti-2520	253	3	,	,	PUNCT
aiti-2520	253	4	taiwan	taiwan	PROPN
aiti-2520	253	5	.	.	PUNCT
aiti-2520	254	1	this	this	DET
aiti-2520	254	2	article	article	NOUN
aiti-2520	254	3	is	be	AUX
aiti-2520	254	4	an	an	DET
aiti-2520	254	5	open	open	ADJ
aiti-2520	254	6	access	access	NOUN
aiti-2520	254	7	article	article	NOUN
aiti-2520	254	8	distributed	distribute	VERB
aiti-2520	254	9	under	under	ADP
aiti-2520	254	10	the	the	DET
aiti-2520	254	11	terms	term	NOUN
aiti-2520	254	12	and	and	CCONJ
aiti-2520	254	13	conditions	condition	NOUN
aiti-2520	254	14	of	of	ADP
aiti-2520	254	15	the	the	DET
aiti-2520	254	16	creative	creative	ADJ
aiti-2520	254	17	commons	common	NOUN
aiti-2520	254	18	attribution	attribution	NOUN
aiti-2520	254	19	(	(	PUNCT
aiti-2520	254	20	cc	cc	NOUN
aiti-2520	254	21	by	by	ADP
aiti-2520	254	22	-	-	PUNCT
aiti-2520	254	23	nc	nc	NOUN
aiti-2520	254	24	)	)	PUNCT
aiti-2520	254	25	license	license	NOUN
aiti-2520	254	26	(	(	PUNCT
aiti-2520	254	27	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-2520	254	28	)	)	PUNCT
aiti-2520	254	29	.	.	PUNCT