id	sid	tid	token	lemma	pos
cet-14354	1	1	doi	doi	NOUN
cet-14354	1	2	:	:	PUNCT
cet-14354	1	3	10.3303	10.3303	NUM
cet-14354	1	4	/	/	SYM
cet-14354	1	5	cet23107065	cet23107065	NOUN
cet-14354	1	6	paper	paper	NOUN
cet-14354	1	7	received	receive	VERB
cet-14354	1	8	:	:	PUNCT
cet-14354	1	9	16	16	NUM
cet-14354	1	10	april	april	PROPN
cet-14354	1	11	2023	2023	NUM
cet-14354	1	12	;	;	PUNCT
cet-14354	1	13	revised	revise	VERB
cet-14354	1	14	:	:	PUNCT
cet-14354	1	15	10	10	NUM
cet-14354	1	16	may	may	PROPN
cet-14354	1	17	2023	2023	NUM
cet-14354	1	18	;	;	PUNCT
cet-14354	1	19	accepted	accept	VERB
cet-14354	1	20	:	:	PUNCT
cet-14354	1	21	28	28	NUM
cet-14354	1	22	september	september	PROPN
cet-14354	1	23	2023	2023	NUM
cet-14354	1	24	please	please	INTJ
cet-14354	1	25	cite	cite	VERB
cet-14354	1	26	this	this	DET
cet-14354	1	27	article	article	NOUN
cet-14354	1	28	as	as	ADP
cet-14354	1	29	:	:	PUNCT
cet-14354	1	30	eredits	eredit	NOUN
cet-14354	1	31	d.	d.	PROPN
cet-14354	1	32	,	,	PUNCT
cet-14354	1	33	krecht	krecht	PROPN
cet-14354	1	34	r.	r.	PROPN
cet-14354	1	35	,	,	PUNCT
cet-14354	1	36	boros	boros	PROPN
cet-14354	1	37	n.	n.	PROPN
cet-14354	1	38	,	,	PUNCT
cet-14354	1	39	2023	2023	NUM
cet-14354	1	40	,	,	PUNCT
cet-14354	1	41	gps	gps	PROPN
cet-14354	1	42	based	base	VERB
cet-14354	1	43	navigation	navigation	NOUN
cet-14354	1	44	and	and	CCONJ
cet-14354	1	45	mobile	mobile	ADJ
cet-14354	1	46	base	base	NOUN
cet-14354	1	47	station	station	NOUN
cet-14354	1	48	of	of	ADP
cet-14354	1	49	a	a	DET
cet-14354	1	50	mobile	mobile	ADJ
cet-14354	1	51	robot	robot	NOUN
cet-14354	1	52	platform	platform	NOUN
cet-14354	1	53	,	,	PUNCT
cet-14354	1	54	chemical	chemical	NOUN
cet-14354	1	55	engineering	engineering	NOUN
cet-14354	1	56	transactions	transaction	NOUN
cet-14354	1	57	,	,	PUNCT
cet-14354	1	58	107	107	NUM
cet-14354	1	59	,	,	PUNCT
cet-14354	1	60	385	385	NUM
cet-14354	1	61	-	-	SYM
cet-14354	1	62	390	390	NUM
cet-14354	1	63	doi:10.3303	doi:10.3303	NOUN
cet-14354	1	64	/	/	SYM
cet-14354	1	65	cet23107065	cet23107065	NOUN
cet-14354	1	66	chemical	chemical	NOUN
cet-14354	1	67	engineering	engineering	NOUN
cet-14354	1	68	transactions	transaction	NOUN
cet-14354	1	69	vol	vol	NOUN
cet-14354	1	70	.	.	PUNCT
cet-14354	1	71	107	107	NUM
cet-14354	1	72	,	,	PUNCT
cet-14354	1	73	2023	2023	NUM
cet-14354	1	74	a	a	DET
cet-14354	1	75	publication	publication	NOUN
cet-14354	1	76	of	of	ADP
cet-14354	1	77	the	the	DET
cet-14354	1	78	italian	italian	ADJ
cet-14354	1	79	association	association	NOUN
cet-14354	1	80	of	of	ADP
cet-14354	1	81	chemical	chemical	PROPN
cet-14354	1	82	engineering	engineering	NOUN
cet-14354	1	83	online	online	ADV
cet-14354	1	84	at	at	ADP
cet-14354	1	85	www.cetjournal.it	www.cetjournal.it	PROPN
cet-14354	1	86	guest	guest	NOUN
cet-14354	1	87	editors	editor	NOUN
cet-14354	1	88	:	:	PUNCT
cet-14354	1	89	petar	petar	PROPN
cet-14354	1	90	s.	s.	PROPN
cet-14354	1	91	varbanov	varbanov	PROPN
cet-14354	1	92	,	,	PUNCT
cet-14354	1	93	bohong	bohong	PROPN
cet-14354	1	94	wang	wang	PROPN
cet-14354	1	95	,	,	PUNCT
cet-14354	1	96	petro	petro	NOUN
cet-14354	1	97	kapustenko	kapustenko	NOUN
cet-14354	1	98	copyright	copyright	NOUN
cet-14354	1	99	©	©	PROPN
cet-14354	1	100	2023	2023	NUM
cet-14354	1	101	,	,	PUNCT
cet-14354	1	102	aidic	aidic	ADJ
cet-14354	1	103	servizi	servizi	PROPN
cet-14354	1	104	s.r.l	s.r.l	NOUN
cet-14354	1	105	.	.	PUNCT
cet-14354	2	1	isbn	isbn	PROPN
cet-14354	2	2	979	979	NUM
cet-14354	2	3	-	-	SYM
cet-14354	2	4	12	12	NUM
cet-14354	2	5	-	-	PUNCT
cet-14354	2	6	81206	81206	NUM
cet-14354	2	7	-	-	PUNCT
cet-14354	2	8	07	07	NUM
cet-14354	2	9	-	-	PUNCT
cet-14354	2	10	6	6	NUM
cet-14354	2	11	;	;	PUNCT
cet-14354	2	12	issn	issn	PROPN
cet-14354	2	13	2283	2283	NUM
cet-14354	2	14	-	-	SYM
cet-14354	2	15	9216	9216	NUM
cet-14354	2	16	gps	gps	PROPN
cet-14354	2	17	based	base	VERB
cet-14354	2	18	navigation	navigation	NOUN
cet-14354	2	19	and	and	CCONJ
cet-14354	2	20	mobile	mobile	ADJ
cet-14354	2	21	base	base	NOUN
cet-14354	2	22	station	station	NOUN
cet-14354	2	23	of	of	ADP
cet-14354	2	24	a	a	DET
cet-14354	2	25	mobile	mobile	ADJ
cet-14354	2	26	robot	robot	NOUN
cet-14354	2	27	platform	platform	NOUN
cet-14354	2	28	dániel	dániel	PROPN
cet-14354	2	29	ereditsa	ereditsa	NOUN
cet-14354	2	30	,	,	PUNCT
cet-14354	2	31	*	*	PRON
cet-14354	2	32	,	,	PUNCT
cet-14354	2	33	rudolf	rudolf	NOUN
cet-14354	2	34	krechta	krechta	NOUN
cet-14354	2	35	,	,	PUNCT
cet-14354	2	36	norbert	norbert	PROPN
cet-14354	2	37	borosb	borosb	PROPN
cet-14354	2	38	aszéchenyi	aszéchenyi	PROPN
cet-14354	2	39	istván	istván	PROPN
cet-14354	2	40	university	university	PROPN
cet-14354	2	41	,	,	PUNCT
cet-14354	2	42	department	department	NOUN
cet-14354	2	43	of	of	ADP
cet-14354	2	44	automation	automation	NOUN
cet-14354	2	45	and	and	CCONJ
cet-14354	2	46	mechatronics	mechatronic	NOUN
cet-14354	2	47	,	,	PUNCT
cet-14354	2	48	h-9026	h-9026	PROPN
cet-14354	2	49	győr	győr	PROPN
cet-14354	2	50	,	,	PUNCT
cet-14354	2	51	egyetem	egyetem	PROPN
cet-14354	2	52	tér	tér	PROPN
cet-14354	2	53	1	1	NUM
cet-14354	2	54	bszéchenyi	bszéchenyi	NOUN
cet-14354	2	55	istván	istván	PROPN
cet-14354	2	56	university	university	PROPN
cet-14354	2	57	,	,	PUNCT
cet-14354	2	58	lifelong	lifelong	ADJ
cet-14354	2	59	learning	learning	NOUN
cet-14354	2	60	and	and	CCONJ
cet-14354	2	61	skills	skill	NOUN
cet-14354	2	62	development	development	NOUN
cet-14354	2	63	centre	centre	NOUN
cet-14354	2	64	,	,	PUNCT
cet-14354	2	65	h-9026	h-9026	PROPN
cet-14354	2	66	győr	győr	PROPN
cet-14354	2	67	,	,	PUNCT
cet-14354	2	68	egyetem	egyetem	NOUN
cet-14354	2	69	tér	tér	PROPN
cet-14354	2	70	1	1	NUM
cet-14354	2	71	eredits.daniel@gmail.com	eredits.daniel@gmail.com	X
cet-14354	2	72	one	one	NUM
cet-14354	2	73	of	of	ADP
cet-14354	2	74	the	the	DET
cet-14354	2	75	central	central	ADJ
cet-14354	2	76	challenges	challenge	NOUN
cet-14354	2	77	of	of	ADP
cet-14354	2	78	today	today	NOUN
cet-14354	2	79	is	be	AUX
cet-14354	2	80	to	to	PART
cet-14354	2	81	increase	increase	VERB
cet-14354	2	82	the	the	DET
cet-14354	2	83	degree	degree	NOUN
cet-14354	2	84	of	of	ADP
cet-14354	2	85	automation	automation	NOUN
cet-14354	2	86	of	of	ADP
cet-14354	2	87	the	the	DET
cet-14354	2	88	available	available	ADJ
cet-14354	2	89	systems	system	NOUN
cet-14354	2	90	and	and	CCONJ
cet-14354	2	91	equipment	equipment	NOUN
cet-14354	2	92	in	in	ADP
cet-14354	2	93	a	a	DET
cet-14354	2	94	sustainable	sustainable	ADJ
cet-14354	2	95	way	way	NOUN
cet-14354	2	96	.	.	PUNCT
cet-14354	3	1	this	this	DET
cet-14354	3	2	paper	paper	NOUN
cet-14354	3	3	presents	present	VERB
cet-14354	3	4	the	the	DET
cet-14354	3	5	development	development	NOUN
cet-14354	3	6	of	of	ADP
cet-14354	3	7	an	an	DET
cet-14354	3	8	outdoor	outdoor	ADJ
cet-14354	3	9	mobile	mobile	ADJ
cet-14354	3	10	robot	robot	NOUN
cet-14354	3	11	platform	platform	NOUN
cet-14354	3	12	navigation	navigation	NOUN
cet-14354	3	13	method	method	NOUN
cet-14354	3	14	,	,	PUNCT
cet-14354	3	15	including	include	VERB
cet-14354	3	16	an	an	DET
cet-14354	3	17	on	on	ADP
cet-14354	3	18	-	-	PUNCT
cet-14354	3	19	board	board	NOUN
cet-14354	3	20	unit	unit	NOUN
cet-14354	3	21	and	and	CCONJ
cet-14354	3	22	a	a	DET
cet-14354	3	23	mobile	mobile	ADJ
cet-14354	3	24	base	base	NOUN
cet-14354	3	25	station	station	NOUN
cet-14354	3	26	to	to	PART
cet-14354	3	27	support	support	VERB
cet-14354	3	28	the	the	DET
cet-14354	3	29	operation	operation	NOUN
cet-14354	3	30	of	of	ADP
cet-14354	3	31	the	the	DET
cet-14354	3	32	zalazone	zalazone	ADJ
cet-14354	3	33	automotive	automotive	ADJ
cet-14354	3	34	proving	proving	NOUN
cet-14354	3	35	ground	ground	NOUN
cet-14354	3	36	in	in	ADP
cet-14354	3	37	zalaegerszeg	zalaegerszeg	PROPN
cet-14354	3	38	,	,	PUNCT
cet-14354	3	39	hungary	hungary	PROPN
cet-14354	3	40	,	,	PUNCT
cet-14354	3	41	by	by	ADP
cet-14354	3	42	precise	precise	ADJ
cet-14354	3	43	,	,	PUNCT
cet-14354	3	44	automated	automated	ADJ
cet-14354	3	45	deployment	deployment	NOUN
cet-14354	3	46	of	of	ADP
cet-14354	3	47	traffic	traffic	NOUN
cet-14354	3	48	cones	cone	NOUN
cet-14354	3	49	.	.	PUNCT
cet-14354	4	1	currently	currently	ADV
cet-14354	4	2	,	,	PUNCT
cet-14354	4	3	traffic	traffic	NOUN
cet-14354	4	4	cone	cone	NOUN
cet-14354	4	5	handling	handling	NOUN
cet-14354	4	6	is	be	AUX
cet-14354	4	7	a	a	DET
cet-14354	4	8	timeand	timeand	NOUN
cet-14354	4	9	labor	labor	NOUN
cet-14354	4	10	-	-	PUNCT
cet-14354	4	11	intensive	intensive	ADJ
cet-14354	4	12	job	job	NOUN
cet-14354	4	13	.	.	PUNCT
cet-14354	5	1	its	its	PRON
cet-14354	5	2	automation	automation	NOUN
cet-14354	5	3	saves	save	VERB
cet-14354	5	4	a	a	DET
cet-14354	5	5	significant	significant	ADJ
cet-14354	5	6	amount	amount	NOUN
cet-14354	5	7	of	of	ADP
cet-14354	5	8	human	human	ADJ
cet-14354	5	9	resources	resource	NOUN
cet-14354	5	10	.	.	PUNCT
cet-14354	6	1	as	as	ADP
cet-14354	6	2	a	a	DET
cet-14354	6	3	first	first	ADJ
cet-14354	6	4	step	step	NOUN
cet-14354	6	5	,	,	PUNCT
cet-14354	6	6	the	the	DET
cet-14354	6	7	technical	technical	ADJ
cet-14354	6	8	requirements	requirement	NOUN
cet-14354	6	9	of	of	ADP
cet-14354	6	10	the	the	DET
cet-14354	6	11	problem	problem	NOUN
cet-14354	6	12	have	have	AUX
cet-14354	6	13	been	be	AUX
cet-14354	6	14	defined	define	VERB
cet-14354	6	15	.	.	PUNCT
cet-14354	7	1	then	then	ADV
cet-14354	7	2	,	,	PUNCT
cet-14354	7	3	the	the	DET
cet-14354	7	4	navigation	navigation	NOUN
cet-14354	7	5	system	system	NOUN
cet-14354	7	6	that	that	PRON
cet-14354	7	7	met	meet	VERB
cet-14354	7	8	the	the	DET
cet-14354	7	9	pre	pre	ADJ
cet-14354	7	10	-	-	ADJ
cet-14354	7	11	defined	define	VERB
cet-14354	7	12	requirements	requirement	NOUN
cet-14354	7	13	has	have	AUX
cet-14354	7	14	been	be	AUX
cet-14354	7	15	implemented	implement	VERB
cet-14354	7	16	.	.	PUNCT
cet-14354	8	1	this	this	DET
cet-14354	8	2	paper	paper	NOUN
cet-14354	8	3	presents	present	VERB
cet-14354	8	4	the	the	DET
cet-14354	8	5	detailed	detailed	ADJ
cet-14354	8	6	development	development	NOUN
cet-14354	8	7	of	of	ADP
cet-14354	8	8	this	this	DET
cet-14354	8	9	navigation	navigation	NOUN
cet-14354	8	10	system	system	NOUN
cet-14354	8	11	,	,	PUNCT
cet-14354	8	12	including	include	VERB
cet-14354	8	13	a	a	DET
cet-14354	8	14	description	description	NOUN
cet-14354	8	15	of	of	ADP
cet-14354	8	16	the	the	DET
cet-14354	8	17	test	test	NOUN
cet-14354	8	18	phases	phase	NOUN
cet-14354	8	19	as	as	ADV
cet-14354	8	20	well	well	ADV
cet-14354	8	21	.	.	PUNCT
cet-14354	9	1	as	as	ADP
cet-14354	9	2	part	part	NOUN
cet-14354	9	3	of	of	ADP
cet-14354	9	4	the	the	DET
cet-14354	9	5	development	development	NOUN
cet-14354	9	6	process	process	NOUN
cet-14354	9	7	,	,	PUNCT
cet-14354	9	8	the	the	DET
cet-14354	9	9	operation	operation	NOUN
cet-14354	9	10	of	of	ADP
cet-14354	9	11	a	a	DET
cet-14354	9	12	global	global	ADJ
cet-14354	9	13	navigation	navigation	NOUN
cet-14354	9	14	satellite	satellite	NOUN
cet-14354	9	15	system	system	NOUN
cet-14354	9	16	(	(	PUNCT
cet-14354	9	17	gnss	gnss	NOUN
cet-14354	9	18	)	)	PUNCT
cet-14354	9	19	receiver	receiver	NOUN
cet-14354	9	20	corrected	correct	VERB
cet-14354	9	21	by	by	ADP
cet-14354	9	22	real	real	ADJ
cet-14354	9	23	-	-	PUNCT
cet-14354	9	24	time	time	NOUN
cet-14354	9	25	kinematic	kinematic	NOUN
cet-14354	9	26	(	(	PUNCT
cet-14354	9	27	rtk	rtk	NOUN
cet-14354	9	28	)	)	PUNCT
cet-14354	9	29	is	be	AUX
cet-14354	9	30	presented	present	VERB
cet-14354	9	31	,	,	PUNCT
cet-14354	9	32	supported	support	VERB
cet-14354	9	33	by	by	ADP
cet-14354	9	34	a	a	DET
cet-14354	9	35	small	small	ADJ
cet-14354	9	36	,	,	PUNCT
cet-14354	9	37	low	low	ADJ
cet-14354	9	38	-	-	PUNCT
cet-14354	9	39	power	power	NOUN
cet-14354	9	40	mobile	mobile	ADJ
cet-14354	9	41	base	base	NOUN
cet-14354	9	42	station	station	NOUN
cet-14354	9	43	,	,	PUNCT
cet-14354	9	44	followed	follow	VERB
cet-14354	9	45	by	by	ADP
cet-14354	9	46	a	a	DET
cet-14354	9	47	description	description	NOUN
cet-14354	9	48	of	of	ADP
cet-14354	9	49	the	the	DET
cet-14354	9	50	applied	apply	VERB
cet-14354	9	51	hardware	hardware	NOUN
cet-14354	9	52	and	and	CCONJ
cet-14354	9	53	software	software	NOUN
cet-14354	9	54	components	component	NOUN
cet-14354	9	55	,	,	PUNCT
cet-14354	9	56	alongside	alongside	ADP
cet-14354	9	57	with	with	ADP
cet-14354	9	58	the	the	DET
cet-14354	9	59	alignment	alignment	NOUN
cet-14354	9	60	and	and	CCONJ
cet-14354	9	61	further	further	ADJ
cet-14354	9	62	development	development	NOUN
cet-14354	9	63	of	of	ADP
cet-14354	9	64	these	these	DET
cet-14354	9	65	components	component	NOUN
cet-14354	9	66	to	to	PART
cet-14354	9	67	achieve	achieve	VERB
cet-14354	9	68	centimeter	centimeter	NOUN
cet-14354	9	69	-	-	PUNCT
cet-14354	9	70	accurate	accurate	ADJ
cet-14354	9	71	positioning	positioning	NOUN
cet-14354	9	72	.	.	PUNCT
cet-14354	10	1	the	the	DET
cet-14354	10	2	network	network	NOUN
cet-14354	10	3	transport	transport	NOUN
cet-14354	10	4	of	of	ADP
cet-14354	10	5	radio	radio	NOUN
cet-14354	10	6	technical	technical	PROPN
cet-14354	10	7	commission	commission	PROPN
cet-14354	10	8	for	for	ADP
cet-14354	10	9	maritime	maritime	ADJ
cet-14354	10	10	services	service	NOUN
cet-14354	10	11	(	(	PUNCT
cet-14354	10	12	rtcm	rtcm	PROPN
cet-14354	10	13	)	)	PUNCT
cet-14354	10	14	via	via	ADP
cet-14354	10	15	internet	internet	NOUN
cet-14354	10	16	protocol	protocol	NOUN
cet-14354	10	17	(	(	PUNCT
cet-14354	10	18	ntrip	ntrip	NOUN
cet-14354	10	19	)	)	PUNCT
cet-14354	10	20	server	server	NOUN
cet-14354	10	21	facilitates	facilitate	VERB
cet-14354	10	22	the	the	DET
cet-14354	10	23	communication	communication	NOUN
cet-14354	10	24	between	between	ADP
cet-14354	10	25	the	the	DET
cet-14354	10	26	onboard	onboard	ADJ
cet-14354	10	27	unit	unit	NOUN
cet-14354	10	28	and	and	CCONJ
cet-14354	10	29	the	the	DET
cet-14354	10	30	base	base	NOUN
cet-14354	10	31	station	station	NOUN
cet-14354	10	32	via	via	ADP
cet-14354	10	33	a	a	DET
cet-14354	10	34	5	5	NUM
cet-14354	10	35	g	g	NOUN
cet-14354	10	36	network	network	NOUN
cet-14354	10	37	.	.	PUNCT
cet-14354	11	1	this	this	DET
cet-14354	11	2	work	work	NOUN
cet-14354	11	3	is	be	AUX
cet-14354	11	4	continued	continue	VERB
cet-14354	11	5	by	by	ADP
cet-14354	11	6	a	a	DET
cet-14354	11	7	detailed	detailed	ADJ
cet-14354	11	8	description	description	NOUN
cet-14354	11	9	of	of	ADP
cet-14354	11	10	the	the	DET
cet-14354	11	11	autopilot	autopilot	NOUN
cet-14354	11	12	system	system	NOUN
cet-14354	11	13	on	on	ADP
cet-14354	11	14	the	the	DET
cet-14354	11	15	robotic	robotic	ADJ
cet-14354	11	16	platform	platform	NOUN
cet-14354	11	17	,	,	PUNCT
cet-14354	11	18	including	include	VERB
cet-14354	11	19	the	the	DET
cet-14354	11	20	tools	tool	NOUN
cet-14354	11	21	and	and	CCONJ
cet-14354	11	22	software	software	NOUN
cet-14354	11	23	used	use	VERB
cet-14354	11	24	for	for	ADP
cet-14354	11	25	this	this	DET
cet-14354	11	26	purpose	purpose	NOUN
cet-14354	11	27	.	.	PUNCT
cet-14354	12	1	the	the	DET
cet-14354	12	2	calibration	calibration	NOUN
cet-14354	12	3	process	process	NOUN
cet-14354	12	4	of	of	ADP
cet-14354	12	5	the	the	DET
cet-14354	12	6	navigation	navigation	NOUN
cet-14354	12	7	system	system	NOUN
cet-14354	12	8	is	be	AUX
cet-14354	12	9	described	describe	VERB
cet-14354	12	10	as	as	ADV
cet-14354	12	11	well	well	ADV
cet-14354	12	12	.	.	PUNCT
cet-14354	13	1	finally	finally	ADV
cet-14354	13	2	,	,	PUNCT
cet-14354	13	3	the	the	DET
cet-14354	13	4	results	result	NOUN
cet-14354	13	5	and	and	CCONJ
cet-14354	13	6	observations	observation	NOUN
cet-14354	13	7	gained	gain	VERB
cet-14354	13	8	during	during	ADP
cet-14354	13	9	the	the	DET
cet-14354	13	10	test	test	NOUN
cet-14354	13	11	are	be	AUX
cet-14354	13	12	summarized	summarize	VERB
cet-14354	13	13	and	and	CCONJ
cet-14354	13	14	analyzed	analyze	VERB
cet-14354	13	15	.	.	PUNCT
cet-14354	14	1	these	these	DET
cet-14354	14	2	results	result	NOUN
cet-14354	14	3	have	have	AUX
cet-14354	14	4	shown	show	VERB
cet-14354	14	5	that	that	SCONJ
cet-14354	14	6	the	the	DET
cet-14354	14	7	addition	addition	NOUN
cet-14354	14	8	of	of	ADP
cet-14354	14	9	an	an	DET
cet-14354	14	10	rtk	rtk	NOUN
cet-14354	14	11	system	system	NOUN
cet-14354	14	12	has	have	AUX
cet-14354	14	13	highly	highly	ADV
cet-14354	14	14	increased	increase	VERB
cet-14354	14	15	the	the	DET
cet-14354	14	16	accuracy	accuracy	NOUN
cet-14354	14	17	of	of	ADP
cet-14354	14	18	a	a	DET
cet-14354	14	19	general	general	ADJ
cet-14354	14	20	gnss	gnss	NOUN
cet-14354	14	21	receiver	receiver	ADV
cet-14354	14	22	.	.	PUNCT
cet-14354	15	1	in	in	ADP
cet-14354	15	2	addition	addition	NOUN
cet-14354	15	3	,	,	PUNCT
cet-14354	15	4	these	these	DET
cet-14354	15	5	results	result	NOUN
cet-14354	15	6	underline	underline	VERB
cet-14354	15	7	the	the	DET
cet-14354	15	8	crucial	crucial	ADJ
cet-14354	15	9	role	role	NOUN
cet-14354	15	10	of	of	ADP
cet-14354	15	11	5	5	NUM
cet-14354	15	12	g	g	NOUN
cet-14354	15	13	networks	network	NOUN
cet-14354	15	14	in	in	ADP
cet-14354	15	15	the	the	DET
cet-14354	15	16	case	case	NOUN
cet-14354	15	17	of	of	ADP
cet-14354	15	18	automated	automate	VERB
cet-14354	15	19	mobile	mobile	ADJ
cet-14354	15	20	applications	application	NOUN
cet-14354	15	21	.	.	PUNCT
cet-14354	16	1	1	1	X
cet-14354	16	2	.	.	X
cet-14354	16	3	introduction	introduction	NOUN
cet-14354	16	4	one	one	NUM
cet-14354	16	5	of	of	ADP
cet-14354	16	6	the	the	DET
cet-14354	16	7	primary	primary	ADJ
cet-14354	16	8	contemporary	contemporary	ADJ
cet-14354	16	9	challenges	challenge	NOUN
cet-14354	16	10	is	be	AUX
cet-14354	16	11	to	to	PART
cet-14354	16	12	enhance	enhance	VERB
cet-14354	16	13	the	the	DET
cet-14354	16	14	level	level	NOUN
cet-14354	16	15	of	of	ADP
cet-14354	16	16	automation	automation	NOUN
cet-14354	16	17	within	within	ADP
cet-14354	16	18	existing	exist	VERB
cet-14354	16	19	systems	system	NOUN
cet-14354	16	20	and	and	CCONJ
cet-14354	16	21	equipment	equipment	NOUN
cet-14354	16	22	while	while	SCONJ
cet-14354	16	23	maintaining	maintain	VERB
cet-14354	16	24	sustainability	sustainability	NOUN
cet-14354	16	25	.	.	PUNCT
cet-14354	17	1	a	a	DET
cet-14354	17	2	mobile	mobile	ADJ
cet-14354	17	3	robot	robot	NOUN
cet-14354	17	4	platform	platform	NOUN
cet-14354	17	5	significantly	significantly	ADV
cet-14354	17	6	reduces	reduce	VERB
cet-14354	17	7	the	the	DET
cet-14354	17	8	necessity	necessity	NOUN
cet-14354	17	9	of	of	ADP
cet-14354	17	10	human	human	ADJ
cet-14354	17	11	resources	resource	NOUN
cet-14354	17	12	in	in	ADP
cet-14354	17	13	case	case	NOUN
cet-14354	17	14	of	of	ADP
cet-14354	17	15	repetitive	repetitive	ADJ
cet-14354	17	16	but	but	CCONJ
cet-14354	17	17	precise	precise	ADJ
cet-14354	17	18	exercises	exercise	NOUN
cet-14354	17	19	,	,	PUNCT
cet-14354	17	20	for	for	ADP
cet-14354	17	21	example	example	NOUN
cet-14354	17	22	,	,	PUNCT
cet-14354	17	23	when	when	SCONJ
cet-14354	17	24	traffic	traffic	NOUN
cet-14354	17	25	cones	cone	NOUN
cet-14354	17	26	are	be	AUX
cet-14354	17	27	placed	place	VERB
cet-14354	17	28	in	in	ADP
cet-14354	17	29	exponentially	exponentially	ADV
cet-14354	17	30	less	less	ADJ
cet-14354	17	31	time	time	NOUN
cet-14354	17	32	,	,	PUNCT
cet-14354	17	33	making	make	VERB
cet-14354	17	34	room	room	NOUN
cet-14354	17	35	for	for	ADP
cet-14354	17	36	more	more	ADJ
cet-14354	17	37	tests	test	NOUN
cet-14354	17	38	in	in	ADP
cet-14354	17	39	a	a	DET
cet-14354	17	40	given	give	VERB
cet-14354	17	41	span	span	NOUN
cet-14354	17	42	of	of	ADP
cet-14354	17	43	time	time	NOUN
cet-14354	17	44	,	,	PUNCT
cet-14354	17	45	which	which	PRON
cet-14354	17	46	greatly	greatly	ADV
cet-14354	17	47	reduces	reduce	VERB
cet-14354	17	48	the	the	DET
cet-14354	17	49	time	time	NOUN
cet-14354	17	50	it	it	PRON
cet-14354	17	51	takes	take	VERB
cet-14354	17	52	to	to	PART
cet-14354	17	53	carry	carry	VERB
cet-14354	17	54	out	out	ADP
cet-14354	17	55	a	a	DET
cet-14354	17	56	project	project	NOUN
cet-14354	17	57	resulting	result	VERB
cet-14354	17	58	in	in	ADP
cet-14354	17	59	higher	high	ADJ
cet-14354	17	60	efficiency	efficiency	NOUN
cet-14354	17	61	.	.	PUNCT
cet-14354	18	1	a	a	DET
cet-14354	18	2	mobile	mobile	ADJ
cet-14354	18	3	robot	robot	NOUN
cet-14354	18	4	platform	platform	NOUN
cet-14354	18	5	will	will	AUX
cet-14354	18	6	also	also	ADV
cet-14354	18	7	enable	enable	VERB
cet-14354	18	8	track	track	NOUN
cet-14354	18	9	maintenance	maintenance	NOUN
cet-14354	18	10	,	,	PUNCT
cet-14354	18	11	now	now	ADV
cet-14354	18	12	carried	carry	VERB
cet-14354	18	13	out	out	ADP
cet-14354	18	14	by	by	ADP
cet-14354	18	15	vehicles	vehicle	NOUN
cet-14354	18	16	with	with	ADP
cet-14354	18	17	electric	electric	ADJ
cet-14354	18	18	or	or	CCONJ
cet-14354	18	19	internal	internal	ADJ
cet-14354	18	20	combustion	combustion	NOUN
cet-14354	18	21	engines	engine	NOUN
cet-14354	18	22	,	,	PUNCT
cet-14354	18	23	which	which	PRON
cet-14354	18	24	in	in	ADP
cet-14354	18	25	a	a	DET
cet-14354	18	26	lifetime	lifetime	NOUN
cet-14354	18	27	of	of	ADP
cet-14354	18	28	a	a	DET
cet-14354	18	29	proving	proving	NOUN
cet-14354	18	30	ground	ground	NOUN
cet-14354	18	31	can	can	AUX
cet-14354	18	32	significantly	significantly	ADV
cet-14354	18	33	damage	damage	VERB
cet-14354	18	34	the	the	DET
cet-14354	18	35	environment	environment	NOUN
cet-14354	18	36	(	(	PUNCT
cet-14354	18	37	gallo	gallo	PROPN
cet-14354	18	38	et	et	PROPN
cet-14354	18	39	al	al	PROPN
cet-14354	18	40	.	.	PROPN
cet-14354	18	41	,	,	PUNCT
cet-14354	18	42	2017	2017	NUM
cet-14354	18	43	)	)	PUNCT
cet-14354	18	44	.	.	PUNCT
cet-14354	19	1	therefore	therefore	ADV
cet-14354	19	2	,	,	PUNCT
cet-14354	19	3	with	with	ADP
cet-14354	19	4	the	the	DET
cet-14354	19	5	help	help	NOUN
cet-14354	19	6	of	of	ADP
cet-14354	19	7	a	a	DET
cet-14354	19	8	mobile	mobile	ADJ
cet-14354	19	9	platform	platform	NOUN
cet-14354	19	10	,	,	PUNCT
cet-14354	19	11	the	the	DET
cet-14354	19	12	waste	waste	NOUN
cet-14354	19	13	and	and	CCONJ
cet-14354	19	14	pollution	pollution	NOUN
cet-14354	19	15	generated	generate	VERB
cet-14354	19	16	by	by	ADP
cet-14354	19	17	a	a	DET
cet-14354	19	18	facility	facility	NOUN
cet-14354	19	19	can	can	AUX
cet-14354	19	20	be	be	AUX
cet-14354	19	21	greatly	greatly	ADV
cet-14354	19	22	decreased	decrease	VERB
cet-14354	19	23	.	.	PUNCT
cet-14354	20	1	however	however	ADV
cet-14354	20	2	,	,	PUNCT
cet-14354	20	3	the	the	DET
cet-14354	20	4	tasks	task	NOUN
cet-14354	20	5	mentioned	mention	VERB
cet-14354	20	6	above	above	ADV
cet-14354	20	7	can	can	AUX
cet-14354	20	8	not	not	PART
cet-14354	20	9	be	be	AUX
cet-14354	20	10	carried	carry	VERB
cet-14354	20	11	out	out	ADP
cet-14354	20	12	without	without	ADP
cet-14354	20	13	the	the	DET
cet-14354	20	14	support	support	NOUN
cet-14354	20	15	of	of	ADP
cet-14354	20	16	a	a	DET
cet-14354	20	17	centimeter	centimeter	NOUN
cet-14354	20	18	-	-	PUNCT
cet-14354	20	19	accurate	accurate	ADJ
cet-14354	20	20	navigation	navigation	NOUN
cet-14354	20	21	system	system	NOUN
cet-14354	20	22	.	.	PUNCT
cet-14354	21	1	furthermore	furthermore	ADV
cet-14354	21	2	,	,	PUNCT
cet-14354	21	3	the	the	DET
cet-14354	21	4	navigation	navigation	NOUN
cet-14354	21	5	system	system	NOUN
cet-14354	21	6	presented	present	VERB
cet-14354	21	7	in	in	ADP
cet-14354	21	8	the	the	DET
cet-14354	21	9	paper	paper	NOUN
cet-14354	21	10	can	can	AUX
cet-14354	21	11	also	also	ADV
cet-14354	21	12	be	be	AUX
cet-14354	21	13	used	use	VERB
cet-14354	21	14	with	with	ADP
cet-14354	21	15	drones	drone	NOUN
cet-14354	21	16	and	and	CCONJ
cet-14354	21	17	other	other	ADJ
cet-14354	21	18	robotic	robotic	ADJ
cet-14354	21	19	platforms	platform	NOUN
cet-14354	21	20	,	,	PUNCT
cet-14354	21	21	and	and	CCONJ
cet-14354	21	22	with	with	ADP
cet-14354	21	23	the	the	DET
cet-14354	21	24	help	help	NOUN
cet-14354	21	25	of	of	ADP
cet-14354	21	26	the	the	DET
cet-14354	21	27	custom	custom	NOUN
cet-14354	21	28	ntrip	ntrip	PROPN
cet-14354	21	29	server	server	NOUN
cet-14354	21	30	,	,	PUNCT
cet-14354	21	31	drones	drone	NOUN
cet-14354	21	32	and	and	CCONJ
cet-14354	21	33	multiple	multiple	ADJ
cet-14354	21	34	robot	robot	NOUN
cet-14354	21	35	platforms	platform	NOUN
cet-14354	21	36	can	can	AUX
cet-14354	21	37	be	be	AUX
cet-14354	21	38	used	use	VERB
cet-14354	21	39	simultaneously	simultaneously	ADV
cet-14354	21	40	on	on	ADP
cet-14354	21	41	the	the	DET
cet-14354	21	42	same	same	ADJ
cet-14354	21	43	network	network	NOUN
cet-14354	21	44	,	,	PUNCT
cet-14354	21	45	lowering	lower	VERB
cet-14354	21	46	the	the	DET
cet-14354	21	47	cost	cost	NOUN
cet-14354	21	48	of	of	ADP
cet-14354	21	49	developing	develop	VERB
cet-14354	21	50	bigger	big	ADJ
cet-14354	21	51	and	and	CCONJ
cet-14354	21	52	more	more	ADV
cet-14354	21	53	complex	complex	ADJ
cet-14354	21	54	systems	system	NOUN
cet-14354	21	55	as	as	ADV
cet-14354	21	56	well	well	ADV
cet-14354	21	57	as	as	ADP
cet-14354	21	58	reducing	reduce	VERB
cet-14354	21	59	the	the	DET
cet-14354	21	60	waste	waste	NOUN
cet-14354	21	61	generated	generate	VERB
cet-14354	21	62	.	.	PUNCT
cet-14354	22	1	the	the	DET
cet-14354	22	2	results	result	NOUN
cet-14354	22	3	shown	show	VERB
cet-14354	22	4	in	in	ADP
cet-14354	22	5	this	this	DET
cet-14354	22	6	paper	paper	NOUN
cet-14354	22	7	indicate	indicate	VERB
cet-14354	22	8	that	that	SCONJ
cet-14354	22	9	a	a	DET
cet-14354	22	10	single	single	ADJ
cet-14354	22	11	autonomous	autonomous	ADJ
cet-14354	22	12	vehicle	vehicle	NOUN
cet-14354	22	13	can	can	AUX
cet-14354	22	14	have	have	VERB
cet-14354	22	15	a	a	DET
cet-14354	22	16	substantial	substantial	ADJ
cet-14354	22	17	impact	impact	NOUN
cet-14354	22	18	on	on	ADP
cet-14354	22	19	reducing	reduce	VERB
cet-14354	22	20	traffic	traffic	NOUN
cet-14354	22	21	emissions	emission	NOUN
cet-14354	22	22	and	and	CCONJ
cet-14354	22	23	air	air	NOUN
cet-14354	22	24	pollution	pollution	NOUN
cet-14354	22	25	as	as	ADV
cet-14354	22	26	well	well	ADV
cet-14354	22	27	as	as	ADP
cet-14354	22	28	lowering	lower	VERB
cet-14354	22	29	the	the	DET
cet-14354	22	30	need	need	NOUN
cet-14354	22	31	for	for	ADP
cet-14354	22	32	human	human	ADJ
cet-14354	22	33	resources	resource	NOUN
cet-14354	22	34	(	(	PUNCT
cet-14354	22	35	le	le	X
cet-14354	22	36	hong	hong	PROPN
cet-14354	22	37	et	et	PROPN
cet-14354	22	38	al	al	PROPN
cet-14354	22	39	.	.	PROPN
cet-14354	22	40	,	,	PUNCT
cet-14354	22	41	2021	2021	NUM
cet-14354	22	42	)	)	PUNCT
cet-14354	22	43	.	.	PUNCT
cet-14354	23	1	385	385	NUM
cet-14354	23	2	2	2	NUM
cet-14354	23	3	.	.	PUNCT
cet-14354	23	4	methods	method	NOUN
cet-14354	23	5	2.1	2.1	NUM
cet-14354	23	6	global	global	ADJ
cet-14354	23	7	navigation	navigation	NOUN
cet-14354	23	8	satellite	satellite	NOUN
cet-14354	23	9	system	system	NOUN
cet-14354	23	10	(	(	PUNCT
cet-14354	23	11	gnss	gnss	NOUN
cet-14354	23	12	)	)	PUNCT
cet-14354	23	13	the	the	DET
cet-14354	23	14	robotic	robotic	ADJ
cet-14354	23	15	platform	platform	NOUN
cet-14354	23	16	needs	need	VERB
cet-14354	23	17	a	a	DET
cet-14354	23	18	navigation	navigation	NOUN
cet-14354	23	19	system	system	NOUN
cet-14354	23	20	that	that	PRON
cet-14354	23	21	uses	use	VERB
cet-14354	23	22	not	not	PART
cet-14354	23	23	only	only	ADV
cet-14354	23	24	the	the	DET
cet-14354	23	25	us	us	PROPN
cet-14354	23	26	-	-	PUNCT
cet-14354	23	27	developed	develop	VERB
cet-14354	23	28	method	method	NOUN
cet-14354	23	29	but	but	CCONJ
cet-14354	23	30	also	also	ADV
cet-14354	23	31	galileo	galileo	PROPN
cet-14354	23	32	,	,	PUNCT
cet-14354	23	33	developed	develop	VERB
cet-14354	23	34	by	by	ADP
cet-14354	23	35	the	the	DET
cet-14354	23	36	european	european	PROPN
cet-14354	23	37	union	union	PROPN
cet-14354	23	38	,	,	PUNCT
cet-14354	23	39	the	the	DET
cet-14354	23	40	russian	russian	ADJ
cet-14354	23	41	-	-	PUNCT
cet-14354	23	42	indian	indian	ADV
cet-14354	23	43	-	-	PUNCT
cet-14354	23	44	developed	develop	VERB
cet-14354	23	45	glonass	glonass	NOUN
cet-14354	23	46	,	,	PUNCT
cet-14354	23	47	and	and	CCONJ
cet-14354	23	48	the	the	DET
cet-14354	23	49	chinese	chinese	ADJ
cet-14354	23	50	beidou-2	beidou-2	NOUN
cet-14354	23	51	satellite	satellite	NOUN
cet-14354	23	52	system	system	NOUN
cet-14354	23	53	.	.	PUNCT
cet-14354	24	1	a	a	DET
cet-14354	24	2	navigation	navigation	NOUN
cet-14354	24	3	method	method	NOUN
cet-14354	24	4	that	that	PRON
cet-14354	24	5	uses	use	VERB
cet-14354	24	6	satellites	satellite	NOUN
cet-14354	24	7	from	from	ADP
cet-14354	24	8	all	all	DET
cet-14354	24	9	four	four	NUM
cet-14354	24	10	systems	system	NOUN
cet-14354	24	11	can	can	AUX
cet-14354	24	12	process	process	VERB
cet-14354	24	13	data	datum	NOUN
cet-14354	24	14	from	from	ADP
cet-14354	24	15	a	a	DET
cet-14354	24	16	total	total	NOUN
cet-14354	24	17	of	of	ADP
cet-14354	24	18	80	80	NUM
cet-14354	24	19	satellites	satellite	NOUN
cet-14354	24	20	simultaneously	simultaneously	ADV
cet-14354	24	21	and	and	CCONJ
cet-14354	24	22	achieve	achieve	VERB
cet-14354	24	23	centimeter	centimeter	NOUN
cet-14354	24	24	-	-	PUNCT
cet-14354	24	25	accurate	accurate	ADJ
cet-14354	24	26	positioning	positioning	NOUN
cet-14354	24	27	with	with	ADP
cet-14354	24	28	calculation	calculation	NOUN
cet-14354	24	29	corrections	correction	NOUN
cet-14354	24	30	.	.	PUNCT
cet-14354	25	1	gnss	gnss	NOUN
cet-14354	25	2	,	,	PUNCT
cet-14354	25	3	supported	support	VERB
cet-14354	25	4	by	by	ADP
cet-14354	25	5	rtk	rtk	PROPN
cet-14354	25	6	,	,	PUNCT
cet-14354	25	7	is	be	AUX
cet-14354	25	8	the	the	DET
cet-14354	25	9	solution	solution	NOUN
cet-14354	25	10	to	to	ADP
cet-14354	25	11	this	this	DET
cet-14354	25	12	problem	problem	NOUN
cet-14354	25	13	.	.	PUNCT
cet-14354	26	1	the	the	DET
cet-14354	26	2	accuracy	accuracy	NOUN
cet-14354	26	3	of	of	ADP
cet-14354	26	4	a	a	DET
cet-14354	26	5	gnss	gnss	NOUN
cet-14354	26	6	receiver	receiver	NOUN
cet-14354	26	7	is	be	AUX
cet-14354	26	8	within	within	ADP
cet-14354	26	9	one	one	NUM
cet-14354	26	10	meter	meter	NOUN
cet-14354	26	11	,	,	PUNCT
cet-14354	26	12	a	a	DET
cet-14354	26	13	huge	huge	ADJ
cet-14354	26	14	improvement	improvement	NOUN
cet-14354	26	15	on	on	ADP
cet-14354	26	16	gps	gps	PROPN
cet-14354	26	17	,	,	PUNCT
cet-14354	26	18	but	but	CCONJ
cet-14354	26	19	it	it	PRON
cet-14354	26	20	still	still	ADV
cet-14354	26	21	falls	fall	VERB
cet-14354	26	22	short	short	ADJ
cet-14354	26	23	by	by	ADP
cet-14354	26	24	far	far	ADV
cet-14354	26	25	of	of	ADP
cet-14354	26	26	the	the	DET
cet-14354	26	27	centimeter	centimeter	NOUN
cet-14354	26	28	accuracy	accuracy	NOUN
cet-14354	26	29	required	require	VERB
cet-14354	26	30	by	by	ADP
cet-14354	26	31	the	the	DET
cet-14354	26	32	task	task	NOUN
cet-14354	26	33	.	.	PUNCT
cet-14354	27	1	but	but	CCONJ
cet-14354	27	2	rtk	rtk	PROPN
cet-14354	27	3	is	be	AUX
cet-14354	27	4	n’t	not	PART
cet-14354	27	5	perfect	perfect	ADJ
cet-14354	27	6	since	since	SCONJ
cet-14354	27	7	there	there	PRON
cet-14354	27	8	are	be	VERB
cet-14354	27	9	still	still	ADV
cet-14354	27	10	errors	error	NOUN
cet-14354	27	11	that	that	PRON
cet-14354	27	12	can	can	AUX
cet-14354	27	13	not	not	PART
cet-14354	27	14	be	be	AUX
cet-14354	27	15	fully	fully	ADV
cet-14354	27	16	corrected	correct	VERB
cet-14354	27	17	,	,	PUNCT
cet-14354	27	18	like	like	ADP
cet-14354	27	19	the	the	DET
cet-14354	27	20	misconception	misconception	NOUN
cet-14354	27	21	of	of	ADP
cet-14354	27	22	the	the	DET
cet-14354	27	23	signals	signal	NOUN
cet-14354	27	24	from	from	ADP
cet-14354	27	25	the	the	DET
cet-14354	27	26	earth	earth	NOUN
cet-14354	27	27	’s	’s	PART
cet-14354	27	28	atmosphere	atmosphere	NOUN
cet-14354	27	29	as	as	SCONJ
cet-14354	27	30	it	it	PRON
cet-14354	27	31	distorts	distort	VERB
cet-14354	27	32	the	the	DET
cet-14354	27	33	gnss	gnss	NOUN
cet-14354	27	34	signal	signal	NOUN
cet-14354	27	35	while	while	SCONJ
cet-14354	27	36	it	it	PRON
cet-14354	27	37	passes	pass	VERB
cet-14354	27	38	through	through	ADP
cet-14354	27	39	the	the	DET
cet-14354	27	40	ionosphere	ionosphere	NOUN
cet-14354	27	41	and	and	CCONJ
cet-14354	27	42	troposphere	troposphere	ADV
cet-14354	27	43	(	(	PUNCT
cet-14354	27	44	hadas	hadas	PROPN
cet-14354	27	45	et	et	PROPN
cet-14354	27	46	al	al	PROPN
cet-14354	27	47	.	.	PROPN
cet-14354	27	48	,	,	PUNCT
cet-14354	27	49	2017	2017	NUM
cet-14354	27	50	)	)	PUNCT
cet-14354	27	51	.	.	PUNCT
cet-14354	28	1	2.2	2.2	NUM
cet-14354	28	2	real	real	ADJ
cet-14354	28	3	-	-	PUNCT
cet-14354	28	4	time	time	NOUN
cet-14354	28	5	kinematic	kinematic	NOUN
cet-14354	28	6	(	(	PUNCT
cet-14354	28	7	rtk	rtk	NOUN
cet-14354	28	8	)	)	PUNCT
cet-14354	28	9	real	real	ADJ
cet-14354	28	10	-	-	PUNCT
cet-14354	28	11	time	time	NOUN
cet-14354	28	12	kinematic	kinematic	NOUN
cet-14354	28	13	(	(	PUNCT
cet-14354	28	14	rtk	rtk	NOUN
cet-14354	28	15	)	)	PUNCT
cet-14354	28	16	is	be	AUX
cet-14354	28	17	one	one	NUM
cet-14354	28	18	of	of	ADP
cet-14354	28	19	the	the	DET
cet-14354	28	20	methods	method	NOUN
cet-14354	28	21	developed	develop	VERB
cet-14354	28	22	to	to	PART
cet-14354	28	23	correct	correct	VERB
cet-14354	28	24	common	common	ADJ
cet-14354	28	25	gnss	gnss	NOUN
cet-14354	28	26	errors	error	NOUN
cet-14354	28	27	.	.	PUNCT
cet-14354	29	1	to	to	PART
cet-14354	29	2	build	build	VERB
cet-14354	29	3	an	an	DET
cet-14354	29	4	rtk	rtk	NOUN
cet-14354	29	5	system	system	NOUN
cet-14354	29	6	,	,	PUNCT
cet-14354	29	7	in	in	ADP
cet-14354	29	8	addition	addition	NOUN
cet-14354	29	9	to	to	ADP
cet-14354	29	10	the	the	DET
cet-14354	29	11	gnss	gnss	NOUN
cet-14354	29	12	receiver	receiver	NOUN
cet-14354	29	13	(	(	PUNCT
cet-14354	29	14	rover	rover	NOUN
cet-14354	29	15	)	)	PUNCT
cet-14354	29	16	located	locate	VERB
cet-14354	29	17	on	on	ADP
cet-14354	29	18	the	the	DET
cet-14354	29	19	mobile	mobile	ADJ
cet-14354	29	20	robot	robot	NOUN
cet-14354	29	21	platform	platform	NOUN
cet-14354	29	22	,	,	PUNCT
cet-14354	29	23	a	a	DET
cet-14354	29	24	base	base	NOUN
cet-14354	29	25	station	station	NOUN
cet-14354	29	26	is	be	AUX
cet-14354	29	27	required	require	VERB
cet-14354	29	28	to	to	PART
cet-14354	29	29	transmit	transmit	VERB
cet-14354	29	30	the	the	DET
cet-14354	29	31	radio	radio	NOUN
cet-14354	29	32	technical	technical	PROPN
cet-14354	29	33	commission	commission	PROPN
cet-14354	29	34	for	for	ADP
cet-14354	29	35	maritime	maritime	ADJ
cet-14354	29	36	services	service	NOUN
cet-14354	29	37	,	,	PUNCT
cet-14354	29	38	special	special	ADJ
cet-14354	29	39	committee	committee	NOUN
cet-14354	29	40	104	104	NUM
cet-14354	29	41	,	,	PUNCT
cet-14354	29	42	version	version	NOUN
cet-14354	29	43	3	3	NUM
cet-14354	29	44	(	(	PUNCT
cet-14354	29	45	rtcm3	rtcm3	NOUN
cet-14354	29	46	)	)	PUNCT
cet-14354	29	47	correction	correction	NOUN
cet-14354	29	48	data	datum	NOUN
cet-14354	29	49	to	to	ADP
cet-14354	29	50	the	the	DET
cet-14354	29	51	rover	rover	NOUN
cet-14354	29	52	via	via	ADP
cet-14354	29	53	an	an	DET
cet-14354	29	54	ntrip	ntrip	NOUN
cet-14354	29	55	server	server	NOUN
cet-14354	29	56	(	(	PUNCT
cet-14354	29	57	table	table	NOUN
cet-14354	29	58	1	1	NUM
cet-14354	29	59	)	)	PUNCT
cet-14354	29	60	.	.	PUNCT
cet-14354	30	1	table	table	NOUN
cet-14354	30	2	1	1	NUM
cet-14354	30	3	:	:	PUNCT
cet-14354	30	4	devices	device	NOUN
cet-14354	30	5	used	use	VERB
cet-14354	30	6	to	to	PART
cet-14354	30	7	build	build	VERB
cet-14354	30	8	the	the	DET
cet-14354	30	9	rtk	rtk	NOUN
cet-14354	30	10	system	system	NOUN
cet-14354	30	11	component	component	NOUN
cet-14354	30	12	hardware	hardware	NOUN
cet-14354	30	13	base	base	NOUN
cet-14354	30	14	station	station	NOUN
cet-14354	30	15	custom	custom	ADV
cet-14354	30	16	-	-	PUNCT
cet-14354	30	17	built	build	VERB
cet-14354	30	18	mobile	mobile	ADJ
cet-14354	30	19	base	base	NOUN
cet-14354	30	20	station	station	NOUN
cet-14354	30	21	with	with	ADP
cet-14354	30	22	f9p	f9p	PROPN
cet-14354	30	23	chip	chip	NOUN
cet-14354	30	24	rover	rover	NOUN
cet-14354	30	25	sirius	sirius	PROPN
cet-14354	30	26	rtk	rtk	PROPN
cet-14354	30	27	gnss	gnss	PROPN
cet-14354	30	28	rover	rover	NOUN
cet-14354	30	29	antenna	antenna	NOUN
cet-14354	30	30	da910	da910	VERB
cet-14354	30	31	multi	multi	ADJ
cet-14354	30	32	-	-	ADJ
cet-14354	30	33	band	band	ADJ
cet-14354	30	34	gnss	gnss	NOUN
cet-14354	30	35	antenna	antenna	NOUN
cet-14354	30	36	these	these	DET
cet-14354	30	37	messages	message	NOUN
cet-14354	30	38	are	be	AUX
cet-14354	30	39	used	use	VERB
cet-14354	30	40	to	to	PART
cet-14354	30	41	acquire	acquire	VERB
cet-14354	30	42	the	the	DET
cet-14354	30	43	centimeter	centimeter	NOUN
cet-14354	30	44	-	-	PUNCT
cet-14354	30	45	accurate	accurate	ADJ
cet-14354	30	46	positioning	positioning	NOUN
cet-14354	30	47	of	of	ADP
cet-14354	30	48	the	the	DET
cet-14354	30	49	rover	rover	NOUN
cet-14354	30	50	.	.	PUNCT
cet-14354	31	1	the	the	DET
cet-14354	31	2	accurate	accurate	ADJ
cet-14354	31	3	determination	determination	NOUN
cet-14354	31	4	of	of	ADP
cet-14354	31	5	the	the	DET
cet-14354	31	6	mobile	mobile	ADJ
cet-14354	31	7	base	base	NOUN
cet-14354	31	8	station	station	NOUN
cet-14354	31	9	’s	’s	PART
cet-14354	31	10	position	position	NOUN
cet-14354	31	11	is	be	AUX
cet-14354	31	12	essential	essential	ADJ
cet-14354	31	13	for	for	ADP
cet-14354	31	14	the	the	DET
cet-14354	31	15	proper	proper	ADJ
cet-14354	31	16	functioning	functioning	NOUN
cet-14354	31	17	of	of	ADP
cet-14354	31	18	the	the	DET
cet-14354	31	19	rtk	rtk	PROPN
cet-14354	31	20	system	system	NOUN
cet-14354	31	21	.	.	PUNCT
cet-14354	32	1	to	to	PART
cet-14354	32	2	support	support	VERB
cet-14354	32	3	its	its	PRON
cet-14354	32	4	accuracy	accuracy	NOUN
cet-14354	32	5	,	,	PUNCT
cet-14354	32	6	there	there	PRON
cet-14354	32	7	is	be	VERB
cet-14354	32	8	a	a	DET
cet-14354	32	9	multi	multi	ADJ
cet-14354	32	10	-	-	ADJ
cet-14354	32	11	band	band	ADJ
cet-14354	32	12	antenna	antenna	NOUN
cet-14354	32	13	connected	connect	VERB
cet-14354	32	14	to	to	ADP
cet-14354	32	15	the	the	DET
cet-14354	32	16	base	base	NOUN
cet-14354	32	17	station	station	NOUN
cet-14354	32	18	.	.	PUNCT
cet-14354	33	1	by	by	ADP
cet-14354	33	2	using	use	VERB
cet-14354	33	3	the	the	DET
cet-14354	33	4	survey	survey	NOUN
cet-14354	33	5	-	-	PUNCT
cet-14354	33	6	in	in	ADP
cet-14354	33	7	procedure	procedure	NOUN
cet-14354	33	8	,	,	PUNCT
cet-14354	33	9	the	the	DET
cet-14354	33	10	base	base	NOUN
cet-14354	33	11	station	station	NOUN
cet-14354	33	12	is	be	AUX
cet-14354	33	13	mobile	mobile	ADJ
cet-14354	33	14	and	and	CCONJ
cet-14354	33	15	can	can	AUX
cet-14354	33	16	be	be	AUX
cet-14354	33	17	easily	easily	ADV
cet-14354	33	18	moved	move	VERB
cet-14354	33	19	,	,	PUNCT
cet-14354	33	20	allowing	allow	VERB
cet-14354	33	21	its	its	PRON
cet-14354	33	22	position	position	NOUN
cet-14354	33	23	to	to	PART
cet-14354	33	24	be	be	AUX
cet-14354	33	25	recalculated	recalculate	VERB
cet-14354	33	26	with	with	ADP
cet-14354	33	27	the	the	DET
cet-14354	33	28	required	require	VERB
cet-14354	33	29	accuracy	accuracy	NOUN
cet-14354	33	30	every	every	DET
cet-14354	33	31	time	time	NOUN
cet-14354	33	32	.	.	PUNCT
cet-14354	34	1	however	however	ADV
cet-14354	34	2	,	,	PUNCT
cet-14354	34	3	determining	determine	VERB
cet-14354	34	4	the	the	DET
cet-14354	34	5	position	position	NOUN
cet-14354	34	6	with	with	ADP
cet-14354	34	7	an	an	DET
cet-14354	34	8	accuracy	accuracy	NOUN
cet-14354	34	9	below	below	ADP
cet-14354	34	10	2.5	2.5	NUM
cet-14354	34	11	m	m	NOUN
cet-14354	34	12	is	be	AUX
cet-14354	34	13	n’t	not	PART
cet-14354	34	14	essential	essential	ADJ
cet-14354	34	15	since	since	SCONJ
cet-14354	34	16	rover	rover	NOUN
cet-14354	34	17	position	position	NOUN
cet-14354	34	18	accuracy	accuracy	NOUN
cet-14354	34	19	does	do	AUX
cet-14354	34	20	not	not	PART
cet-14354	34	21	increase	increase	VERB
cet-14354	34	22	significantly	significantly	ADV
cet-14354	34	23	above	above	ADP
cet-14354	34	24	a	a	DET
cet-14354	34	25	certain	certain	ADJ
cet-14354	34	26	level	level	NOUN
cet-14354	34	27	of	of	ADP
cet-14354	34	28	base	base	NOUN
cet-14354	34	29	station	station	NOUN
cet-14354	34	30	accuracy	accuracy	NOUN
cet-14354	34	31	.	.	PUNCT
cet-14354	35	1	furthermore	furthermore	ADV
cet-14354	35	2	,	,	PUNCT
cet-14354	35	3	the	the	DET
cet-14354	35	4	survey	survey	NOUN
cet-14354	35	5	-	-	PUNCT
cet-14354	35	6	in	in	ADP
cet-14354	35	7	process	process	NOUN
cet-14354	35	8	takes	take	VERB
cet-14354	35	9	exponentially	exponentially	ADV
cet-14354	35	10	more	more	ADJ
cet-14354	35	11	time	time	NOUN
cet-14354	35	12	as	as	SCONJ
cet-14354	35	13	a	a	DET
cet-14354	35	14	higher	high	ADJ
cet-14354	35	15	level	level	NOUN
cet-14354	35	16	of	of	ADP
cet-14354	35	17	accuracy	accuracy	NOUN
cet-14354	35	18	is	be	AUX
cet-14354	35	19	required	require	VERB
cet-14354	35	20	.	.	PUNCT
cet-14354	36	1	these	these	DET
cet-14354	36	2	aspects	aspect	NOUN
cet-14354	36	3	are	be	AUX
cet-14354	36	4	shown	show	VERB
cet-14354	36	5	later	later	ADV
cet-14354	36	6	in	in	ADP
cet-14354	36	7	the	the	DET
cet-14354	36	8	paper	paper	NOUN
cet-14354	36	9	’s	’s	PART
cet-14354	36	10	measurement	measurement	NOUN
cet-14354	36	11	section	section	NOUN
cet-14354	36	12	.	.	PUNCT
cet-14354	37	1	the	the	DET
cet-14354	37	2	base	base	NOUN
cet-14354	37	3	station	station	NOUN
cet-14354	37	4	sends	send	VERB
cet-14354	37	5	rtcm3	rtcm3	NOUN
cet-14354	37	6	correction	correction	NOUN
cet-14354	37	7	data	datum	NOUN
cet-14354	37	8	to	to	ADP
cet-14354	37	9	the	the	DET
cet-14354	37	10	rover	rover	NOUN
cet-14354	37	11	via	via	ADP
cet-14354	37	12	a	a	DET
cet-14354	37	13	networked	networked	ADJ
cet-14354	37	14	transport	transport	NOUN
cet-14354	37	15	of	of	ADP
cet-14354	37	16	rtcm	rtcm	NOUN
cet-14354	37	17	via	via	ADP
cet-14354	37	18	internet	internet	NOUN
cet-14354	37	19	protocol	protocol	NOUN
cet-14354	37	20	(	(	PUNCT
cet-14354	37	21	ntrip	ntrip	NOUN
cet-14354	37	22	)	)	PUNCT
cet-14354	37	23	server	server	NOUN
cet-14354	37	24	.	.	PUNCT
cet-14354	37	25	rtcm3	rtcm3	NOUN
cet-14354	37	26	information	information	NOUN
cet-14354	37	27	is	be	AUX
cet-14354	37	28	a	a	DET
cet-14354	37	29	message	message	NOUN
cet-14354	37	30	packet	packet	NOUN
cet-14354	37	31	that	that	PRON
cet-14354	37	32	includes	include	VERB
cet-14354	37	33	data	datum	NOUN
cet-14354	37	34	from	from	ADP
cet-14354	37	35	different	different	ADJ
cet-14354	37	36	navigation	navigation	NOUN
cet-14354	37	37	methods	method	NOUN
cet-14354	37	38	such	such	ADJ
cet-14354	37	39	as	as	ADP
cet-14354	37	40	gps	gps	PROPN
cet-14354	37	41	,	,	PUNCT
cet-14354	37	42	galileo	galileo	NOUN
cet-14354	37	43	,	,	PUNCT
cet-14354	37	44	beidou-2	beidou-2	NOUN
cet-14354	37	45	,	,	PUNCT
cet-14354	37	46	and	and	CCONJ
cet-14354	37	47	glonass	glonass	NOUN
cet-14354	37	48	,	,	PUNCT
cet-14354	37	49	as	as	ADV
cet-14354	37	50	well	well	ADV
cet-14354	37	51	as	as	ADP
cet-14354	37	52	additional	additional	ADJ
cet-14354	37	53	correction	correction	NOUN
cet-14354	37	54	information	information	NOUN
cet-14354	37	55	timestamps	timestamp	NOUN
cet-14354	37	56	,	,	PUNCT
cet-14354	37	57	which	which	PRON
cet-14354	37	58	are	be	AUX
cet-14354	37	59	used	use	VERB
cet-14354	37	60	to	to	PART
cet-14354	37	61	determine	determine	VERB
cet-14354	37	62	the	the	DET
cet-14354	37	63	rover	rover	NOUN
cet-14354	37	64	’s	’s	PART
cet-14354	37	65	positioning	positioning	NOUN
cet-14354	37	66	accuracy	accuracy	NOUN
cet-14354	37	67	.	.	PUNCT
cet-14354	38	1	there	there	PRON
cet-14354	38	2	are	be	VERB
cet-14354	38	3	both	both	CCONJ
cet-14354	38	4	free	free	ADJ
cet-14354	38	5	and	and	CCONJ
cet-14354	38	6	subscription	subscription	NOUN
cet-14354	38	7	-	-	PUNCT
cet-14354	38	8	based	base	VERB
cet-14354	38	9	ntrip	ntrip	NOUN
cet-14354	38	10	servers	server	NOUN
cet-14354	38	11	,	,	PUNCT
cet-14354	38	12	but	but	CCONJ
cet-14354	38	13	by	by	ADP
cet-14354	38	14	creating	create	VERB
cet-14354	38	15	a	a	DET
cet-14354	38	16	dedicated	dedicated	ADJ
cet-14354	38	17	server	server	NOUN
cet-14354	38	18	,	,	PUNCT
cet-14354	38	19	the	the	DET
cet-14354	38	20	rover	rover	NOUN
cet-14354	38	21	's	's	PART
cet-14354	38	22	accuracy	accuracy	NOUN
cet-14354	38	23	is	be	AUX
cet-14354	38	24	significantly	significantly	ADV
cet-14354	38	25	increased	increase	VERB
cet-14354	38	26	since	since	SCONJ
cet-14354	38	27	the	the	DET
cet-14354	38	28	base	base	NOUN
cet-14354	38	29	station	station	NOUN
cet-14354	38	30	is	be	AUX
cet-14354	38	31	not	not	PART
cet-14354	38	32	tens	ten	NOUN
cet-14354	38	33	or	or	CCONJ
cet-14354	38	34	even	even	ADV
cet-14354	38	35	hundreds	hundred	NOUN
cet-14354	38	36	of	of	ADP
cet-14354	38	37	kilometers	kilometer	NOUN
cet-14354	38	38	away	away	ADV
cet-14354	38	39	.	.	PUNCT
cet-14354	39	1	for	for	ADP
cet-14354	39	2	this	this	DET
cet-14354	39	3	method	method	NOUN
cet-14354	39	4	,	,	PUNCT
cet-14354	39	5	all	all	DET
cet-14354	39	6	receivers	receiver	NOUN
cet-14354	39	7	must	must	AUX
cet-14354	39	8	be	be	AUX
cet-14354	39	9	on	on	ADP
cet-14354	39	10	the	the	DET
cet-14354	39	11	same	same	ADJ
cet-14354	39	12	network	network	NOUN
cet-14354	39	13	as	as	ADV
cet-14354	39	14	well	well	ADV
cet-14354	39	15	as	as	ADP
cet-14354	39	16	creating	create	VERB
cet-14354	39	17	a	a	DET
cet-14354	39	18	mount	mount	NOUN
cet-14354	39	19	point	point	NOUN
cet-14354	39	20	on	on	ADP
cet-14354	39	21	the	the	DET
cet-14354	39	22	base	base	NOUN
cet-14354	39	23	station	station	NOUN
cet-14354	39	24	is	be	AUX
cet-14354	39	25	required	require	VERB
cet-14354	39	26	.	.	PUNCT
cet-14354	40	1	the	the	DET
cet-14354	40	2	rover	rover	NOUN
cet-14354	40	3	is	be	AUX
cet-14354	40	4	connected	connect	VERB
cet-14354	40	5	to	to	ADP
cet-14354	40	6	the	the	DET
cet-14354	40	7	mount	mount	PROPN
cet-14354	40	8	point	point	NOUN
cet-14354	40	9	after	after	ADP
cet-14354	40	10	authentication	authentication	NOUN
cet-14354	40	11	,	,	PUNCT
cet-14354	40	12	and	and	CCONJ
cet-14354	40	13	the	the	DET
cet-14354	40	14	transmission	transmission	NOUN
cet-14354	40	15	of	of	ADP
cet-14354	40	16	the	the	DET
cet-14354	40	17	rtcm3	rtcm3	NOUN
cet-14354	40	18	correction	correction	NOUN
cet-14354	40	19	data	datum	NOUN
cet-14354	40	20	can	can	AUX
cet-14354	40	21	begin	begin	VERB
cet-14354	40	22	(	(	PUNCT
cet-14354	40	23	weber	weber	PROPN
cet-14354	40	24	et	et	PROPN
cet-14354	40	25	al	al	PROPN
cet-14354	40	26	.	.	PROPN
cet-14354	40	27	,	,	PUNCT
cet-14354	40	28	2006	2006	NUM
cet-14354	40	29	)	)	PUNCT
cet-14354	40	30	.	.	PUNCT
cet-14354	41	1	the	the	DET
cet-14354	41	2	rover	rover	NOUN
cet-14354	41	3	can	can	AUX
cet-14354	41	4	be	be	AUX
cet-14354	41	5	in	in	ADP
cet-14354	41	6	two	two	NUM
cet-14354	41	7	states	state	NOUN
cet-14354	41	8	using	use	VERB
cet-14354	41	9	rtk	rtk	PROPN
cet-14354	41	10	:	:	PUNCT
cet-14354	41	11	rtk	rtk	PROPN
cet-14354	41	12	fixed	fix	VERB
cet-14354	41	13	and	and	CCONJ
cet-14354	41	14	rtk	rtk	PROPN
cet-14354	41	15	float	float	NOUN
cet-14354	41	16	.	.	PUNCT
cet-14354	42	1	reaching	reach	VERB
cet-14354	42	2	rtk	rtk	PROPN
cet-14354	42	3	float	float	PROPN
cet-14354	42	4	state	state	NOUN
cet-14354	42	5	indicates	indicate	VERB
cet-14354	42	6	that	that	SCONJ
cet-14354	42	7	the	the	DET
cet-14354	42	8	rtk	rtk	PROPN
cet-14354	42	9	algorithm	algorithm	NOUN
cet-14354	42	10	is	be	AUX
cet-14354	42	11	not	not	PART
cet-14354	42	12	yet	yet	ADV
cet-14354	42	13	solved	solve	VERB
cet-14354	42	14	,	,	PUNCT
cet-14354	42	15	it	it	PRON
cet-14354	42	16	can	can	AUX
cet-14354	42	17	not	not	PART
cet-14354	42	18	return	return	VERB
cet-14354	42	19	an	an	DET
cet-14354	42	20	acceptable	acceptable	ADJ
cet-14354	42	21	position	position	NOUN
cet-14354	42	22	,	,	PUNCT
cet-14354	42	23	also	also	ADV
cet-14354	42	24	known	know	VERB
cet-14354	42	25	as	as	ADP
cet-14354	42	26	rtk	rtk	PROPN
cet-14354	42	27	fixed	fix	VERB
cet-14354	42	28	.	.	PUNCT
cet-14354	43	1	rtk	rtk	PROPN
cet-14354	43	2	float	float	PROPN
cet-14354	43	3	is	be	AUX
cet-14354	43	4	less	less	ADV
cet-14354	43	5	accurate	accurate	ADJ
cet-14354	43	6	than	than	ADP
cet-14354	43	7	rtk	rtk	PROPN
cet-14354	43	8	fixed	fix	VERB
cet-14354	43	9	and	and	CCONJ
cet-14354	43	10	therefore	therefore	ADV
cet-14354	43	11	can	can	AUX
cet-14354	43	12	not	not	PART
cet-14354	43	13	be	be	AUX
cet-14354	43	14	used	use	VERB
cet-14354	43	15	for	for	ADP
cet-14354	43	16	centimeter	centimeter	NOUN
cet-14354	43	17	-	-	PUNCT
cet-14354	43	18	accurate	accurate	ADJ
cet-14354	43	19	positioning	positioning	NOUN
cet-14354	43	20	problems	problem	NOUN
cet-14354	43	21	.	.	PUNCT
cet-14354	44	1	by	by	ADP
cet-14354	44	2	default	default	NOUN
cet-14354	44	3	,	,	PUNCT
cet-14354	44	4	the	the	DET
cet-14354	44	5	algorithm	algorithm	NOUN
cet-14354	44	6	always	always	ADV
cet-14354	44	7	starts	start	VERB
cet-14354	44	8	in	in	ADP
cet-14354	44	9	float	float	NOUN
cet-14354	44	10	state	state	NOUN
cet-14354	44	11	,	,	PUNCT
cet-14354	44	12	but	but	CCONJ
cet-14354	44	13	given	give	VERB
cet-14354	44	14	enough	enough	ADJ
cet-14354	44	15	time	time	NOUN
cet-14354	44	16	and	and	CCONJ
cet-14354	44	17	the	the	DET
cet-14354	44	18	right	right	ADJ
cet-14354	44	19	conditions	condition	NOUN
cet-14354	44	20	,	,	PUNCT
cet-14354	44	21	an	an	DET
cet-14354	44	22	rtk	rtk	PROPN
cet-14354	44	23	fixed	fix	VERB
cet-14354	44	24	state	state	NOUN
cet-14354	44	25	can	can	AUX
cet-14354	44	26	be	be	AUX
cet-14354	44	27	obtained	obtain	VERB
cet-14354	44	28	.	.	PUNCT
cet-14354	45	1	the	the	DET
cet-14354	45	2	rtk	rtk	PROPN
cet-14354	45	3	fixed	fix	VERB
cet-14354	45	4	state	state	NOUN
cet-14354	45	5	means	mean	VERB
cet-14354	45	6	that	that	SCONJ
cet-14354	45	7	the	the	DET
cet-14354	45	8	rtk	rtk	PROPN
cet-14354	45	9	algorithm	algorithm	NOUN
cet-14354	45	10	has	have	AUX
cet-14354	45	11	calculated	calculate	VERB
cet-14354	45	12	the	the	DET
cet-14354	45	13	exact	exact	ADJ
cet-14354	45	14	position	position	NOUN
cet-14354	45	15	of	of	ADP
cet-14354	45	16	the	the	DET
cet-14354	45	17	rover	rover	NOUN
cet-14354	45	18	,	,	PUNCT
cet-14354	45	19	using	use	VERB
cet-14354	45	20	the	the	DET
cet-14354	45	21	rtcm3	rtcm3	NOUN
cet-14354	45	22	correction	correction	NOUN
cet-14354	45	23	data	datum	NOUN
cet-14354	45	24	received	receive	VERB
cet-14354	45	25	from	from	ADP
cet-14354	45	26	the	the	DET
cet-14354	45	27	base	base	NOUN
cet-14354	45	28	station	station	NOUN
cet-14354	45	29	.	.	PUNCT
cet-14354	46	1	the	the	DET
cet-14354	46	2	rtk	rtk	PROPN
cet-14354	46	3	uses	use	VERB
cet-14354	46	4	complex	complex	ADJ
cet-14354	46	5	mathematical	mathematical	ADJ
cet-14354	46	6	formulas	formula	NOUN
cet-14354	46	7	and	and	CCONJ
cet-14354	46	8	algorithms	algorithm	NOUN
cet-14354	46	9	,	,	PUNCT
cet-14354	46	10	including	include	VERB
cet-14354	46	11	the	the	DET
cet-14354	46	12	calculation	calculation	NOUN
cet-14354	46	13	of	of	ADP
cet-14354	46	14	the	the	DET
cet-14354	46	15	exact	exact	ADJ
cet-14354	46	16	number	number	NOUN
cet-14354	46	17	of	of	ADP
cet-14354	46	18	radio	radio	NOUN
cet-14354	46	19	wavelengths	wavelength	NOUN
cet-14354	46	20	between	between	ADP
cet-14354	46	21	the	the	DET
cet-14354	46	22	satellite	satellite	NOUN
cet-14354	46	23	and	and	CCONJ
cet-14354	46	24	the	the	DET
cet-14354	46	25	reference	reference	NOUN
cet-14354	46	26	station	station	NOUN
cet-14354	46	27	,	,	PUNCT
cet-14354	46	28	to	to	PART
cet-14354	46	29	obtain	obtain	VERB
cet-14354	46	30	the	the	DET
cet-14354	46	31	rtk	rtk	PROPN
cet-14354	46	32	fixed	fix	VERB
cet-14354	46	33	state	state	NOUN
cet-14354	46	34	.	.	PUNCT
cet-14354	47	1	data	datum	NOUN
cet-14354	47	2	collected	collect	VERB
cet-14354	47	3	by	by	ADP
cet-14354	47	4	the	the	DET
cet-14354	47	5	rover	rover	NOUN
cet-14354	47	6	is	be	AUX
cet-14354	47	7	sent	send	VERB
cet-14354	47	8	to	to	ADP
cet-14354	47	9	the	the	DET
cet-14354	47	10	control	control	NOUN
cet-14354	47	11	unit	unit	NOUN
cet-14354	47	12	of	of	ADP
cet-14354	47	13	the	the	DET
cet-14354	47	14	robot	robot	NOUN
cet-14354	47	15	platform	platform	NOUN
cet-14354	47	16	via	via	ADP
cet-14354	47	17	the	the	DET
cet-14354	47	18	px4	px4	PROPN
cet-14354	47	19	autopilot	autopilot	NOUN
cet-14354	47	20	system	system	NOUN
cet-14354	47	21	(	(	PUNCT
cet-14354	47	22	moeller	moeller	PROPN
cet-14354	47	23	et	et	PROPN
cet-14354	47	24	al	al	PROPN
cet-14354	47	25	.	.	PROPN
cet-14354	47	26	,	,	PUNCT
cet-14354	47	27	2020	2020	NUM
cet-14354	47	28	)	)	PUNCT
cet-14354	47	29	.	.	PUNCT
cet-14354	48	1	2.3	2.3	NUM
cet-14354	48	2	real	real	ADJ
cet-14354	48	3	-	-	PUNCT
cet-14354	48	4	time	time	NOUN
cet-14354	48	5	kinematic	kinematic	NOUN
cet-14354	48	6	(	(	PUNCT
cet-14354	48	7	rtk	rtk	NOUN
cet-14354	48	8	)	)	PUNCT
cet-14354	48	9	mobile	mobile	ADJ
cet-14354	48	10	base	base	NOUN
cet-14354	48	11	station	station	NOUN
cet-14354	48	12	the	the	DET
cet-14354	48	13	navigation	navigation	NOUN
cet-14354	48	14	system	system	NOUN
cet-14354	48	15	is	be	AUX
cet-14354	48	16	supported	support	VERB
cet-14354	48	17	by	by	ADP
cet-14354	48	18	a	a	DET
cet-14354	48	19	custom	custom	ADV
cet-14354	48	20	-	-	PUNCT
cet-14354	48	21	built	build	VERB
cet-14354	48	22	mobile	mobile	ADJ
cet-14354	48	23	base	base	NOUN
cet-14354	48	24	station	station	NOUN
cet-14354	48	25	that	that	PRON
cet-14354	48	26	utilizes	utilize	VERB
cet-14354	48	27	the	the	DET
cet-14354	48	28	f9p	f9p	PROPN
cet-14354	48	29	chip	chip	NOUN
cet-14354	48	30	.	.	PUNCT
cet-14354	49	1	the	the	DET
cet-14354	49	2	base	base	NOUN
cet-14354	49	3	station	station	NOUN
cet-14354	49	4	has	have	VERB
cet-14354	49	5	a	a	DET
cet-14354	49	6	battery	battery	NOUN
cet-14354	49	7	pack	pack	NOUN
cet-14354	49	8	attached	attach	VERB
cet-14354	49	9	to	to	ADP
cet-14354	49	10	it	it	PRON
cet-14354	49	11	,	,	PUNCT
cet-14354	49	12	therefore	therefore	ADV
cet-14354	49	13	,	,	PUNCT
cet-14354	49	14	no	no	DET
cet-14354	49	15	external	external	ADJ
cet-14354	49	16	power	power	NOUN
cet-14354	49	17	is	be	AUX
cet-14354	49	18	needed	need	VERB
cet-14354	49	19	to	to	PART
cet-14354	49	20	use	use	VERB
cet-14354	49	21	the	the	DET
cet-14354	49	22	device	device	NOUN
cet-14354	49	23	for	for	ADP
cet-14354	49	24	hours	hour	NOUN
cet-14354	49	25	.	.	PUNCT
cet-14354	50	1	the	the	DET
cet-14354	50	2	advantage	advantage	NOUN
cet-14354	50	3	of	of	ADP
cet-14354	50	4	this	this	DET
cet-14354	50	5	device	device	NOUN
cet-14354	50	6	is	be	AUX
cet-14354	50	7	that	that	SCONJ
cet-14354	50	8	it	it	PRON
cet-14354	50	9	can	can	AUX
cet-14354	50	10	be	be	AUX
cet-14354	50	11	easily	easily	ADV
cet-14354	50	12	relocated	relocate	VERB
cet-14354	50	13	,	,	PUNCT
cet-14354	50	14	does	do	AUX
cet-14354	50	15	n’t	not	PART
cet-14354	50	16	need	need	VERB
cet-14354	50	17	to	to	PART
cet-14354	50	18	be	be	AUX
cet-14354	50	19	recalibrated	recalibrate	VERB
cet-14354	50	20	ever	ever	ADV
cet-14354	50	21	,	,	PUNCT
cet-14354	50	22	and	and	CCONJ
cet-14354	50	23	on	on	ADP
cet-14354	50	24	every	every	DET
cet-14354	50	25	restart	restart	NOUN
cet-14354	50	26	,	,	PUNCT
cet-14354	50	27	it	it	PRON
cet-14354	50	28	starts	start	VERB
cet-14354	50	29	the	the	DET
cet-14354	50	30	survey	survey	NOUN
cet-14354	50	31	procedure	procedure	NOUN
cet-14354	50	32	to	to	PART
cet-14354	50	33	determine	determine	VERB
cet-14354	50	34	its	its	PRON
cet-14354	50	35	position	position	NOUN
cet-14354	50	36	and	and	CCONJ
cet-14354	50	37	automatically	automatically	ADV
cet-14354	50	38	connects	connect	VERB
cet-14354	50	39	to	to	ADP
cet-14354	50	40	its	its	PRON
cet-14354	50	41	own	own	ADJ
cet-14354	50	42	virtual	virtual	ADJ
cet-14354	50	43	private	private	ADJ
cet-14354	50	44	network	network	NOUN
cet-14354	50	45	(	(	PUNCT
cet-14354	50	46	vpn	vpn	NOUN
cet-14354	50	47	)	)	PUNCT
cet-14354	50	48	server	server	NOUN
cet-14354	50	49	(	(	PUNCT
cet-14354	50	50	ezra	ezra	PROPN
cet-14354	50	51	et	et	PROPN
cet-14354	50	52	al	al	PROPN
cet-14354	50	53	.	.	PROPN
cet-14354	50	54	,	,	PUNCT
cet-14354	50	55	2022	2022	NUM
cet-14354	50	56	)	)	PUNCT
cet-14354	50	57	.	.	PUNCT
cet-14354	51	1	the	the	DET
cet-14354	51	2	required	require	VERB
cet-14354	51	3	accuracy	accuracy	NOUN
cet-14354	51	4	for	for	ADP
cet-14354	51	5	the	the	DET
cet-14354	51	6	survey	survey	NOUN
cet-14354	51	7	-	-	PUNCT
cet-14354	51	8	in	in	NOUN
cet-14354	51	9	to	to	PART
cet-14354	51	10	reach	reach	VERB
cet-14354	51	11	is	be	AUX
cet-14354	51	12	set	set	VERB
cet-14354	51	13	to	to	ADP
cet-14354	51	14	a	a	DET
cet-14354	51	15	minimum	minimum	NOUN
cet-14354	51	16	of	of	ADP
cet-14354	51	17	2.5	2.5	NUM
cet-14354	51	18	meters	meter	NOUN
cet-14354	51	19	.	.	PUNCT
cet-14354	52	1	after	after	SCONJ
cet-14354	52	2	this	this	DET
cet-14354	52	3	procedure	procedure	NOUN
cet-14354	52	4	is	be	AUX
cet-14354	52	5	done	do	VERB
cet-14354	52	6	,	,	PUNCT
cet-14354	52	7	the	the	DET
cet-14354	52	8	base	base	NOUN
cet-14354	52	9	station	station	NOUN
cet-14354	52	10	gives	give	VERB
cet-14354	52	11	a	a	DET
cet-14354	52	12	signal	signal	NOUN
cet-14354	52	13	by	by	ADP
cet-14354	52	14	turning	turn	VERB
cet-14354	52	15	its	its	PRON
cet-14354	52	16	led	lead	VERB
cet-14354	52	17	green	green	NOUN
cet-14354	52	18	and	and	CCONJ
cet-14354	52	19	starts	start	VERB
cet-14354	52	20	transmitting	transmit	VERB
cet-14354	52	21	the	the	DET
cet-14354	52	22	rtcm3	rtcm3	NOUN
cet-14354	52	23	data	datum	NOUN
cet-14354	52	24	on	on	ADP
cet-14354	52	25	its	its	PRON
cet-14354	52	26	own	own	ADJ
cet-14354	52	27	dedicated	dedicated	ADJ
cet-14354	52	28	ntrip	ntrip	NOUN
cet-14354	52	29	server	server	NOUN
cet-14354	52	30	,	,	PUNCT
cet-14354	52	31	where	where	SCONJ
cet-14354	52	32	the	the	DET
cet-14354	52	33	rovers	rover	NOUN
cet-14354	52	34	can	can	AUX
cet-14354	52	35	connect	connect	VERB
cet-14354	52	36	after	after	ADP
cet-14354	52	37	386	386	NUM
cet-14354	52	38	authentication	authentication	NOUN
cet-14354	52	39	.	.	PUNCT
cet-14354	53	1	the	the	DET
cet-14354	53	2	f9p	f9p	PROPN
cet-14354	53	3	chip	chip	NOUN
cet-14354	53	4	is	be	AUX
cet-14354	53	5	connected	connect	VERB
cet-14354	53	6	to	to	ADP
cet-14354	53	7	a	a	DET
cet-14354	53	8	raspberry	raspberry	NOUN
cet-14354	53	9	pi	pi	NOUN
cet-14354	53	10	4	4	NUM
cet-14354	53	11	,	,	PUNCT
cet-14354	53	12	where	where	SCONJ
cet-14354	53	13	the	the	DET
cet-14354	53	14	base	base	NOUN
cet-14354	53	15	station	station	NOUN
cet-14354	53	16	software	software	NOUN
cet-14354	53	17	is	be	AUX
cet-14354	53	18	running	run	VERB
cet-14354	53	19	on	on	ADP
cet-14354	53	20	an	an	DET
cet-14354	53	21	ubuntu	ubuntu	ADJ
cet-14354	53	22	20.04	20.04	NUM
cet-14354	53	23	operation	operation	NOUN
cet-14354	53	24	system	system	NOUN
cet-14354	53	25	.	.	PUNCT
cet-14354	54	1	on	on	ADP
cet-14354	54	2	the	the	DET
cet-14354	54	3	raspberry	raspberry	NOUN
cet-14354	54	4	pi	pi	NOUN
cet-14354	54	5	4	4	NUM
cet-14354	54	6	,	,	PUNCT
cet-14354	54	7	a	a	DET
cet-14354	54	8	custom	custom	ADV
cet-14354	54	9	-	-	PUNCT
cet-14354	54	10	written	write	VERB
cet-14354	54	11	script	script	NOUN
cet-14354	54	12	is	be	AUX
cet-14354	54	13	starting	start	VERB
cet-14354	54	14	on	on	ADP
cet-14354	54	15	system	system	NOUN
cet-14354	54	16	startup	startup	VERB
cet-14354	54	17	to	to	PART
cet-14354	54	18	set	set	VERB
cet-14354	54	19	up	up	ADP
cet-14354	54	20	both	both	CCONJ
cet-14354	54	21	the	the	DET
cet-14354	54	22	vpn	vpn	NOUN
cet-14354	54	23	and	and	CCONJ
cet-14354	54	24	the	the	DET
cet-14354	54	25	ntrip	ntrip	NOUN
cet-14354	54	26	server	server	NOUN
cet-14354	54	27	.	.	PUNCT
cet-14354	55	1	to	to	PART
cet-14354	55	2	create	create	VERB
cet-14354	55	3	the	the	DET
cet-14354	55	4	ntrip	ntrip	NOUN
cet-14354	55	5	server	server	NOUN
cet-14354	55	6	,	,	PUNCT
cet-14354	55	7	the	the	DET
cet-14354	55	8	device	device	NOUN
cet-14354	55	9	utilizes	utilize	VERB
cet-14354	55	10	a	a	DET
cet-14354	55	11	python	python	NOUN
cet-14354	55	12	library	library	NOUN
cet-14354	55	13	called	call	VERB
cet-14354	55	14	“	"	PUNCT
cet-14354	55	15	pygnnssutils	pygnnssutil	NOUN
cet-14354	55	16	”	"	PUNCT
cet-14354	55	17	,	,	PUNCT
cet-14354	55	18	and	and	CCONJ
cet-14354	55	19	to	to	PART
cet-14354	55	20	connect	connect	VERB
cet-14354	55	21	to	to	ADP
cet-14354	55	22	the	the	DET
cet-14354	55	23	vpn	vpn	NOUN
cet-14354	55	24	,	,	PUNCT
cet-14354	55	25	the	the	DET
cet-14354	55	26	base	base	NOUN
cet-14354	55	27	station	station	NOUN
cet-14354	55	28	uses	use	VERB
cet-14354	55	29	the	the	DET
cet-14354	55	30	“	"	PUNCT
cet-14354	55	31	openvpn	openvpn	NOUN
cet-14354	55	32	”	"	PUNCT
cet-14354	55	33	software	software	NOUN
cet-14354	55	34	(	(	PUNCT
cet-14354	55	35	mohd	mohd	PROPN
cet-14354	55	36	fuzi	fuzi	PROPN
cet-14354	55	37	et	et	PROPN
cet-14354	55	38	al	al	PROPN
cet-14354	55	39	.	.	PROPN
cet-14354	55	40	,	,	PUNCT
cet-14354	55	41	2021	2021	NUM
cet-14354	55	42	)	)	PUNCT
cet-14354	55	43	.	.	PUNCT
cet-14354	56	1	in	in	ADP
cet-14354	56	2	this	this	DET
cet-14354	56	3	code	code	NOUN
cet-14354	56	4	,	,	PUNCT
cet-14354	56	5	the	the	DET
cet-14354	56	6	led	lead	VERB
cet-14354	56	7	is	be	AUX
cet-14354	56	8	managed	manage	VERB
cet-14354	56	9	as	as	ADV
cet-14354	56	10	well	well	ADV
cet-14354	56	11	to	to	PART
cet-14354	56	12	give	give	VERB
cet-14354	56	13	out	out	ADP
cet-14354	56	14	signals	signal	NOUN
cet-14354	56	15	to	to	ADP
cet-14354	56	16	its	its	PRON
cet-14354	56	17	user	user	NOUN
cet-14354	56	18	.	.	PUNCT
cet-14354	57	1	if	if	SCONJ
cet-14354	57	2	the	the	DET
cet-14354	57	3	base	base	NOUN
cet-14354	57	4	station	station	NOUN
cet-14354	57	5	loses	lose	VERB
cet-14354	57	6	connection	connection	NOUN
cet-14354	57	7	to	to	ADP
cet-14354	57	8	the	the	DET
cet-14354	57	9	network	network	NOUN
cet-14354	57	10	or	or	CCONJ
cet-14354	57	11	something	something	PRON
cet-14354	57	12	unexpected	unexpected	ADJ
cet-14354	57	13	happens	happen	VERB
cet-14354	57	14	,	,	PUNCT
cet-14354	57	15	there	there	PRON
cet-14354	57	16	is	be	VERB
cet-14354	57	17	a	a	DET
cet-14354	57	18	reset	reset	ADJ
cet-14354	57	19	button	button	NOUN
cet-14354	57	20	on	on	ADP
cet-14354	57	21	the	the	DET
cet-14354	57	22	case	case	NOUN
cet-14354	57	23	of	of	ADP
cet-14354	57	24	the	the	DET
cet-14354	57	25	device	device	NOUN
cet-14354	57	26	,	,	PUNCT
cet-14354	57	27	which	which	PRON
cet-14354	57	28	restarts	restart	VERB
cet-14354	57	29	the	the	DET
cet-14354	57	30	operation	operation	NOUN
cet-14354	57	31	system	system	NOUN
cet-14354	57	32	.	.	PUNCT
cet-14354	58	1	the	the	DET
cet-14354	58	2	receiver	receiver	NOUN
cet-14354	58	3	also	also	ADV
cet-14354	58	4	supports	support	VERB
cet-14354	58	5	5	5	NUM
cet-14354	58	6	g	g	NOUN
cet-14354	58	7	connectivity	connectivity	NOUN
cet-14354	58	8	to	to	PART
cet-14354	58	9	achieve	achieve	VERB
cet-14354	58	10	even	even	ADV
cet-14354	58	11	greater	great	ADJ
cet-14354	58	12	results	result	NOUN
cet-14354	58	13	,	,	PUNCT
cet-14354	58	14	with	with	ADP
cet-14354	58	15	less	less	ADJ
cet-14354	58	16	packet	packet	NOUN
cet-14354	58	17	loss	loss	NOUN
cet-14354	58	18	,	,	PUNCT
cet-14354	58	19	higher	high	ADJ
cet-14354	58	20	reliability	reliability	NOUN
cet-14354	58	21	,	,	PUNCT
cet-14354	58	22	and	and	CCONJ
cet-14354	58	23	faster	fast	ADV
cet-14354	58	24	transmitting	transmit	VERB
cet-14354	58	25	speed	speed	NOUN
cet-14354	58	26	.	.	PUNCT
cet-14354	59	1	2.4	2.4	NUM
cet-14354	59	2	px4	px4	NOUN
cet-14354	59	3	autopilot	autopilot	NOUN
cet-14354	59	4	the	the	DET
cet-14354	59	5	px4	px4	PROPN
cet-14354	59	6	is	be	AUX
cet-14354	59	7	a	a	DET
cet-14354	59	8	high	high	ADJ
cet-14354	59	9	-	-	PUNCT
cet-14354	59	10	level	level	NOUN
cet-14354	59	11	controller	controller	NOUN
cet-14354	59	12	that	that	PRON
cet-14354	59	13	handles	handle	VERB
cet-14354	59	14	the	the	DET
cet-14354	59	15	communication	communication	NOUN
cet-14354	59	16	between	between	ADP
cet-14354	59	17	the	the	DET
cet-14354	59	18	rtk	rtk	PROPN
cet-14354	59	19	and	and	CCONJ
cet-14354	59	20	the	the	DET
cet-14354	59	21	robot	robot	NOUN
cet-14354	59	22	control	control	PROPN
cet-14354	59	23	unit	unit	PROPN
cet-14354	59	24	.	.	PUNCT
cet-14354	60	1	in	in	ADP
cet-14354	60	2	the	the	DET
cet-14354	60	3	presented	present	VERB
cet-14354	60	4	navigation	navigation	NOUN
cet-14354	60	5	system	system	NOUN
cet-14354	60	6	,	,	PUNCT
cet-14354	60	7	the	the	DET
cet-14354	60	8	px4	px4	PROPN
cet-14354	60	9	autopilot	autopilot	NOUN
cet-14354	60	10	uses	use	VERB
cet-14354	60	11	cube	cube	NOUN
cet-14354	60	12	orange	orange	PROPN
cet-14354	60	13	hardware	hardware	NOUN
cet-14354	60	14	.	.	PUNCT
cet-14354	61	1	in	in	ADP
cet-14354	61	2	addition	addition	NOUN
cet-14354	61	3	,	,	PUNCT
cet-14354	61	4	the	the	DET
cet-14354	61	5	inertial	inertial	ADJ
cet-14354	61	6	measurement	measurement	NOUN
cet-14354	61	7	unit	unit	NOUN
cet-14354	61	8	(	(	PUNCT
cet-14354	61	9	imu	imu	NOUN
cet-14354	61	10	)	)	PUNCT
cet-14354	61	11	in	in	ADP
cet-14354	61	12	the	the	DET
cet-14354	61	13	cube	cube	NOUN
cet-14354	61	14	orange	orange	PROPN
cet-14354	61	15	allows	allow	VERB
cet-14354	61	16	the	the	DET
cet-14354	61	17	initial	initial	ADJ
cet-14354	61	18	orientation	orientation	NOUN
cet-14354	61	19	of	of	ADP
cet-14354	61	20	the	the	DET
cet-14354	61	21	robot	robot	NOUN
cet-14354	61	22	platform	platform	NOUN
cet-14354	61	23	to	to	PART
cet-14354	61	24	be	be	AUX
cet-14354	61	25	accurately	accurately	ADV
cet-14354	61	26	determined	determine	VERB
cet-14354	61	27	,	,	PUNCT
cet-14354	61	28	which	which	PRON
cet-14354	61	29	significantly	significantly	ADV
cet-14354	61	30	facilitates	facilitate	VERB
cet-14354	61	31	the	the	DET
cet-14354	61	32	start	start	NOUN
cet-14354	61	33	of	of	ADP
cet-14354	61	34	traffic	traffic	NOUN
cet-14354	61	35	cone	cone	NOUN
cet-14354	61	36	placement	placement	NOUN
cet-14354	61	37	,	,	PUNCT
cet-14354	61	38	as	as	SCONJ
cet-14354	61	39	the	the	DET
cet-14354	61	40	orientation	orientation	NOUN
cet-14354	61	41	of	of	ADP
cet-14354	61	42	the	the	DET
cet-14354	61	43	platform	platform	NOUN
cet-14354	61	44	can	can	AUX
cet-14354	61	45	be	be	AUX
cet-14354	61	46	determined	determine	VERB
cet-14354	61	47	without	without	ADP
cet-14354	61	48	the	the	DET
cet-14354	61	49	necessity	necessity	NOUN
cet-14354	61	50	of	of	ADP
cet-14354	61	51	calibration	calibration	NOUN
cet-14354	61	52	movement	movement	NOUN
cet-14354	61	53	and	and	CCONJ
cet-14354	61	54	the	the	DET
cet-14354	61	55	requirement	requirement	NOUN
cet-14354	61	56	of	of	ADP
cet-14354	61	57	two	two	NUM
cet-14354	61	58	gnss	gnss	NOUN
cet-14354	61	59	receivers	receiver	NOUN
cet-14354	61	60	on	on	ADP
cet-14354	61	61	the	the	DET
cet-14354	61	62	robot	robot	NOUN
cet-14354	61	63	platform	platform	NOUN
cet-14354	61	64	(	(	PUNCT
cet-14354	61	65	meier	meier	PROPN
cet-14354	61	66	et	et	PROPN
cet-14354	61	67	al	al	PROPN
cet-14354	61	68	.	.	PROPN
cet-14354	61	69	,	,	PUNCT
cet-14354	61	70	2015	2015	NUM
cet-14354	61	71	)	)	PUNCT
cet-14354	61	72	.	.	PUNCT
cet-14354	62	1	the	the	DET
cet-14354	62	2	px4	px4	PROPN
cet-14354	62	3	firmware	firmware	NOUN
cet-14354	62	4	also	also	ADV
cet-14354	62	5	allows	allow	VERB
cet-14354	62	6	sensors	sensor	NOUN
cet-14354	62	7	and	and	CCONJ
cet-14354	62	8	other	other	ADJ
cet-14354	62	9	peripherals	peripheral	NOUN
cet-14354	62	10	to	to	PART
cet-14354	62	11	be	be	AUX
cet-14354	62	12	managed	manage	VERB
cet-14354	62	13	.	.	PUNCT
cet-14354	63	1	communication	communication	NOUN
cet-14354	63	2	between	between	ADP
cet-14354	63	3	the	the	DET
cet-14354	63	4	cube	cube	PROPN
cet-14354	63	5	orange	orange	PROPN
cet-14354	63	6	autopilot	autopilot	PROPN
cet-14354	63	7	and	and	CCONJ
cet-14354	63	8	the	the	DET
cet-14354	63	9	robot	robot	NOUN
cet-14354	63	10	operating	operate	VERB
cet-14354	63	11	system	system	NOUN
cet-14354	63	12	2	2	NUM
cet-14354	63	13	(	(	PUNCT
cet-14354	63	14	ros2	ros2	NOUN
cet-14354	63	15	)	)	PUNCT
cet-14354	63	16	system	system	NOUN
cet-14354	63	17	is	be	AUX
cet-14354	63	18	handled	handle	VERB
cet-14354	63	19	by	by	ADP
cet-14354	63	20	the	the	DET
cet-14354	63	21	mavsdk	mavsdk	NOUN
cet-14354	63	22	library	library	NOUN
cet-14354	63	23	collection	collection	NOUN
cet-14354	63	24	,	,	PUNCT
cet-14354	63	25	which	which	PRON
cet-14354	63	26	can	can	AUX
cet-14354	63	27	exchange	exchange	VERB
cet-14354	63	28	information	information	NOUN
cet-14354	63	29	and	and	CCONJ
cet-14354	63	30	telemetry	telemetry	NOUN
cet-14354	63	31	from	from	ADP
cet-14354	63	32	multiple	multiple	ADJ
cet-14354	63	33	robotic	robotic	ADJ
cet-14354	63	34	platforms	platform	NOUN
cet-14354	63	35	simultaneously	simultaneously	ADV
cet-14354	63	36	within	within	ADP
cet-14354	63	37	a	a	DET
cet-14354	63	38	single	single	ADJ
cet-14354	63	39	system	system	NOUN
cet-14354	63	40	.	.	PUNCT
cet-14354	64	1	using	use	VERB
cet-14354	64	2	these	these	DET
cet-14354	64	3	available	available	ADJ
cet-14354	64	4	python	python	NOUN
cet-14354	64	5	libraries	library	NOUN
cet-14354	64	6	,	,	PUNCT
cet-14354	64	7	the	the	DET
cet-14354	64	8	px4	px4	NOUN
cet-14354	64	9	is	be	AUX
cet-14354	64	10	able	able	ADJ
cet-14354	64	11	to	to	PART
cet-14354	64	12	communicate	communicate	VERB
cet-14354	64	13	through	through	ADP
cet-14354	64	14	the	the	DET
cet-14354	64	15	mavlink	mavlink	ADJ
cet-14354	64	16	communication	communication	NOUN
cet-14354	64	17	protocol	protocol	NOUN
cet-14354	64	18	with	with	ADP
cet-14354	64	19	robotic	robotic	ADJ
cet-14354	64	20	platforms	platform	NOUN
cet-14354	64	21	and	and	CCONJ
cet-14354	64	22	transmit	transmit	VERB
cet-14354	64	23	the	the	DET
cet-14354	64	24	information	information	NOUN
cet-14354	64	25	received	receive	VERB
cet-14354	64	26	from	from	ADP
cet-14354	64	27	their	their	PRON
cet-14354	64	28	receivers	receiver	NOUN
cet-14354	64	29	to	to	ADP
cet-14354	64	30	the	the	DET
cet-14354	64	31	control	control	NOUN
cet-14354	64	32	unit	unit	NOUN
cet-14354	64	33	(	(	PUNCT
cet-14354	64	34	allouch	allouch	PROPN
cet-14354	64	35	et	et	PROPN
cet-14354	64	36	al	al	PROPN
cet-14354	64	37	.	.	PROPN
cet-14354	64	38	,	,	PUNCT
cet-14354	64	39	2019	2019	NUM
cet-14354	64	40	)	)	PUNCT
cet-14354	64	41	.	.	PUNCT
cet-14354	65	1	using	use	VERB
cet-14354	65	2	this	this	DET
cet-14354	65	3	protocol	protocol	NOUN
cet-14354	65	4	,	,	PUNCT
cet-14354	65	5	data	datum	NOUN
cet-14354	65	6	collected	collect	VERB
cet-14354	65	7	by	by	ADP
cet-14354	65	8	the	the	DET
cet-14354	65	9	cube	cube	NOUN
cet-14354	65	10	orange	orange	NOUN
cet-14354	65	11	is	be	AUX
cet-14354	65	12	continuously	continuously	ADV
cet-14354	65	13	read	read	VERB
cet-14354	65	14	into	into	ADP
cet-14354	65	15	memory	memory	NOUN
cet-14354	65	16	and	and	CCONJ
cet-14354	65	17	then	then	ADV
cet-14354	65	18	sent	send	VERB
cet-14354	65	19	to	to	ADP
cet-14354	65	20	the	the	DET
cet-14354	65	21	ros2	ros2	NOUN
cet-14354	65	22	system	system	NOUN
cet-14354	65	23	,	,	PUNCT
cet-14354	65	24	where	where	SCONJ
cet-14354	65	25	the	the	DET
cet-14354	65	26	information	information	NOUN
cet-14354	65	27	is	be	AUX
cet-14354	65	28	processed	process	VERB
cet-14354	65	29	in	in	ADP
cet-14354	65	30	real	real	ADJ
cet-14354	65	31	time	time	NOUN
cet-14354	65	32	(	(	PUNCT
cet-14354	65	33	boros	boros	NOUN
cet-14354	65	34	et	et	PROPN
cet-14354	65	35	al	al	PROPN
cet-14354	65	36	.	.	PROPN
cet-14354	65	37	,	,	PUNCT
cet-14354	65	38	2022	2022	NUM
cet-14354	65	39	)	)	PUNCT
cet-14354	65	40	.	.	PUNCT
cet-14354	66	1	2.5	2.5	NUM
cet-14354	66	2	robot	robot	NOUN
cet-14354	66	3	operating	operate	VERB
cet-14354	66	4	system	system	NOUN
cet-14354	66	5	2	2	NUM
cet-14354	66	6	(	(	PUNCT
cet-14354	66	7	ros2	ros2	NOUN
cet-14354	66	8	)	)	PUNCT
cet-14354	66	9	ros2	ros2	NOUN
cet-14354	66	10	consists	consist	VERB
cet-14354	66	11	of	of	ADP
cet-14354	66	12	libraries	library	NOUN
cet-14354	66	13	and	and	CCONJ
cet-14354	66	14	tools	tool	NOUN
cet-14354	66	15	that	that	PRON
cet-14354	66	16	facilitate	facilitate	VERB
cet-14354	66	17	the	the	DET
cet-14354	66	18	creation	creation	NOUN
cet-14354	66	19	of	of	ADP
cet-14354	66	20	applications	application	NOUN
cet-14354	66	21	that	that	PRON
cet-14354	66	22	serve	serve	VERB
cet-14354	66	23	the	the	DET
cet-14354	66	24	various	various	ADJ
cet-14354	66	25	functions	function	NOUN
cet-14354	66	26	of	of	ADP
cet-14354	66	27	robot	robot	NOUN
cet-14354	66	28	platforms	platform	NOUN
cet-14354	66	29	.	.	PUNCT
cet-14354	67	1	ros2	ros2	NOUN
cet-14354	67	2	performs	perform	VERB
cet-14354	67	3	the	the	DET
cet-14354	67	4	basic	basic	ADJ
cet-14354	67	5	tasks	task	NOUN
cet-14354	67	6	expected	expect	VERB
cet-14354	67	7	of	of	ADP
cet-14354	67	8	an	an	DET
cet-14354	67	9	operating	operating	NOUN
cet-14354	67	10	system	system	NOUN
cet-14354	67	11	,	,	PUNCT
cet-14354	67	12	such	such	ADJ
cet-14354	67	13	as	as	ADP
cet-14354	67	14	hardware	hardware	NOUN
cet-14354	67	15	abstraction	abstraction	NOUN
cet-14354	67	16	,	,	PUNCT
cet-14354	67	17	inter	inter	ADJ
cet-14354	67	18	-	-	ADJ
cet-14354	67	19	process	process	NOUN
cet-14354	67	20	data	datum	NOUN
cet-14354	67	21	transfer	transfer	NOUN
cet-14354	67	22	,	,	PUNCT
cet-14354	67	23	and	and	CCONJ
cet-14354	67	24	package	package	NOUN
cet-14354	67	25	management	management	NOUN
cet-14354	67	26	,	,	PUNCT
cet-14354	67	27	but	but	CCONJ
cet-14354	67	28	ros2	ros2	NOUN
cet-14354	67	29	also	also	ADV
cet-14354	67	30	needs	need	VERB
cet-14354	67	31	an	an	DET
cet-14354	67	32	actual	actual	ADJ
cet-14354	67	33	operating	operate	VERB
cet-14354	67	34	system	system	NOUN
cet-14354	67	35	to	to	PART
cet-14354	67	36	run	run	VERB
cet-14354	67	37	.	.	PUNCT
cet-14354	68	1	in	in	ADP
cet-14354	68	2	addition	addition	NOUN
cet-14354	68	3	,	,	PUNCT
cet-14354	68	4	ros2	ros2	NOUN
cet-14354	68	5	can	can	AUX
cet-14354	68	6	manage	manage	VERB
cet-14354	68	7	multiple	multiple	ADJ
cet-14354	68	8	devices	device	NOUN
cet-14354	68	9	on	on	ADP
cet-14354	68	10	the	the	DET
cet-14354	68	11	same	same	ADJ
cet-14354	68	12	network	network	NOUN
cet-14354	68	13	,	,	PUNCT
cet-14354	68	14	so	so	SCONJ
cet-14354	68	15	it	it	PRON
cet-14354	68	16	is	be	AUX
cet-14354	68	17	possible	possible	ADJ
cet-14354	68	18	to	to	PART
cet-14354	68	19	have	have	VERB
cet-14354	68	20	multiple	multiple	ADJ
cet-14354	68	21	mobile	mobile	ADJ
cet-14354	68	22	robot	robot	NOUN
cet-14354	68	23	platform	platform	NOUN
cet-14354	68	24	applications	application	NOUN
cet-14354	68	25	on	on	ADP
cet-14354	68	26	a	a	DET
cet-14354	68	27	single	single	ADJ
cet-14354	68	28	system	system	NOUN
cet-14354	68	29	.	.	PUNCT
cet-14354	69	1	ros2	ros2	PROPN
cet-14354	69	2	breaks	break	VERB
cet-14354	69	3	down	down	ADP
cet-14354	69	4	complex	complex	ADJ
cet-14354	69	5	systems	system	NOUN
cet-14354	69	6	into	into	ADP
cet-14354	69	7	modular	modular	ADJ
cet-14354	69	8	parts	part	NOUN
cet-14354	69	9	called	call	VERB
cet-14354	69	10	nodes	node	NOUN
cet-14354	69	11	.	.	PUNCT
cet-14354	70	1	each	each	DET
cet-14354	70	2	node	node	NOUN
cet-14354	70	3	is	be	AUX
cet-14354	70	4	responsible	responsible	ADJ
cet-14354	70	5	for	for	ADP
cet-14354	70	6	different	different	ADJ
cet-14354	70	7	parts	part	NOUN
cet-14354	70	8	of	of	ADP
cet-14354	70	9	the	the	DET
cet-14354	70	10	robot	robot	NOUN
cet-14354	70	11	platform	platform	NOUN
cet-14354	70	12	,	,	PUNCT
cet-14354	70	13	such	such	ADJ
cet-14354	70	14	as	as	ADP
cet-14354	70	15	driving	drive	VERB
cet-14354	70	16	the	the	DET
cet-14354	70	17	motors	motor	NOUN
cet-14354	70	18	or	or	CCONJ
cet-14354	70	19	retrieving	retrieve	VERB
cet-14354	70	20	gps	gps	NOUN
cet-14354	70	21	coordinates	coordinate	NOUN
cet-14354	70	22	.	.	PUNCT
cet-14354	71	1	each	each	DET
cet-14354	71	2	node	node	NOUN
cet-14354	71	3	can	can	AUX
cet-14354	71	4	send	send	VERB
cet-14354	71	5	and	and	CCONJ
cet-14354	71	6	receive	receive	VERB
cet-14354	71	7	data	datum	NOUN
cet-14354	71	8	and	and	CCONJ
cet-14354	71	9	can	can	AUX
cet-14354	71	10	communicate	communicate	VERB
cet-14354	71	11	with	with	ADP
cet-14354	71	12	other	other	ADJ
cet-14354	71	13	nodes	node	NOUN
cet-14354	71	14	within	within	ADP
cet-14354	71	15	the	the	DET
cet-14354	71	16	system	system	NOUN
cet-14354	71	17	.	.	PUNCT
cet-14354	72	1	communication	communication	NOUN
cet-14354	72	2	between	between	ADP
cet-14354	72	3	nodes	node	NOUN
cet-14354	72	4	can	can	AUX
cet-14354	72	5	be	be	AUX
cet-14354	72	6	done	do	VERB
cet-14354	72	7	by	by	ADP
cet-14354	72	8	topics	topic	NOUN
cet-14354	72	9	,	,	PUNCT
cet-14354	72	10	services	service	NOUN
cet-14354	72	11	,	,	PUNCT
cet-14354	72	12	or	or	CCONJ
cet-14354	72	13	actions	action	NOUN
cet-14354	72	14	.	.	PUNCT
cet-14354	73	1	the	the	DET
cet-14354	73	2	navigation	navigation	NOUN
cet-14354	73	3	system	system	NOUN
cet-14354	73	4	communicates	communicate	VERB
cet-14354	73	5	through	through	ADP
cet-14354	73	6	topics	topic	NOUN
cet-14354	73	7	(	(	PUNCT
cet-14354	73	8	table	table	NOUN
cet-14354	73	9	2	2	NUM
cet-14354	73	10	)	)	PUNCT
cet-14354	73	11	that	that	PRON
cet-14354	73	12	are	be	AUX
cet-14354	73	13	used	use	VERB
cet-14354	73	14	for	for	ADP
cet-14354	73	15	a	a	DET
cet-14354	73	16	continuous	continuous	ADJ
cet-14354	73	17	flow	flow	NOUN
cet-14354	73	18	of	of	ADP
cet-14354	73	19	data	datum	NOUN
cet-14354	73	20	,	,	PUNCT
cet-14354	73	21	which	which	PRON
cet-14354	73	22	is	be	AUX
cet-14354	73	23	essential	essential	ADJ
cet-14354	73	24	for	for	ADP
cet-14354	73	25	realtime	realtime	ADJ
cet-14354	73	26	positioning	positioning	NOUN
cet-14354	73	27	.	.	PUNCT
cet-14354	74	1	a	a	DET
cet-14354	74	2	topic	topic	NOUN
cet-14354	74	3	can	can	AUX
cet-14354	74	4	forward	forward	VERB
cet-14354	74	5	data	datum	NOUN
cet-14354	74	6	to	to	ADP
cet-14354	74	7	one	one	NUM
cet-14354	74	8	or	or	CCONJ
cet-14354	74	9	more	more	ADJ
cet-14354	74	10	nodes	node	NOUN
cet-14354	74	11	at	at	ADP
cet-14354	74	12	any	any	DET
cet-14354	74	13	time	time	NOUN
cet-14354	74	14	.	.	PUNCT
cet-14354	75	1	the	the	DET
cet-14354	75	2	operation	operation	NOUN
cet-14354	75	3	of	of	ADP
cet-14354	75	4	a	a	DET
cet-14354	75	5	robot	robot	NOUN
cet-14354	75	6	platform	platform	NOUN
cet-14354	75	7	is	be	AUX
cet-14354	75	8	based	base	VERB
cet-14354	75	9	on	on	ADP
cet-14354	75	10	the	the	DET
cet-14354	75	11	coordinated	coordinated	ADJ
cet-14354	75	12	operation	operation	NOUN
cet-14354	75	13	of	of	ADP
cet-14354	75	14	nodes	node	NOUN
cet-14354	75	15	and	and	CCONJ
cet-14354	75	16	topics	topic	NOUN
cet-14354	75	17	created	create	VERB
cet-14354	75	18	for	for	ADP
cet-14354	75	19	different	different	ADJ
cet-14354	75	20	purposes	purpose	NOUN
cet-14354	75	21	(	(	PUNCT
cet-14354	75	22	erős	erő	NOUN
cet-14354	75	23	et	et	NOUN
cet-14354	75	24	al	al	PROPN
cet-14354	75	25	.	.	PROPN
cet-14354	75	26	,	,	PUNCT
cet-14354	75	27	2019	2019	NUM
cet-14354	75	28	)	)	PUNCT
cet-14354	75	29	.	.	PUNCT
cet-14354	76	1	table	table	NOUN
cet-14354	76	2	2	2	NUM
cet-14354	76	3	:	:	PUNCT
cet-14354	76	4	topics	topic	NOUN
cet-14354	76	5	used	use	VERB
cet-14354	76	6	to	to	PART
cet-14354	76	7	process	process	VERB
cet-14354	76	8	navigation	navigation	NOUN
cet-14354	76	9	data	datum	NOUN
cet-14354	76	10	topic	topic	NOUN
cet-14354	76	11	description	description	NOUN
cet-14354	76	12	px4_yaw_deg	px4_yaw_deg	ADP
cet-14354	76	13	real	real	ADJ
cet-14354	76	14	-	-	PUNCT
cet-14354	76	15	time	time	NOUN
cet-14354	76	16	orientation	orientation	NOUN
cet-14354	76	17	in	in	ADP
cet-14354	76	18	degrees	degree	NOUN
cet-14354	76	19	,	,	PUNCT
cet-14354	76	20	read	read	VERB
cet-14354	76	21	from	from	ADP
cet-14354	76	22	imu	imu	ADJ
cet-14354	76	23	px4_pose	px4_pose	ADJ
cet-14354	76	24	position	position	NOUN
cet-14354	76	25	of	of	ADP
cet-14354	76	26	the	the	DET
cet-14354	76	27	robot	robot	NOUN
cet-14354	76	28	in	in	ADP
cet-14354	76	29	latitude	latitude	NOUN
cet-14354	76	30	/	/	SYM
cet-14354	76	31	longitude	longitude	ADJ
cet-14354	76	32	format	format	NOUN
cet-14354	76	33	px4_gnss_sat	px4_gnss_sat	NOUN
cet-14354	76	34	number	number	NOUN
cet-14354	76	35	of	of	ADP
cet-14354	76	36	satellites	satellite	NOUN
cet-14354	76	37	visible	visible	ADJ
cet-14354	76	38	at	at	ADP
cet-14354	76	39	the	the	DET
cet-14354	76	40	current	current	ADJ
cet-14354	76	41	moment	moment	NOUN
cet-14354	76	42	px4_gnss_rtk_type	px4_gnss_rtk_type	NOUN
cet-14354	76	43	the	the	DET
cet-14354	76	44	rtk	rtk	PROPN
cet-14354	76	45	is	be	AUX
cet-14354	76	46	in	in	ADP
cet-14354	76	47	a	a	DET
cet-14354	76	48	fixed	fix	VERB
cet-14354	76	49	or	or	CCONJ
cet-14354	76	50	float	float	VERB
cet-14354	76	51	state	state	NOUN
cet-14354	76	52	3	3	X
cet-14354	76	53	.	.	PUNCT
cet-14354	76	54	measurement	measurement	NOUN
cet-14354	76	55	3.1	3.1	NUM
cet-14354	76	56	the	the	DET
cet-14354	76	57	goal	goal	NOUN
cet-14354	76	58	of	of	ADP
cet-14354	76	59	the	the	DET
cet-14354	76	60	measurement	measurement	NOUN
cet-14354	76	61	the	the	DET
cet-14354	76	62	navigation	navigation	NOUN
cet-14354	76	63	system	system	NOUN
cet-14354	76	64	of	of	ADP
cet-14354	76	65	the	the	DET
cet-14354	76	66	mobile	mobile	ADJ
cet-14354	76	67	robot	robot	NOUN
cet-14354	76	68	platform	platform	NOUN
cet-14354	76	69	demands	demand	VERB
cet-14354	76	70	a	a	DET
cet-14354	76	71	level	level	NOUN
cet-14354	76	72	of	of	ADP
cet-14354	76	73	accuracy	accuracy	NOUN
cet-14354	76	74	that	that	PRON
cet-14354	76	75	can	can	AUX
cet-14354	76	76	not	not	PART
cet-14354	76	77	be	be	AUX
cet-14354	76	78	satisfied	satisfy	VERB
cet-14354	76	79	by	by	ADP
cet-14354	76	80	the	the	DET
cet-14354	76	81	typical	typical	ADJ
cet-14354	76	82	2.5	2.5	NUM
cet-14354	76	83	m	m	NOUN
cet-14354	76	84	accuracy	accuracy	NOUN
cet-14354	76	85	offered	offer	VERB
cet-14354	76	86	by	by	ADP
cet-14354	76	87	a	a	DET
cet-14354	76	88	standard	standard	ADJ
cet-14354	76	89	gnss	gnss	NOUN
cet-14354	76	90	receiver	receiver	ADV
cet-14354	76	91	.	.	PUNCT
cet-14354	77	1	to	to	PART
cet-14354	77	2	meet	meet	VERB
cet-14354	77	3	these	these	DET
cet-14354	77	4	stringent	stringent	ADJ
cet-14354	77	5	requirements	requirement	NOUN
cet-14354	77	6	,	,	PUNCT
cet-14354	77	7	the	the	DET
cet-14354	77	8	system	system	NOUN
cet-14354	77	9	employs	employ	VERB
cet-14354	77	10	the	the	DET
cet-14354	77	11	rtk	rtk	PROPN
cet-14354	77	12	correction	correction	NOUN
cet-14354	77	13	method	method	NOUN
cet-14354	77	14	for	for	ADP
cet-14354	77	15	its	its	PRON
cet-14354	77	16	capacity	capacity	NOUN
cet-14354	77	17	to	to	PART
cet-14354	77	18	achieve	achieve	VERB
cet-14354	77	19	centimeter	centimeter	NOUN
cet-14354	77	20	-	-	PUNCT
cet-14354	77	21	level	level	NOUN
cet-14354	77	22	precision	precision	NOUN
cet-14354	77	23	,	,	PUNCT
cet-14354	77	24	provided	provide	VERB
cet-14354	77	25	the	the	DET
cet-14354	77	26	ideal	ideal	ADJ
cet-14354	77	27	conditions	condition	NOUN
cet-14354	77	28	are	be	AUX
cet-14354	77	29	met	meet	VERB
cet-14354	77	30	.	.	PUNCT
cet-14354	78	1	the	the	DET
cet-14354	78	2	primary	primary	ADJ
cet-14354	78	3	objective	objective	NOUN
cet-14354	78	4	behind	behind	ADP
cet-14354	78	5	conducting	conduct	VERB
cet-14354	78	6	the	the	DET
cet-14354	78	7	measurement	measurement	NOUN
cet-14354	78	8	was	be	AUX
cet-14354	78	9	to	to	PART
cet-14354	78	10	conduct	conduct	VERB
cet-14354	78	11	a	a	DET
cet-14354	78	12	comparative	comparative	ADJ
cet-14354	78	13	analysis	analysis	NOUN
cet-14354	78	14	between	between	ADP
cet-14354	78	15	the	the	DET
cet-14354	78	16	positioning	positioning	NOUN
cet-14354	78	17	accuracy	accuracy	NOUN
cet-14354	78	18	achieved	achieve	VERB
cet-14354	78	19	by	by	ADP
cet-14354	78	20	a	a	DET
cet-14354	78	21	conventional	conventional	ADJ
cet-14354	78	22	gnss	gnss	NOUN
cet-14354	78	23	receiver	receiver	NOUN
cet-14354	78	24	and	and	CCONJ
cet-14354	78	25	the	the	DET
cet-14354	78	26	precision	precision	NOUN
cet-14354	78	27	delivered	deliver	VERB
cet-14354	78	28	by	by	ADP
cet-14354	78	29	the	the	DET
cet-14354	78	30	platform	platform	NOUN
cet-14354	78	31	's	's	PART
cet-14354	78	32	bespoke	bespoke	NOUN
cet-14354	78	33	navigation	navigation	NOUN
cet-14354	78	34	system	system	NOUN
cet-14354	78	35	,	,	PUNCT
cet-14354	78	36	enhanced	enhance	VERB
cet-14354	78	37	by	by	ADP
cet-14354	78	38	rtk	rtk	PROPN
cet-14354	78	39	technology	technology	NOUN
cet-14354	78	40	.	.	PUNCT
cet-14354	79	1	3.2	3.2	NUM
cet-14354	79	2	measurement	measurement	NOUN
cet-14354	79	3	setup	setup	NOUN
cet-14354	79	4	during	during	ADP
cet-14354	79	5	the	the	DET
cet-14354	79	6	measurement	measurement	NOUN
cet-14354	79	7	,	,	PUNCT
cet-14354	79	8	the	the	DET
cet-14354	79	9	navigation	navigation	NOUN
cet-14354	79	10	system	system	NOUN
cet-14354	79	11	used	use	VERB
cet-14354	79	12	on	on	ADP
cet-14354	79	13	the	the	DET
cet-14354	79	14	robotic	robotic	ADJ
cet-14354	79	15	platform	platform	NOUN
cet-14354	79	16	has	have	AUX
cet-14354	79	17	been	be	AUX
cet-14354	79	18	reproduced	reproduce	VERB
cet-14354	79	19	in	in	ADP
cet-14354	79	20	order	order	NOUN
cet-14354	79	21	to	to	PART
cet-14354	79	22	carry	carry	VERB
cet-14354	79	23	out	out	ADP
cet-14354	79	24	the	the	DET
cet-14354	79	25	most	most	ADV
cet-14354	79	26	accurate	accurate	ADJ
cet-14354	79	27	results	result	NOUN
cet-14354	79	28	shown	show	VERB
cet-14354	79	29	in	in	ADP
cet-14354	79	30	figure	figure	NOUN
cet-14354	79	31	1	1	NUM
cet-14354	79	32	.	.	NUM
cet-14354	79	33	387	387	NUM
cet-14354	79	34	a	a	DET
cet-14354	79	35	custom	custom	NOUN
cet-14354	79	36	python	python	NOUN
cet-14354	79	37	script	script	NOUN
cet-14354	79	38	was	be	AUX
cet-14354	79	39	written	write	VERB
cet-14354	79	40	to	to	PART
cet-14354	79	41	help	help	VERB
cet-14354	79	42	the	the	DET
cet-14354	79	43	measurement	measurement	NOUN
cet-14354	79	44	,	,	PUNCT
cet-14354	79	45	which	which	PRON
cet-14354	79	46	logs	log	VERB
cet-14354	79	47	the	the	DET
cet-14354	79	48	coordinates	coordinate	NOUN
cet-14354	79	49	in	in	ADP
cet-14354	79	50	the	the	DET
cet-14354	79	51	universal	universal	ADJ
cet-14354	79	52	transverse	transverse	NOUN
cet-14354	79	53	mercator	mercator	NOUN
cet-14354	79	54	(	(	PUNCT
cet-14354	79	55	utm	utm	PROPN
cet-14354	79	56	)	)	PUNCT
cet-14354	79	57	coordinate	coordinate	NOUN
cet-14354	79	58	system	system	NOUN
cet-14354	79	59	using	use	VERB
cet-14354	79	60	the	the	DET
cet-14354	79	61	mavsdk	mavsdk	NOUN
cet-14354	79	62	library	library	NOUN
cet-14354	79	63	collection	collection	NOUN
cet-14354	79	64	and	and	CCONJ
cet-14354	79	65	the	the	DET
cet-14354	79	66	px4	px4	PROPN
cet-14354	79	67	autopilot	autopilot	NOUN
cet-14354	79	68	.	.	PUNCT
cet-14354	80	1	utm	utm	PROPN
cet-14354	80	2	is	be	AUX
cet-14354	80	3	a	a	DET
cet-14354	80	4	coordinate	coordinate	NOUN
cet-14354	80	5	system	system	NOUN
cet-14354	80	6	that	that	PRON
cet-14354	80	7	divides	divide	VERB
cet-14354	80	8	the	the	DET
cet-14354	80	9	earth	earth	NOUN
cet-14354	80	10	into	into	ADP
cet-14354	80	11	zones	zone	NOUN
cet-14354	80	12	.	.	PUNCT
cet-14354	81	1	it	it	PRON
cet-14354	81	2	has	have	VERB
cet-14354	81	3	the	the	DET
cet-14354	81	4	advantage	advantage	NOUN
cet-14354	81	5	that	that	SCONJ
cet-14354	81	6	it	it	PRON
cet-14354	81	7	does	do	AUX
cet-14354	81	8	not	not	PART
cet-14354	81	9	contain	contain	VERB
cet-14354	81	10	negative	negative	ADJ
cet-14354	81	11	coordinates	coordinate	NOUN
cet-14354	81	12	;	;	PUNCT
cet-14354	81	13	the	the	DET
cet-14354	81	14	coordinates	coordinate	NOUN
cet-14354	81	15	are	be	AUX
cet-14354	81	16	represented	represent	VERB
cet-14354	81	17	as	as	ADP
cet-14354	81	18	positive	positive	ADJ
cet-14354	81	19	decimal	decimal	ADJ
cet-14354	81	20	values	value	NOUN
cet-14354	81	21	,	,	PUNCT
cet-14354	81	22	making	make	VERB
cet-14354	81	23	it	it	PRON
cet-14354	81	24	easier	easy	ADJ
cet-14354	81	25	to	to	PART
cet-14354	81	26	determine	determine	VERB
cet-14354	81	27	deviations	deviation	NOUN
cet-14354	81	28	,	,	PUNCT
cet-14354	81	29	and	and	CCONJ
cet-14354	81	30	the	the	DET
cet-14354	81	31	simpler	simple	ADJ
cet-14354	81	32	creation	creation	NOUN
cet-14354	81	33	of	of	ADP
cet-14354	81	34	more	more	ADJ
cet-14354	81	35	visual	visual	ADJ
cet-14354	81	36	graphs	graph	NOUN
cet-14354	81	37	is	be	AUX
cet-14354	81	38	also	also	ADV
cet-14354	81	39	available	available	ADJ
cet-14354	81	40	.	.	PUNCT
cet-14354	82	1	3.3	3.3	NUM
cet-14354	82	2	measurement	measurement	NOUN
cet-14354	82	3	results	result	NOUN
cet-14354	82	4	in	in	ADP
cet-14354	82	5	this	this	DET
cet-14354	82	6	section	section	NOUN
cet-14354	82	7	of	of	ADP
cet-14354	82	8	the	the	DET
cet-14354	82	9	paper	paper	NOUN
cet-14354	82	10	,	,	PUNCT
cet-14354	82	11	the	the	DET
cet-14354	82	12	results	result	NOUN
cet-14354	82	13	and	and	CCONJ
cet-14354	82	14	the	the	DET
cet-14354	82	15	accuracy	accuracy	NOUN
cet-14354	82	16	of	of	ADP
cet-14354	82	17	the	the	DET
cet-14354	82	18	navigation	navigation	NOUN
cet-14354	82	19	system	system	NOUN
cet-14354	82	20	are	be	AUX
cet-14354	82	21	presented	present	VERB
cet-14354	82	22	and	and	CCONJ
cet-14354	82	23	visualized	visualize	VERB
cet-14354	82	24	with	with	ADP
cet-14354	82	25	the	the	DET
cet-14354	82	26	help	help	NOUN
cet-14354	82	27	of	of	ADP
cet-14354	82	28	graphs	graph	NOUN
cet-14354	82	29	.	.	PUNCT
cet-14354	83	1	firstly	firstly	ADV
cet-14354	83	2	,	,	PUNCT
cet-14354	83	3	the	the	DET
cet-14354	83	4	accuracy	accuracy	NOUN
cet-14354	83	5	of	of	ADP
cet-14354	83	6	a	a	DET
cet-14354	83	7	general	general	ADJ
cet-14354	83	8	gnss	gnss	NOUN
cet-14354	83	9	receiver	receiver	NOUN
cet-14354	83	10	is	be	AUX
cet-14354	83	11	presented	present	VERB
cet-14354	83	12	both	both	PRON
cet-14354	83	13	in	in	ADP
cet-14354	83	14	a	a	DET
cet-14354	83	15	static	static	ADJ
cet-14354	83	16	and	and	CCONJ
cet-14354	83	17	moving	move	VERB
cet-14354	83	18	state	state	NOUN
cet-14354	83	19	.	.	PUNCT
cet-14354	84	1	the	the	DET
cet-14354	84	2	results	result	NOUN
cet-14354	84	3	shown	show	VERB
cet-14354	84	4	in	in	ADP
cet-14354	84	5	figure	figure	NOUN
cet-14354	84	6	2	2	NUM
cet-14354	84	7	were	be	AUX
cet-14354	84	8	expected	expect	VERB
cet-14354	84	9	.	.	PUNCT
cet-14354	85	1	a	a	DET
cet-14354	85	2	general	general	ADJ
cet-14354	85	3	gnss	gnss	NOUN
cet-14354	85	4	receiver	receiver	NOUN
cet-14354	85	5	’s	’s	PART
cet-14354	85	6	accuracy	accuracy	NOUN
cet-14354	85	7	is	be	AUX
cet-14354	85	8	between	between	ADP
cet-14354	85	9	1	1	NUM
cet-14354	85	10	m	m	NOUN
cet-14354	85	11	and	and	CCONJ
cet-14354	85	12	2.5	2.5	NUM
cet-14354	85	13	m	m	NOUN
cet-14354	85	14	under	under	ADP
cet-14354	85	15	an	an	DET
cet-14354	85	16	open	open	ADJ
cet-14354	85	17	sky	sky	NOUN
cet-14354	85	18	,	,	PUNCT
cet-14354	85	19	which	which	PRON
cet-14354	85	20	is	be	AUX
cet-14354	85	21	not	not	PART
cet-14354	85	22	accurate	accurate	ADJ
cet-14354	85	23	enough	enough	ADV
cet-14354	85	24	to	to	PART
cet-14354	85	25	place	place	VERB
cet-14354	85	26	the	the	DET
cet-14354	85	27	traffic	traffic	NOUN
cet-14354	85	28	cones	cone	NOUN
cet-14354	85	29	into	into	ADP
cet-14354	85	30	an	an	DET
cet-14354	85	31	exact	exact	ADJ
cet-14354	85	32	position	position	NOUN
cet-14354	85	33	.	.	PUNCT
cet-14354	86	1	figure	figure	NOUN
cet-14354	86	2	1	1	NUM
cet-14354	86	3	:	:	PUNCT
cet-14354	86	4	the	the	DET
cet-14354	86	5	recreated	recreated	ADJ
cet-14354	86	6	navigation	navigation	NOUN
cet-14354	86	7	system	system	NOUN
cet-14354	86	8	during	during	ADP
cet-14354	86	9	the	the	DET
cet-14354	86	10	measurement	measurement	NOUN
cet-14354	86	11	procedure	procedure	NOUN
cet-14354	86	12	figure	figure	NOUN
cet-14354	86	13	2	2	NUM
cet-14354	86	14	:	:	PUNCT
cet-14354	86	15	general	general	ADJ
cet-14354	86	16	gnss	gnss	NOUN
cet-14354	86	17	receiver	receiver	NOUN
cet-14354	86	18	,	,	PUNCT
cet-14354	86	19	static	static	ADJ
cet-14354	86	20	state	state	NOUN
cet-14354	86	21	results	result	NOUN
cet-14354	86	22	in	in	ADP
cet-14354	86	23	the	the	DET
cet-14354	86	24	case	case	NOUN
cet-14354	86	25	of	of	ADP
cet-14354	86	26	a	a	DET
cet-14354	86	27	mobile	mobile	ADJ
cet-14354	86	28	robot	robot	NOUN
cet-14354	86	29	platform	platform	NOUN
cet-14354	86	30	,	,	PUNCT
cet-14354	86	31	the	the	DET
cet-14354	86	32	accuracy	accuracy	NOUN
cet-14354	86	33	of	of	ADP
cet-14354	86	34	the	the	DET
cet-14354	86	35	navigation	navigation	NOUN
cet-14354	86	36	system	system	NOUN
cet-14354	86	37	is	be	AUX
cet-14354	86	38	crucial	crucial	ADJ
cet-14354	86	39	in	in	ADP
cet-14354	86	40	the	the	DET
cet-14354	86	41	moving	move	VERB
cet-14354	86	42	state	state	NOUN
cet-14354	86	43	.	.	PUNCT
cet-14354	87	1	the	the	DET
cet-14354	87	2	measurement	measurement	NOUN
cet-14354	87	3	of	of	ADP
cet-14354	87	4	a	a	DET
cet-14354	87	5	general	general	ADJ
cet-14354	87	6	gnss	gnss	NOUN
cet-14354	87	7	receiver	receiver	NOUN
cet-14354	87	8	in	in	ADP
cet-14354	87	9	a	a	DET
cet-14354	87	10	moving	move	VERB
cet-14354	87	11	state	state	NOUN
cet-14354	87	12	is	be	AUX
cet-14354	87	13	presented	present	VERB
cet-14354	87	14	in	in	ADP
cet-14354	87	15	figure	figure	NOUN
cet-14354	87	16	3	3	NUM
cet-14354	87	17	,	,	PUNCT
cet-14354	87	18	which	which	PRON
cet-14354	87	19	shows	show	VERB
cet-14354	87	20	that	that	SCONJ
cet-14354	87	21	the	the	DET
cet-14354	87	22	average	average	ADJ
cet-14354	87	23	accuracy	accuracy	NOUN
cet-14354	87	24	of	of	ADP
cet-14354	87	25	the	the	DET
cet-14354	87	26	receiver	receiver	NOUN
cet-14354	87	27	is	be	AUX
cet-14354	87	28	between	between	ADP
cet-14354	87	29	1.1	1.1	NUM
cet-14354	87	30	meters	meter	NOUN
cet-14354	87	31	and	and	CCONJ
cet-14354	87	32	2	2	NUM
cet-14354	87	33	meters	meter	NOUN
cet-14354	87	34	under	under	ADP
cet-14354	87	35	open	open	ADJ
cet-14354	87	36	sky	sky	NOUN
cet-14354	87	37	.	.	PUNCT
cet-14354	88	1	this	this	DET
cet-14354	88	2	result	result	NOUN
cet-14354	88	3	can	can	AUX
cet-14354	88	4	be	be	AUX
cet-14354	88	5	greatly	greatly	ADV
cet-14354	88	6	improved	improve	VERB
cet-14354	88	7	by	by	ADP
cet-14354	88	8	the	the	DET
cet-14354	88	9	rtk	rtk	PROPN
cet-14354	88	10	float	float	NOUN
cet-14354	88	11	and	and	CCONJ
cet-14354	88	12	rtk	rtk	PROPN
cet-14354	88	13	fixed	fix	VERB
cet-14354	88	14	state	state	NOUN
cet-14354	88	15	shown	show	VERB
cet-14354	88	16	in	in	ADP
cet-14354	88	17	the	the	DET
cet-14354	88	18	later	later	ADJ
cet-14354	88	19	part	part	NOUN
cet-14354	88	20	of	of	ADP
cet-14354	88	21	this	this	DET
cet-14354	88	22	section	section	NOUN
cet-14354	88	23	.	.	PUNCT
cet-14354	89	1	figure	figure	VERB
cet-14354	89	2	3	3	NUM
cet-14354	89	3	:	:	PUNCT
cet-14354	89	4	general	general	ADJ
cet-14354	89	5	gnss	gnss	NOUN
cet-14354	89	6	receiver	receiver	ADV
cet-14354	89	7	,	,	PUNCT
cet-14354	89	8	moving	move	VERB
cet-14354	89	9	state	state	NOUN
cet-14354	89	10	results	result	NOUN
cet-14354	89	11	388	388	NUM
cet-14354	89	12	in	in	ADP
cet-14354	89	13	figure	figure	NOUN
cet-14354	89	14	4	4	NUM
cet-14354	89	15	,	,	PUNCT
cet-14354	89	16	the	the	DET
cet-14354	89	17	measurement	measurement	NOUN
cet-14354	89	18	of	of	ADP
cet-14354	89	19	the	the	DET
cet-14354	89	20	rtk	rtk	PROPN
cet-14354	89	21	float	float	PROPN
cet-14354	89	22	state	state	NOUN
cet-14354	89	23	is	be	AUX
cet-14354	89	24	presented	present	VERB
cet-14354	89	25	,	,	PUNCT
cet-14354	89	26	and	and	CCONJ
cet-14354	89	27	the	the	DET
cet-14354	89	28	improvement	improvement	NOUN
cet-14354	89	29	of	of	ADP
cet-14354	89	30	the	the	DET
cet-14354	89	31	gnss	gnss	NOUN
cet-14354	89	32	receiver	receiver	NOUN
cet-14354	89	33	’s	’s	PART
cet-14354	89	34	accuracy	accuracy	NOUN
cet-14354	89	35	is	be	AUX
cet-14354	89	36	significant	significant	ADJ
cet-14354	89	37	.	.	PUNCT
cet-14354	90	1	the	the	DET
cet-14354	90	2	majority	majority	NOUN
cet-14354	90	3	of	of	ADP
cet-14354	90	4	the	the	DET
cet-14354	90	5	navigational	navigational	ADJ
cet-14354	90	6	data	datum	NOUN
cet-14354	90	7	has	have	VERB
cet-14354	90	8	an	an	DET
cet-14354	90	9	accuracy	accuracy	NOUN
cet-14354	90	10	between	between	ADP
cet-14354	90	11	3.1	3.1	NUM
cet-14354	90	12	cm	cm	NOUN
cet-14354	90	13	and	and	CCONJ
cet-14354	90	14	13.1	13.1	NUM
cet-14354	90	15	cm	cm	NOUN
cet-14354	90	16	under	under	ADP
cet-14354	90	17	open	open	ADJ
cet-14354	90	18	sky	sky	NOUN
cet-14354	90	19	,	,	PUNCT
cet-14354	90	20	with	with	ADP
cet-14354	90	21	the	the	DET
cet-14354	90	22	base	base	NOUN
cet-14354	90	23	being	be	AUX
cet-14354	90	24	set	set	VERB
cet-14354	90	25	to	to	ADP
cet-14354	90	26	a	a	DET
cet-14354	90	27	2.5	2.5	NUM
cet-14354	90	28	m	m	NOUN
cet-14354	90	29	accuracy	accuracy	NOUN
cet-14354	90	30	.	.	PUNCT
cet-14354	91	1	with	with	ADP
cet-14354	91	2	accuracy	accuracy	NOUN
cet-14354	91	3	,	,	PUNCT
cet-14354	91	4	the	the	DET
cet-14354	91	5	determination	determination	NOUN
cet-14354	91	6	of	of	ADP
cet-14354	91	7	a	a	DET
cet-14354	91	8	mobile	mobile	ADJ
cet-14354	91	9	robot	robot	NOUN
cet-14354	91	10	platform	platform	NOUN
cet-14354	91	11	’s	’s	PART
cet-14354	91	12	position	position	NOUN
cet-14354	91	13	can	can	AUX
cet-14354	91	14	be	be	AUX
cet-14354	91	15	achieved	achieve	VERB
cet-14354	91	16	with	with	ADP
cet-14354	91	17	a	a	DET
cet-14354	91	18	precision	precision	NOUN
cet-14354	91	19	of	of	ADP
cet-14354	91	20	up	up	ADP
cet-14354	91	21	to	to	ADP
cet-14354	91	22	3.1	3.1	NUM
cet-14354	91	23	cm	cm	NOUN
cet-14354	91	24	,	,	PUNCT
cet-14354	91	25	but	but	CCONJ
cet-14354	91	26	this	this	PRON
cet-14354	91	27	still	still	ADV
cet-14354	91	28	can	can	AUX
cet-14354	91	29	be	be	AUX
cet-14354	91	30	improved	improve	VERB
cet-14354	91	31	when	when	SCONJ
cet-14354	91	32	the	the	DET
cet-14354	91	33	rtk	rtk	PROPN
cet-14354	91	34	algorithm	algorithm	NOUN
cet-14354	91	35	is	be	AUX
cet-14354	91	36	totally	totally	ADV
cet-14354	91	37	solved	solve	VERB
cet-14354	91	38	.	.	PUNCT
cet-14354	92	1	figure	figure	VERB
cet-14354	92	2	4	4	NUM
cet-14354	92	3	:	:	PUNCT
cet-14354	92	4	rtk	rtk	PROPN
cet-14354	92	5	float	float	NOUN
cet-14354	92	6	,	,	PUNCT
cet-14354	92	7	moving	move	VERB
cet-14354	92	8	state	state	NOUN
cet-14354	92	9	with	with	ADP
cet-14354	92	10	2.5	2.5	NUM
cet-14354	92	11	m	m	NOUN
cet-14354	92	12	survey	survey	NOUN
cet-14354	92	13	in	in	ADP
cet-14354	92	14	results	result	NOUN
cet-14354	92	15	in	in	ADP
cet-14354	92	16	the	the	DET
cet-14354	92	17	following	follow	VERB
cet-14354	92	18	part	part	NOUN
cet-14354	92	19	of	of	ADP
cet-14354	92	20	this	this	DET
cet-14354	92	21	section	section	NOUN
cet-14354	92	22	,	,	PUNCT
cet-14354	92	23	the	the	DET
cet-14354	92	24	accuracy	accuracy	NOUN
cet-14354	92	25	of	of	ADP
cet-14354	92	26	the	the	DET
cet-14354	92	27	navigation	navigation	NOUN
cet-14354	92	28	system	system	NOUN
cet-14354	92	29	in	in	ADP
cet-14354	92	30	rtk	rtk	PROPN
cet-14354	92	31	fixed	fix	VERB
cet-14354	92	32	state	state	NOUN
cet-14354	92	33	is	be	AUX
cet-14354	92	34	presented	present	VERB
cet-14354	92	35	.	.	PUNCT
cet-14354	93	1	the	the	DET
cet-14354	93	2	results	result	NOUN
cet-14354	93	3	can	can	AUX
cet-14354	93	4	be	be	AUX
cet-14354	93	5	seen	see	VERB
cet-14354	93	6	in	in	ADP
cet-14354	93	7	figure	figure	NOUN
cet-14354	93	8	5	5	NUM
cet-14354	93	9	,	,	PUNCT
cet-14354	93	10	which	which	PRON
cet-14354	93	11	clearly	clearly	ADV
cet-14354	93	12	presents	present	VERB
cet-14354	93	13	that	that	SCONJ
cet-14354	93	14	the	the	DET
cet-14354	93	15	accuracy	accuracy	NOUN
cet-14354	93	16	of	of	ADP
cet-14354	93	17	the	the	DET
cet-14354	93	18	rover	rover	NOUN
cet-14354	93	19	is	be	AUX
cet-14354	93	20	below	below	ADP
cet-14354	93	21	2	2	NUM
cet-14354	93	22	centimeters	centimeter	NOUN
cet-14354	93	23	measured	measure	VERB
cet-14354	93	24	under	under	ADP
cet-14354	93	25	open	open	ADJ
cet-14354	93	26	sky	sky	NOUN
cet-14354	93	27	,	,	PUNCT
cet-14354	93	28	without	without	ADP
cet-14354	93	29	coverage	coverage	NOUN
cet-14354	93	30	from	from	ADP
cet-14354	93	31	buildings	building	NOUN
cet-14354	93	32	.	.	PUNCT
cet-14354	94	1	figure	figure	VERB
cet-14354	94	2	5	5	NUM
cet-14354	94	3	:	:	PUNCT
cet-14354	94	4	rtk	rtk	NOUN
cet-14354	94	5	fixed	fix	VERB
cet-14354	94	6	,	,	PUNCT
cet-14354	94	7	moving	move	VERB
cet-14354	94	8	state	state	NOUN
cet-14354	94	9	with	with	ADP
cet-14354	94	10	2.5	2.5	NUM
cet-14354	94	11	m	m	NOUN
cet-14354	94	12	survey	survey	NOUN
cet-14354	94	13	accuracy	accuracy	NOUN
cet-14354	94	14	finally	finally	ADV
cet-14354	94	15	,	,	PUNCT
cet-14354	94	16	the	the	DET
cet-14354	94	17	difference	difference	NOUN
cet-14354	94	18	between	between	ADP
cet-14354	94	19	the	the	DET
cet-14354	94	20	2.5	2.5	NUM
cet-14354	94	21	m	m	NOUN
cet-14354	94	22	and	and	CCONJ
cet-14354	94	23	0.8	0.8	NUM
cet-14354	94	24	m	m	NOUN
cet-14354	94	25	survey	survey	NOUN
cet-14354	94	26	-	-	PUNCT
cet-14354	94	27	in	in	ADP
cet-14354	94	28	accuracy	accuracy	NOUN
cet-14354	94	29	procedure	procedure	NOUN
cet-14354	94	30	is	be	AUX
cet-14354	94	31	shown	show	VERB
cet-14354	94	32	.	.	PUNCT
cet-14354	95	1	the	the	DET
cet-14354	95	2	time	time	NOUN
cet-14354	95	3	it	it	PRON
cet-14354	95	4	takes	take	VERB
cet-14354	95	5	to	to	PART
cet-14354	95	6	finish	finish	VERB
cet-14354	95	7	this	this	DET
cet-14354	95	8	process	process	NOUN
cet-14354	95	9	exponentially	exponentially	ADV
cet-14354	95	10	grows	grow	VERB
cet-14354	95	11	after	after	ADP
cet-14354	95	12	2.5	2.5	NUM
cet-14354	95	13	m.	m.	NOUN
cet-14354	95	14	to	to	PART
cet-14354	95	15	go	go	VERB
cet-14354	95	16	below	below	ADP
cet-14354	95	17	1	1	NUM
cet-14354	95	18	m	m	NOUN
cet-14354	95	19	inaccuracy	inaccuracy	ADJ
cet-14354	95	20	,	,	PUNCT
cet-14354	95	21	it	it	PRON
cet-14354	95	22	takes	take	VERB
cet-14354	95	23	more	more	ADJ
cet-14354	95	24	than	than	ADP
cet-14354	95	25	20	20	NUM
cet-14354	95	26	min	min	NOUN
cet-14354	95	27	,	,	PUNCT
cet-14354	95	28	while	while	SCONJ
cet-14354	95	29	it	it	PRON
cet-14354	95	30	takes	take	VERB
cet-14354	95	31	only	only	ADV
cet-14354	95	32	2	2	NUM
cet-14354	95	33	min	min	NOUN
cet-14354	95	34	to	to	PART
cet-14354	95	35	achieve	achieve	VERB
cet-14354	95	36	the	the	DET
cet-14354	95	37	2.5	2.5	NUM
cet-14354	95	38	m	m	NOUN
cet-14354	95	39	accuracy	accuracy	NOUN
cet-14354	95	40	.	.	PUNCT
cet-14354	96	1	as	as	SCONJ
cet-14354	96	2	shown	show	VERB
cet-14354	96	3	in	in	ADP
cet-14354	96	4	figure	figure	NOUN
cet-14354	96	5	6	6	NUM
cet-14354	96	6	,	,	PUNCT
cet-14354	96	7	the	the	DET
cet-14354	96	8	rover	rover	NOUN
cet-14354	96	9	’s	’s	PART
cet-14354	96	10	accuracy	accuracy	NOUN
cet-14354	96	11	is	be	AUX
cet-14354	96	12	n’t	not	PART
cet-14354	96	13	more	more	ADV
cet-14354	96	14	precise	precise	ADJ
cet-14354	96	15	in	in	ADP
cet-14354	96	16	the	the	DET
cet-14354	96	17	moving	move	VERB
cet-14354	96	18	state	state	NOUN
cet-14354	96	19	.	.	PUNCT
cet-14354	97	1	the	the	DET
cet-14354	97	2	vast	vast	ADJ
cet-14354	97	3	majority	majority	NOUN
cet-14354	97	4	of	of	ADP
cet-14354	97	5	the	the	DET
cet-14354	97	6	data	data	NOUN
cet-14354	97	7	is	be	AUX
cet-14354	97	8	still	still	ADV
cet-14354	97	9	between	between	ADP
cet-14354	97	10	1.4	1.4	NUM
cet-14354	97	11	cm	cm	NOUN
cet-14354	97	12	and	and	CCONJ
cet-14354	97	13	1.9	1.9	NUM
cet-14354	97	14	cm	cm	NOUN
cet-14354	97	15	,	,	PUNCT
cet-14354	97	16	which	which	PRON
cet-14354	97	17	is	be	AUX
cet-14354	97	18	the	the	DET
cet-14354	97	19	main	main	ADJ
cet-14354	97	20	criterion	criterion	NOUN
cet-14354	97	21	for	for	ADP
cet-14354	97	22	a	a	DET
cet-14354	97	23	mobile	mobile	ADJ
cet-14354	97	24	robot	robot	NOUN
cet-14354	97	25	platform	platform	NOUN
cet-14354	97	26	to	to	PART
cet-14354	97	27	carry	carry	VERB
cet-14354	97	28	out	out	ADP
cet-14354	97	29	the	the	DET
cet-14354	97	30	task	task	NOUN
cet-14354	97	31	.	.	PUNCT
cet-14354	98	1	figure	figure	NOUN
cet-14354	98	2	6	6	NUM
cet-14354	98	3	:	:	PUNCT
cet-14354	98	4	rtk	rtk	NOUN
cet-14354	98	5	fixed	fix	VERB
cet-14354	98	6	,	,	PUNCT
cet-14354	98	7	moving	move	VERB
cet-14354	98	8	state	state	NOUN
cet-14354	98	9	with	with	ADP
cet-14354	98	10	0.8	0.8	NUM
cet-14354	98	11	m	m	NOUN
cet-14354	98	12	survey	survey	NOUN
cet-14354	98	13	accuracy	accuracy	NOUN
cet-14354	98	14	389	389	NUM
cet-14354	98	15	4	4	NUM
cet-14354	98	16	.	.	PUNCT
cet-14354	99	1	conclusions	conclusion	NOUN
cet-14354	99	2	the	the	DET
cet-14354	99	3	main	main	ADJ
cet-14354	99	4	goal	goal	NOUN
cet-14354	99	5	of	of	ADP
cet-14354	99	6	the	the	DET
cet-14354	99	7	navigation	navigation	NOUN
cet-14354	99	8	system	system	NOUN
cet-14354	99	9	was	be	AUX
cet-14354	99	10	to	to	PART
cet-14354	99	11	provide	provide	VERB
cet-14354	99	12	the	the	DET
cet-14354	99	13	necessary	necessary	ADJ
cet-14354	99	14	navigational	navigational	ADJ
cet-14354	99	15	data	datum	NOUN
cet-14354	99	16	for	for	ADP
cet-14354	99	17	the	the	DET
cet-14354	99	18	platform	platform	NOUN
cet-14354	99	19	to	to	PART
cet-14354	99	20	be	be	AUX
cet-14354	99	21	able	able	ADJ
cet-14354	99	22	to	to	PART
cet-14354	99	23	place	place	VERB
cet-14354	99	24	traffic	traffic	NOUN
cet-14354	99	25	cones	cone	NOUN
cet-14354	99	26	in	in	ADP
cet-14354	99	27	an	an	DET
cet-14354	99	28	exact	exact	ADJ
cet-14354	99	29	location	location	NOUN
cet-14354	99	30	on	on	ADP
cet-14354	99	31	a	a	DET
cet-14354	99	32	pre	pre	ADJ
cet-14354	99	33	-	-	ADJ
cet-14354	99	34	defined	define	VERB
cet-14354	99	35	path	path	NOUN
cet-14354	99	36	.	.	PUNCT
cet-14354	100	1	the	the	DET
cet-14354	100	2	goal	goal	NOUN
cet-14354	100	3	was	be	AUX
cet-14354	100	4	reached	reach	VERB
cet-14354	100	5	.	.	PUNCT
cet-14354	101	1	the	the	DET
cet-14354	101	2	rover	rover	NOUN
cet-14354	101	3	’s	’s	PART
cet-14354	101	4	location	location	NOUN
cet-14354	101	5	on	on	ADP
cet-14354	101	6	the	the	DET
cet-14354	101	7	robot	robot	NOUN
cet-14354	101	8	platform	platform	NOUN
cet-14354	101	9	can	can	AUX
cet-14354	101	10	now	now	ADV
cet-14354	101	11	be	be	AUX
cet-14354	101	12	determined	determine	VERB
cet-14354	101	13	with	with	ADP
cet-14354	101	14	centimeter	centimeter	NOUN
cet-14354	101	15	accuracy	accuracy	NOUN
cet-14354	101	16	in	in	ADP
cet-14354	101	17	real	real	ADJ
cet-14354	101	18	time	time	NOUN
cet-14354	101	19	,	,	PUNCT
cet-14354	101	20	and	and	CCONJ
cet-14354	101	21	with	with	ADP
cet-14354	101	22	the	the	DET
cet-14354	101	23	help	help	NOUN
cet-14354	101	24	of	of	ADP
cet-14354	101	25	the	the	DET
cet-14354	101	26	px4	px4	PROPN
cet-14354	101	27	autopilot	autopilot	NOUN
cet-14354	101	28	,	,	PUNCT
cet-14354	101	29	the	the	DET
cet-14354	101	30	navigational	navigational	ADJ
cet-14354	101	31	data	datum	NOUN
cet-14354	101	32	is	be	AUX
cet-14354	101	33	transmitted	transmit	VERB
cet-14354	101	34	to	to	ADP
cet-14354	101	35	the	the	DET
cet-14354	101	36	processing	processing	NOUN
cet-14354	101	37	unit	unit	NOUN
cet-14354	101	38	for	for	ADP
cet-14354	101	39	further	further	ADJ
cet-14354	101	40	calculations	calculation	NOUN
cet-14354	101	41	and	and	CCONJ
cet-14354	101	42	path	path	NOUN
cet-14354	101	43	planning	planning	NOUN
cet-14354	101	44	.	.	PUNCT
cet-14354	102	1	the	the	DET
cet-14354	102	2	use	use	NOUN
cet-14354	102	3	of	of	ADP
cet-14354	102	4	rtk	rtk	PROPN
cet-14354	102	5	is	be	AUX
cet-14354	102	6	an	an	DET
cet-14354	102	7	immense	immense	ADJ
cet-14354	102	8	improvement	improvement	NOUN
cet-14354	102	9	over	over	ADP
cet-14354	102	10	the	the	DET
cet-14354	102	11	accuracy	accuracy	NOUN
cet-14354	102	12	of	of	ADP
cet-14354	102	13	a	a	DET
cet-14354	102	14	general	general	ADJ
cet-14354	102	15	gnss	gnss	NOUN
cet-14354	102	16	receiver	receiver	ADV
cet-14354	102	17	.	.	PUNCT
cet-14354	103	1	from	from	ADP
cet-14354	103	2	an	an	DET
cet-14354	103	3	average	average	ADJ
cet-14354	103	4	accuracy	accuracy	NOUN
cet-14354	103	5	of	of	ADP
cet-14354	103	6	1	1	NUM
cet-14354	103	7	-	-	SYM
cet-14354	103	8	1.5	1.5	NUM
cet-14354	103	9	m	m	NOUN
cet-14354	103	10	,	,	PUNCT
cet-14354	103	11	the	the	DET
cet-14354	103	12	rtk	rtk	PROPN
cet-14354	103	13	algorithm	algorithm	NOUN
cet-14354	103	14	improved	improve	VERB
cet-14354	103	15	it	it	PRON
cet-14354	103	16	to	to	ADP
cet-14354	103	17	around	around	ADP
cet-14354	103	18	1.5	1.5	NUM
cet-14354	103	19	cm	cm	NOUN
cet-14354	103	20	.	.	PUNCT
cet-14354	104	1	also	also	ADV
cet-14354	104	2	,	,	PUNCT
cet-14354	104	3	with	with	ADP
cet-14354	104	4	the	the	DET
cet-14354	104	5	assistance	assistance	NOUN
cet-14354	104	6	of	of	ADP
cet-14354	104	7	a	a	DET
cet-14354	104	8	mobile	mobile	ADJ
cet-14354	104	9	base	base	NOUN
cet-14354	104	10	station	station	NOUN
cet-14354	104	11	and	and	CCONJ
cet-14354	104	12	a	a	DET
cet-14354	104	13	private	private	ADJ
cet-14354	104	14	ntrip	ntrip	NOUN
cet-14354	104	15	server	server	NOUN
cet-14354	104	16	,	,	PUNCT
cet-14354	104	17	the	the	DET
cet-14354	104	18	navigation	navigation	NOUN
cet-14354	104	19	system	system	NOUN
cet-14354	104	20	can	can	AUX
cet-14354	104	21	be	be	AUX
cet-14354	104	22	expanded	expand	VERB
cet-14354	104	23	and	and	CCONJ
cet-14354	104	24	used	use	VERB
cet-14354	104	25	in	in	ADP
cet-14354	104	26	another	another	DET
cet-14354	104	27	project	project	NOUN
cet-14354	104	28	as	as	ADV
cet-14354	104	29	well	well	ADV
cet-14354	104	30	.	.	PUNCT
cet-14354	105	1	acknowledgment	acknowledgment	NOUN
cet-14354	105	2	the	the	DET
cet-14354	105	3	research	research	NOUN
cet-14354	105	4	was	be	AUX
cet-14354	105	5	supported	support	VERB
cet-14354	105	6	by	by	ADP
cet-14354	105	7	the	the	DET
cet-14354	105	8	european	european	PROPN
cet-14354	105	9	union	union	PROPN
cet-14354	105	10	within	within	ADP
cet-14354	105	11	the	the	DET
cet-14354	105	12	framework	framework	NOUN
cet-14354	105	13	of	of	ADP
cet-14354	105	14	the	the	DET
cet-14354	105	15	national	national	ADJ
cet-14354	105	16	laboratory	laboratory	NOUN
cet-14354	105	17	for	for	ADP
cet-14354	105	18	autonomous	autonomous	ADJ
cet-14354	105	19	systems	system	NOUN
cet-14354	105	20	.	.	PUNCT
cet-14354	106	1	(	(	PUNCT
cet-14354	106	2	rrf-2.3.1	rrf-2.3.1	NOUN
cet-14354	106	3	-	-	PUNCT
cet-14354	106	4	21	21	NUM
cet-14354	106	5	-	-	PUNCT
cet-14354	106	6	202200002	202200002	NUM
cet-14354	106	7	)	)	PUNCT
cet-14354	106	8	.	.	PUNCT
cet-14354	107	1	references	reference	NOUN
cet-14354	107	2	allouch	allouch	PROPN
cet-14354	107	3	a.	a.	PROPN
cet-14354	107	4	,	,	PUNCT
cet-14354	107	5	cheikhrouhou	cheikhrouhou	ADJ
cet-14354	107	6	o.	o.	PROPN
cet-14354	107	7	,	,	PUNCT
cet-14354	107	8	koubâa	koubâa	ADJ
cet-14354	107	9	a.	a.	NOUN
cet-14354	107	10	,	,	PUNCT
cet-14354	107	11	khalgui	khalgui	NOUN
cet-14354	107	12	m.	m.	NOUN
cet-14354	107	13	,	,	PUNCT
cet-14354	107	14	abbes	abbe	NOUN
cet-14354	107	15	t.	t.	NOUN
cet-14354	107	16	,	,	PUNCT
cet-14354	107	17	2019	2019	NUM
cet-14354	107	18	,	,	PUNCT
cet-14354	107	19	mavsec	mavsec	ADV
cet-14354	107	20	:	:	PUNCT
cet-14354	107	21	securing	secure	VERB
cet-14354	107	22	the	the	DET
cet-14354	107	23	mavlink	mavlink	NOUN
cet-14354	107	24	protocol	protocol	NOUN
cet-14354	107	25	for	for	ADP
cet-14354	107	26	ardupilot	ardupilot	PROPN
cet-14354	107	27	/	/	SYM
cet-14354	107	28	px4	px4	PROPN
cet-14354	107	29	unmanned	unmanned	ADJ
cet-14354	107	30	aerial	aerial	ADJ
cet-14354	107	31	systems	system	NOUN
cet-14354	107	32	.	.	PUNCT
cet-14354	108	1	the	the	DET
cet-14354	108	2	2019	2019	NUM
cet-14354	108	3	15th	15th	ADJ
cet-14354	108	4	international	international	ADJ
cet-14354	108	5	wireless	wireless	ADJ
cet-14354	108	6	communications	communication	NOUN
cet-14354	108	7	&	&	CCONJ
cet-14354	108	8	mobile	mobile	PROPN
cet-14354	108	9	computing	computing	PROPN
cet-14354	108	10	conference	conference	PROPN
cet-14354	108	11	(	(	PUNCT
cet-14354	108	12	iwcmc	iwcmc	NOUN
cet-14354	108	13	)	)	PUNCT
cet-14354	108	14	,	,	PUNCT
cet-14354	108	15	621–628	621–628	NUM
cet-14354	108	16	,	,	PUNCT
cet-14354	108	17	doi	doi	NOUN
cet-14354	108	18	:	:	PUNCT
cet-14354	108	19	10.1109	10.1109	NUM
cet-14354	108	20	/	/	SYM
cet-14354	108	21	iwcmc.2019.8766667	iwcmc.2019.8766667	NOUN
cet-14354	108	22	.	.	PUNCT
cet-14354	109	1	boros	boro	NOUN
cet-14354	109	2	,	,	PUNCT
cet-14354	109	3	n.	n.	NOUN
cet-14354	109	4	,	,	PUNCT
cet-14354	109	5	ballagi	ballagi	NOUN
cet-14354	109	6	,	,	PUNCT
cet-14354	109	7	á	á	PROPN
cet-14354	109	8	.	.	PROPN
cet-14354	109	9	,	,	PUNCT
cet-14354	109	10	kallós	kallós	PROPN
cet-14354	109	11	,	,	PUNCT
cet-14354	109	12	g.	g.	PROPN
cet-14354	109	13	,	,	PUNCT
cet-14354	109	14	2022	2022	NUM
cet-14354	109	15	,	,	PUNCT
cet-14354	109	16	implementation	implementation	NOUN
cet-14354	109	17	of	of	ADP
cet-14354	109	18	motion	motion	NOUN
cet-14354	109	19	planning	planning	NOUN
cet-14354	109	20	algorithms	algorithm	NOUN
cet-14354	109	21	for	for	ADP
cet-14354	109	22	a	a	DET
cet-14354	109	23	track	track	NOUN
cet-14354	109	24	service	service	NOUN
cet-14354	109	25	mobile	mobile	NOUN
cet-14354	109	26	robot	robot	NOUN
cet-14354	109	27	,	,	PUNCT
cet-14354	109	28	digital	digital	ADJ
cet-14354	109	29	automotive	automotive	ADJ
cet-14354	109	30	industry	industry	NOUN
cet-14354	109	31	research	research	NOUN
cet-14354	109	32	2022	2022	NUM
cet-14354	109	33	artificial	artificial	ADJ
cet-14354	109	34	intelligence	intelligence	NOUN
cet-14354	109	35	in	in	ADP
cet-14354	109	36	mobility	mobility	NOUN
cet-14354	109	37	,	,	PUNCT
cet-14354	109	38	june	june	PROPN
cet-14354	109	39	15	15	NUM
cet-14354	109	40	-	-	SYM
cet-14354	109	41	17	17	NUM
cet-14354	109	42	istván	istván	PROPN
cet-14354	109	43	széchenyi	széchenyi	PROPN
cet-14354	109	44	university	university	PROPN
cet-14354	109	45	,	,	PUNCT
cet-14354	109	46	online	online	ADV
cet-14354	109	47	,	,	PUNCT
cet-14354	109	48	presented	present	VERB
cet-14354	109	49	on	on	ADP
cet-14354	109	50	17.06.2022	17.06.2022	NUM
cet-14354	109	51	friday	friday	PROPN
cet-14354	109	52	,	,	PUNCT
cet-14354	109	53	8:30	8:30	NUM
cet-14354	109	54	-	-	SYM
cet-14354	109	55	10:30	10:30	NUM
cet-14354	109	56	,	,	PUNCT
cet-14354	109	57	<	<	X
cet-14354	109	58	https://jkkweb.sze.hu/digitalis-jarmuipari-kutatasok-2022mesterseges-intelligencia-a-mobilitasban/	https://jkkweb.sze.hu/digitalis-jarmuipari-kutatasok-2022mesterseges-intelligencia-a-mobilitasban/	X
cet-14354	109	59	>	>	X
cet-14354	109	60	,	,	PUNCT
cet-14354	109	61	accessed	access	VERB
cet-14354	109	62	26/10/2023	26/10/2023	NUM
cet-14354	109	63	.	.	PUNCT
cet-14354	110	1	(	(	PUNCT
cet-14354	110	2	in	in	ADP
cet-14354	110	3	hungarian	hungarian	ADJ
cet-14354	110	4	)	)	PUNCT
cet-14354	110	5	hadas	hadas	PROPN
cet-14354	110	6	t.	t.	PROPN
cet-14354	110	7	,	,	PUNCT
cet-14354	110	8	teferle	teferle	NOUN
cet-14354	110	9	f.n	f.n	PROPN
cet-14354	110	10	.	.	PROPN
cet-14354	110	11	,	,	PUNCT
cet-14354	110	12	kazmierski	kazmierski	PROPN
cet-14354	110	13	k.	k.	PROPN
cet-14354	110	14	,	,	PUNCT
cet-14354	110	15	hordyniec	hordyniec	NOUN
cet-14354	110	16	p.	p.	NOUN
cet-14354	110	17	,	,	PUNCT
cet-14354	110	18	bosy	bosy	PROPN
cet-14354	110	19	j.	j.	PROPN
cet-14354	110	20	,	,	PUNCT
cet-14354	110	21	2017	2017	NUM
cet-14354	110	22	,	,	PUNCT
cet-14354	110	23	optimum	optimum	ADJ
cet-14354	110	24	stochastic	stochastic	NOUN
cet-14354	110	25	modeling	modeling	NOUN
cet-14354	110	26	for	for	ADP
cet-14354	110	27	gnss	gnss	NOUN
cet-14354	110	28	tropospheric	tropospheric	ADJ
cet-14354	110	29	delay	delay	NOUN
cet-14354	110	30	estimation	estimation	NOUN
cet-14354	110	31	in	in	ADP
cet-14354	110	32	real	real	ADJ
cet-14354	110	33	-	-	PUNCT
cet-14354	110	34	time	time	NOUN
cet-14354	110	35	.	.	PUNCT
cet-14354	111	1	gps	gps	PROPN
cet-14354	111	2	solut	solut	PROPN
cet-14354	111	3	,	,	PUNCT
cet-14354	111	4	21	21	NUM
cet-14354	111	5	,	,	PUNCT
cet-14354	111	6	1069–1081	1069–1081	NUM
cet-14354	111	7	,	,	PUNCT
cet-14354	111	8	doi	doi	NOUN
cet-14354	111	9	:	:	PUNCT
cet-14354	111	10	10.1007	10.1007	NUM
cet-14354	111	11	/	/	SYM
cet-14354	111	12	s10291	s10291	NOUN
cet-14354	111	13	-	-	PUNCT
cet-14354	111	14	016	016	NUM
cet-14354	111	15	-	-	PUNCT
cet-14354	111	16	0595	0595	NUM
cet-14354	111	17	-	-	PUNCT
cet-14354	111	18	0	0	PROPN
cet-14354	111	19	.	.	PUNCT
cet-14354	112	1	erős	erős	PROPN
cet-14354	112	2	e.	e.	PROPN
cet-14354	112	3	,	,	PUNCT
cet-14354	112	4	dahl	dahl	PROPN
cet-14354	112	5	m.	m.	NOUN
cet-14354	112	6	,	,	PUNCT
cet-14354	112	7	bengtsson	bengtsson	PROPN
cet-14354	112	8	k.	k.	PROPN
cet-14354	112	9	,	,	PUNCT
cet-14354	112	10	hanna	hanna	PROPN
cet-14354	112	11	a.	a.	PROPN
cet-14354	112	12	,	,	PUNCT
cet-14354	112	13	falkman	falkman	PROPN
cet-14354	112	14	p.	p.	NOUN
cet-14354	112	15	,	,	PUNCT
cet-14354	112	16	2019	2019	NUM
cet-14354	112	17	.	.	PUNCT
cet-14354	113	1	a	a	DET
cet-14354	113	2	ros2	ros2	NOUN
cet-14354	113	3	based	base	VERB
cet-14354	113	4	communication	communication	NOUN
cet-14354	113	5	architecture	architecture	NOUN
cet-14354	113	6	for	for	ADP
cet-14354	113	7	control	control	NOUN
cet-14354	113	8	in	in	ADP
cet-14354	113	9	collaborative	collaborative	ADJ
cet-14354	113	10	and	and	CCONJ
cet-14354	113	11	intelligent	intelligent	ADJ
cet-14354	113	12	automation	automation	NOUN
cet-14354	113	13	systems	system	NOUN
cet-14354	113	14	.	.	PUNCT
cet-14354	114	1	procedia	procedia	PROPN
cet-14354	114	2	manufacturing	manufacturing	NOUN
cet-14354	114	3	,	,	PUNCT
cet-14354	114	4	38	38	NUM
cet-14354	114	5	,	,	PUNCT
cet-14354	114	6	349–357	349–357	NUM
cet-14354	114	7	.	.	PUNCT
cet-14354	115	1	ezra	ezra	PROPN
cet-14354	115	2	p.j	p.j	PROPN
cet-14354	115	3	.	.	PROPN
cet-14354	115	4	,	,	PUNCT
cet-14354	115	5	misra	misra	PROPN
cet-14354	115	6	s.	s.	PROPN
cet-14354	115	7	,	,	PUNCT
cet-14354	115	8	agrawal	agrawal	PROPN
cet-14354	115	9	a.	a.	PROPN
cet-14354	115	10	,	,	PUNCT
cet-14354	115	11	oluranti	oluranti	PROPN
cet-14354	115	12	j.	j.	PROPN
cet-14354	115	13	,	,	PUNCT
cet-14354	115	14	maskeliunas	maskeliunas	PROPN
cet-14354	115	15	r.	r.	PROPN
cet-14354	115	16	,	,	PUNCT
cet-14354	115	17	damasevicius	damasevicius	PROPN
cet-14354	115	18	r.	r.	PROPN
cet-14354	115	19	,	,	PUNCT
cet-14354	115	20	2022	2022	NUM
cet-14354	115	21	.	.	PUNCT
cet-14354	115	22	secured	secure	VERB
cet-14354	115	23	communication	communication	NOUN
cet-14354	115	24	using	use	VERB
cet-14354	115	25	virtual	virtual	ADJ
cet-14354	115	26	private	private	ADJ
cet-14354	115	27	network	network	NOUN
cet-14354	115	28	(	(	PUNCT
cet-14354	115	29	vpn	vpn	NOUN
cet-14354	115	30	)	)	PUNCT
cet-14354	115	31	.	.	PUNCT
cet-14354	116	1	in	in	ADP
cet-14354	116	2	:	:	PUNCT
cet-14354	116	3	khanna	khanna	PROPN
cet-14354	116	4	k.	k.	PROPN
cet-14354	116	5	,	,	PUNCT
cet-14354	116	6	estrela	estrela	PROPN
cet-14354	116	7	v.v	v.v	PROPN
cet-14354	116	8	.	.	PROPN
cet-14354	116	9	,	,	PUNCT
cet-14354	116	10	rodrigues	rodrigues	PROPN
cet-14354	116	11	j.j.p.c	j.j.p.c	PROPN
cet-14354	116	12	.	.	PUNCT
cet-14354	116	13	(	(	PUNCT
cet-14354	116	14	eds	ed	NOUN
cet-14354	116	15	)	)	PUNCT
cet-14354	116	16	,	,	PUNCT
cet-14354	116	17	cyber	cyber	ADJ
cet-14354	116	18	security	security	NOUN
cet-14354	116	19	and	and	CCONJ
cet-14354	116	20	digital	digital	ADJ
cet-14354	116	21	forensics	forensic	NOUN
cet-14354	116	22	.	.	PUNCT
cet-14354	117	1	lecture	lecture	NOUN
cet-14354	117	2	notes	note	NOUN
cet-14354	117	3	on	on	ADP
cet-14354	117	4	data	datum	NOUN
cet-14354	117	5	engineering	engineering	NOUN
cet-14354	117	6	and	and	CCONJ
cet-14354	117	7	communications	communication	NOUN
cet-14354	117	8	technologies	technology	NOUN
cet-14354	117	9	,	,	PUNCT
cet-14354	117	10	73	73	NUM
cet-14354	117	11	,	,	PUNCT
cet-14354	117	12	springer	springer	NOUN
cet-14354	117	13	,	,	PUNCT
cet-14354	117	14	singapore	singapore	PROPN
cet-14354	117	15	,	,	PUNCT
cet-14354	117	16	doi	doi	NOUN
cet-14354	117	17	:	:	PUNCT
cet-14354	117	18	10.1007/978	10.1007/978	NUM
cet-14354	117	19	-	-	SYM
cet-14354	117	20	981	981	NUM
cet-14354	117	21	-	-	PUNCT
cet-14354	117	22	16	16	NUM
cet-14354	117	23	-	-	PUNCT
cet-14354	117	24	3961	3961	NUM
cet-14354	117	25	-	-	PUNCT
cet-14354	117	26	6_27	6_27	NUM
cet-14354	117	27	.	.	PUNCT
cet-14354	118	1	gallo	gallo	PROPN
cet-14354	118	2	r.	r.	PROPN
cet-14354	118	3	,	,	PUNCT
cet-14354	118	4	ristorto	ristorto	PROPN
cet-14354	118	5	g.	g.	PROPN
cet-14354	118	6	,	,	PUNCT
cet-14354	118	7	daglio	daglio	PROPN
cet-14354	118	8	g.	g.	PROPN
cet-14354	118	9	,	,	PUNCT
cet-14354	118	10	massa	massa	PROPN
cet-14354	118	11	n.	n.	PROPN
cet-14354	118	12	,	,	PUNCT
cet-14354	118	13	berta	berta	PROPN
cet-14354	118	14	g.	g.	PROPN
cet-14354	118	15	,	,	PUNCT
cet-14354	118	16	lazzari	lazzari	PROPN
cet-14354	118	17	m.	m.	NOUN
cet-14354	118	18	,	,	PUNCT
cet-14354	118	19	mazzetto	mazzetto	NOUN
cet-14354	118	20	f.	f.	PROPN
cet-14354	118	21	,	,	PUNCT
cet-14354	118	22	2017	2017	NUM
cet-14354	118	23	,	,	PUNCT
cet-14354	118	24	new	new	ADJ
cet-14354	118	25	solutions	solution	NOUN
cet-14354	118	26	for	for	ADP
cet-14354	118	27	the	the	DET
cet-14354	118	28	automatic	automatic	ADJ
cet-14354	118	29	early	early	ADJ
cet-14354	118	30	detection	detection	NOUN
cet-14354	118	31	of	of	ADP
cet-14354	118	32	diseases	disease	NOUN
cet-14354	118	33	in	in	ADP
cet-14354	118	34	vineyards	vineyard	NOUN
cet-14354	118	35	through	through	ADP
cet-14354	118	36	ground	ground	NOUN
cet-14354	118	37	sensing	sense	VERB
cet-14354	118	38	approaches	approach	NOUN
cet-14354	118	39	integrating	integrate	VERB
cet-14354	118	40	lidar	lidar	NOUN
cet-14354	118	41	and	and	CCONJ
cet-14354	118	42	optical	optical	ADJ
cet-14354	118	43	sensors	sensor	NOUN
cet-14354	118	44	.	.	PUNCT
cet-14354	119	1	chemical	chemical	NOUN
cet-14354	119	2	engineering	engineering	NOUN
cet-14354	119	3	transactions	transaction	NOUN
cet-14354	119	4	,	,	PUNCT
cet-14354	119	5	58	58	NUM
cet-14354	119	6	,	,	PUNCT
cet-14354	119	7	673	673	NUM
cet-14354	119	8	-	-	SYM
cet-14354	119	9	678	678	NUM
cet-14354	119	10	,	,	PUNCT
cet-14354	119	11	doi	doi	NOUN
cet-14354	119	12	:	:	PUNCT
cet-14354	119	13	10.3303	10.3303	NUM
cet-14354	119	14	/	/	SYM
cet-14354	119	15	cet1758113	cet1758113	NOUN
cet-14354	119	16	.	.	PUNCT
cet-14354	120	1	le	le	PROPN
cet-14354	120	2	hong	hong	PROPN
cet-14354	120	3	z.	z.	PROPN
cet-14354	120	4	,	,	PUNCT
cet-14354	120	5	zimmerman	zimmerman	PROPN
cet-14354	120	6	n.	n.	PROPN
cet-14354	120	7	,	,	PUNCT
cet-14354	120	8	2021	2021	NUM
cet-14354	120	9	,	,	PUNCT
cet-14354	120	10	air	air	NOUN
cet-14354	120	11	quality	quality	NOUN
cet-14354	120	12	and	and	CCONJ
cet-14354	120	13	greenhouse	greenhouse	NOUN
cet-14354	120	14	gas	gas	NOUN
cet-14354	120	15	implications	implication	NOUN
cet-14354	120	16	of	of	ADP
cet-14354	120	17	autonomous	autonomous	ADJ
cet-14354	120	18	vehicles	vehicle	NOUN
cet-14354	120	19	in	in	ADP
cet-14354	120	20	vancouver	vancouver	PROPN
cet-14354	120	21	,	,	PUNCT
cet-14354	120	22	canada	canada	PROPN
cet-14354	120	23	.	.	PUNCT
cet-14354	121	1	transportation	transportation	NOUN
cet-14354	121	2	research	research	NOUN
cet-14354	121	3	part	part	NOUN
cet-14354	121	4	d	d	NOUN
cet-14354	121	5	:	:	PUNCT
cet-14354	121	6	transport	transport	NOUN
cet-14354	121	7	and	and	CCONJ
cet-14354	121	8	environment	environment	NOUN
cet-14354	121	9	,	,	PUNCT
cet-14354	121	10	90	90	NUM
cet-14354	121	11	,	,	PUNCT
cet-14354	121	12	102676	102676	NUM
cet-14354	121	13	.	.	PUNCT
cet-14354	122	1	meier	meier	PROPN
cet-14354	122	2	l.	l.	PROPN
cet-14354	122	3	,	,	PUNCT
cet-14354	122	4	honegger	honegger	NOUN
cet-14354	122	5	d.	d.	PROPN
cet-14354	122	6	,	,	PUNCT
cet-14354	122	7	pollefeys	pollefeys	PROPN
cet-14354	122	8	m.	m.	NOUN
cet-14354	122	9	,	,	PUNCT
cet-14354	122	10	2015	2015	NUM
cet-14354	122	11	.	.	PUNCT
cet-14354	123	1	px4	px4	NOUN
cet-14354	123	2	:	:	PUNCT
cet-14354	123	3	a	a	DET
cet-14354	123	4	node	node	NOUN
cet-14354	123	5	-	-	PUNCT
cet-14354	123	6	based	base	VERB
cet-14354	123	7	multithreaded	multithreaded	ADJ
cet-14354	123	8	open	open	ADJ
cet-14354	123	9	source	source	NOUN
cet-14354	123	10	robotics	robotic	NOUN
cet-14354	123	11	framework	framework	NOUN
cet-14354	123	12	for	for	ADP
cet-14354	123	13	deeply	deeply	ADV
cet-14354	123	14	embedded	embed	VERB
cet-14354	123	15	platforms	platform	NOUN
cet-14354	123	16	.	.	PUNCT
cet-14354	124	1	2015	2015	NUM
cet-14354	124	2	ieee	ieee	PROPN
cet-14354	124	3	international	international	ADJ
cet-14354	124	4	conference	conference	NOUN
cet-14354	124	5	on	on	ADP
cet-14354	124	6	robotics	robotic	NOUN
cet-14354	124	7	and	and	CCONJ
cet-14354	124	8	automation	automation	NOUN
cet-14354	124	9	(	(	PUNCT
cet-14354	124	10	icra	icra	PROPN
cet-14354	124	11	)	)	PUNCT
cet-14354	124	12	,	,	PUNCT
cet-14354	124	13	6235–6240	6235–6240	NUM
cet-14354	124	14	,	,	PUNCT
cet-14354	124	15	doi	doi	NOUN
cet-14354	124	16	:	:	PUNCT
cet-14354	124	17	10.1109	10.1109	NUM
cet-14354	124	18	/	/	SYM
cet-14354	124	19	icra.2015.7140074	icra.2015.7140074	PROPN
cet-14354	124	20	.	.	PUNCT
cet-14354	125	1	mohd	mohd	PROPN
cet-14354	125	2	fuzi	fuzi	PROPN
cet-14354	125	3	m.f	m.f	PROPN
cet-14354	125	4	.	.	PROPN
cet-14354	125	5	,	,	PUNCT
cet-14354	125	6	mohd	mohd	PROPN
cet-14354	125	7	alias	alias	PROPN
cet-14354	125	8	m.r	m.r	PROPN
cet-14354	125	9	.	.	PROPN
cet-14354	125	10	,	,	PUNCT
cet-14354	125	11	kaur	kaur	PROPN
cet-14354	125	12	n.	n.	PROPN
cet-14354	125	13	,	,	PUNCT
cet-14354	126	1	abd	abd	PROPN
cet-14354	126	2	halim	halim	PROPN
cet-14354	126	3	i.h	i.h	PROPN
cet-14354	126	4	.	.	PROPN
cet-14354	126	5	,	,	PUNCT
cet-14354	126	6	2021	2021	NUM
cet-14354	126	7	,	,	PUNCT
cet-14354	126	8	safesearch	safesearch	PROPN
cet-14354	126	9	:	:	PUNCT
cet-14354	126	10	obfuscated	obfuscated	ADJ
cet-14354	126	11	vpn	vpn	NOUN
cet-14354	126	12	server	server	NOUN
cet-14354	126	13	using	use	VERB
cet-14354	126	14	raspberry	raspberry	NOUN
cet-14354	126	15	pi	pi	NOUN
cet-14354	126	16	for	for	ADP
cet-14354	126	17	secure	secure	ADJ
cet-14354	126	18	network	network	NOUN
cet-14354	126	19	.	.	PUNCT
cet-14354	127	1	jcrinn	jcrinn	PROPN
cet-14354	127	2	,	,	PUNCT
cet-14354	127	3	6	6	NUM
cet-14354	127	4	,	,	PUNCT
cet-14354	127	5	90–101	90–101	PROPN
cet-14354	127	6	,	,	PUNCT
cet-14354	127	7	doi	doi	NOUN
cet-14354	127	8	:	:	PUNCT
cet-14354	127	9	10.24191	10.24191	NUM
cet-14354	127	10	/	/	SYM
cet-14354	127	11	jcrinn.v6i4.230	jcrinn.v6i4.230	PROPN
cet-14354	127	12	.	.	PROPN
cet-14354	128	1	moeller	moeller	PROPN
cet-14354	128	2	r.	r.	PROPN
cet-14354	128	3	,	,	PUNCT
cet-14354	128	4	deemyad	deemyad	PROPN
cet-14354	128	5	t.	t.	PROPN
cet-14354	128	6	,	,	PUNCT
cet-14354	128	7	sebastian	sebastian	PROPN
cet-14354	128	8	a.	a.	PROPN
cet-14354	128	9	,	,	PUNCT
cet-14354	128	10	2020	2020	NUM
cet-14354	128	11	.	.	PUNCT
cet-14354	129	1	autonomous	autonomous	ADJ
cet-14354	129	2	navigation	navigation	NOUN
cet-14354	129	3	of	of	ADP
cet-14354	129	4	an	an	DET
cet-14354	129	5	agricultural	agricultural	ADJ
cet-14354	129	6	robot	robot	NOUN
cet-14354	129	7	using	use	VERB
cet-14354	129	8	rtk	rtk	PROPN
cet-14354	129	9	gps	gps	PROPN
cet-14354	129	10	and	and	CCONJ
cet-14354	129	11	pixhawk	pixhawk	NOUN
cet-14354	129	12	.	.	PUNCT
cet-14354	130	1	the	the	DET
cet-14354	130	2	2020	2020	NUM
cet-14354	130	3	intermountain	intermountain	PROPN
cet-14354	130	4	engineering	engineering	NOUN
cet-14354	130	5	,	,	PUNCT
cet-14354	130	6	technology	technology	NOUN
cet-14354	130	7	and	and	CCONJ
cet-14354	130	8	computing	computing	NOUN
cet-14354	130	9	(	(	PUNCT
cet-14354	130	10	ietc	ietc	NOUN
cet-14354	130	11	)	)	PUNCT
cet-14354	130	12	,	,	PUNCT
cet-14354	130	13	1–6	1–6	NUM
cet-14354	130	14	,	,	PUNCT
cet-14354	130	15	doi	doi	NOUN
cet-14354	130	16	:	:	PUNCT
cet-14354	130	17	10.1109	10.1109	NUM
cet-14354	130	18	/	/	SYM
cet-14354	130	19	ietc47856.2020.9249176	ietc47856.2020.9249176	NOUN
cet-14354	130	20	.	.	PUNCT
cet-14354	130	21	weber	weber	PROPN
cet-14354	130	22	g.	g.	PROPN
cet-14354	130	23	,	,	PUNCT
cet-14354	130	24	2006	2006	NUM
cet-14354	130	25	,	,	PUNCT
cet-14354	130	26	streaming	stream	VERB
cet-14354	130	27	real	real	ADJ
cet-14354	130	28	-	-	PUNCT
cet-14354	130	29	time	time	NOUN
cet-14354	130	30	igs	igs	PROPN
cet-14354	130	31	data	datum	NOUN
cet-14354	130	32	and	and	CCONJ
cet-14354	130	33	products	product	NOUN
cet-14354	130	34	using	use	VERB
cet-14354	130	35	ntrip	ntrip	NOUN
cet-14354	130	36	,	,	PUNCT
cet-14354	130	37	<	<	X
cet-14354	130	38	https://files.igs.org/pub/resource/pubs/06_darmstadt/igs%20ws%202006%20papers%20pdf/6_weber_i	https://files.igs.org/pub/resource/pubs/06_darmstadt/igs%20ws%202006%20papers%20pdf/6_weber_i	PROPN
cet-14354	130	39	gs_proceedings_darmstadt_ntrip.pdf	gs_proceedings_darmstadt_ntrip.pdf	X
cet-14354	130	40	>	>	X
cet-14354	130	41	,	,	PUNCT
cet-14354	130	42	accessed	access	VERB
cet-14354	130	43	26/10/2023	26/10/2023	NUM
cet-14354	130	44	.	.	PUNCT
cet-14354	131	1	390	390	NUM