id	sid	tid	token	lemma	pos
esrj-100518	1	1	issn	issn	PROPN
esrj-100518	1	2	1794	1794	NUM
esrj-100518	1	3	-	-	SYM
esrj-100518	1	4	6190	6190	NUM
esrj-100518	1	5	e	e	NOUN
esrj-100518	1	6	-	-	NOUN
esrj-100518	1	7	issn	issn	PROPN
esrj-100518	1	8	2339	2339	NUM
esrj-100518	1	9	-	-	SYM
esrj-100518	1	10	3459	3459	NUM
esrj-100518	1	11	https://doi.org/10.15446/esrj.v26n3.100518	https://doi.org/10.15446/esrj.v26n3.100518	NUM
esrj-100518	1	12	earth	earth	PROPN
esrj-100518	1	13	sciences	sciences	PROPN
esrj-100518	1	14	research	research	PROPN
esrj-100518	1	15	journal	journal	PROPN
esrj-100518	1	16	earth	earth	PROPN
esrj-100518	1	17	sci	sci	PROPN
esrj-100518	1	18	.	.	PUNCT
esrj-100518	2	1	res	res	PROPN
esrj-100518	2	2	.	.	PUNCT
esrj-100518	3	1	j.	j.	PROPN
esrj-100518	3	2	vol	vol	PROPN
esrj-100518	3	3	.	.	PROPN
esrj-100518	4	1	26	26	NUM
esrj-100518	4	2	,	,	PUNCT
esrj-100518	4	3	no	no	INTJ
esrj-100518	4	4	.	.	NOUN
esrj-100518	4	5	2	2	NUM
esrj-100518	4	6	(	(	PUNCT
esrj-100518	4	7	september	september	PROPN
esrj-100518	4	8	,	,	PUNCT
esrj-100518	4	9	2022	2022	NUM
esrj-100518	4	10	):	):	PUNCT
esrj-100518	4	11	211220	211220	NUM
esrj-100518	4	12	g	g	NOUN
esrj-100518	4	13	eo	eo	PROPN
esrj-100518	5	1	d	d	X
esrj-100518	5	2	es	es	X
esrj-100518	5	3	y	y	PROPN
esrj-100518	6	1	the	the	DET
esrj-100518	6	2	performance	performance	NOUN
esrj-100518	6	3	evaluation	evaluation	NOUN
esrj-100518	6	4	of	of	ADP
esrj-100518	6	5	ppk	ppk	NOUN
esrj-100518	6	6	and	and	CCONJ
esrj-100518	6	7	ppp	ppp	NOUN
esrj-100518	6	8	-	-	PUNCT
esrj-100518	6	9	based	base	VERB
esrj-100518	6	10	loosely	loosely	ADV
esrj-100518	6	11	coupled	couple	VERB
esrj-100518	6	12	integration	integration	NOUN
esrj-100518	6	13	in	in	ADP
esrj-100518	6	14	wooded	woode	VERB
esrj-100518	6	15	and	and	CCONJ
esrj-100518	6	16	urban	urban	PROPN
esrj-100518	6	17	areas	area	NOUN
esrj-100518	6	18	mert	mert	PROPN
esrj-100518	6	19	gürtürka	gürtürka	PROPN
esrj-100518	6	20	*	*	PROPN
esrj-100518	6	21	,	,	PUNCT
esrj-100518	6	22	veli	veli	PROPN
esrj-100518	6	23	i̇lçib	i̇lçib	PROPN
esrj-100518	6	24	,	,	PUNCT
esrj-100518	6	25	a.	a.	PROPN
esrj-100518	6	26	department	department	PROPN
esrj-100518	6	27	of	of	ADP
esrj-100518	6	28	geomatics	geomatics	PROPN
esrj-100518	6	29	engineering	engineering	PROPN
esrj-100518	6	30	,	,	PUNCT
esrj-100518	6	31	yıldız	yıldız	PROPN
esrj-100518	6	32	technical	technical	PROPN
esrj-100518	6	33	university	university	PROPN
esrj-100518	6	34	,	,	PUNCT
esrj-100518	6	35	i̇stanbul	i̇stanbul	ADV
esrj-100518	6	36	,	,	PUNCT
esrj-100518	6	37	turkey	turkey	PROPN
esrj-100518	6	38	.	.	PUNCT
esrj-100518	7	1	b.	b.	PROPN
esrj-100518	7	2	of	of	ADP
esrj-100518	7	3	geomatics	geomatics	PROPN
esrj-100518	7	4	engineering	engineering	PROPN
esrj-100518	7	5	,	,	PUNCT
esrj-100518	7	6	ondokuz	ondokuz	PROPN
esrj-100518	7	7	mayıs	mayıs	PROPN
esrj-100518	7	8	university	university	PROPN
esrj-100518	7	9	,	,	PUNCT
esrj-100518	7	10	samsun	samsun	NOUN
esrj-100518	7	11	,	,	PUNCT
esrj-100518	7	12	turkey	turkey	PROPN
esrj-100518	7	13	.	.	PUNCT
esrj-100518	8	1	*	*	PUNCT
esrj-100518	8	2	corresponding	correspond	VERB
esrj-100518	8	3	author	author	NOUN
esrj-100518	8	4	:	:	PUNCT
esrj-100518	8	5	mgurturk@yildiz.edu.tr	mgurturk@yildiz.edu.tr	ADJ
esrj-100518	8	6	abstract	abstract	ADV
esrj-100518	8	7	in	in	ADP
esrj-100518	8	8	this	this	DET
esrj-100518	8	9	study	study	NOUN
esrj-100518	8	10	,	,	PUNCT
esrj-100518	8	11	the	the	DET
esrj-100518	8	12	authors	author	NOUN
esrj-100518	8	13	conducted	conduct	VERB
esrj-100518	8	14	a	a	DET
esrj-100518	8	15	series	series	NOUN
esrj-100518	8	16	of	of	ADP
esrj-100518	8	17	test	test	NOUN
esrj-100518	8	18	measurements	measurement	NOUN
esrj-100518	8	19	in	in	ADP
esrj-100518	8	20	wooded	woode	VERB
esrj-100518	8	21	and	and	CCONJ
esrj-100518	8	22	urban	urban	ADJ
esrj-100518	8	23	areas	area	NOUN
esrj-100518	8	24	and	and	CCONJ
esrj-100518	8	25	analyzed	analyze	VERB
esrj-100518	8	26	the	the	DET
esrj-100518	8	27	results	result	NOUN
esrj-100518	8	28	for	for	ADP
esrj-100518	8	29	three	three	NUM
esrj-100518	8	30	main	main	ADJ
esrj-100518	8	31	objectives	objective	NOUN
esrj-100518	8	32	.	.	PUNCT
esrj-100518	9	1	the	the	DET
esrj-100518	9	2	first	first	ADJ
esrj-100518	9	3	objective	objective	NOUN
esrj-100518	9	4	is	be	AUX
esrj-100518	9	5	to	to	PART
esrj-100518	9	6	compare	compare	VERB
esrj-100518	9	7	the	the	DET
esrj-100518	9	8	execution	execution	NOUN
esrj-100518	9	9	of	of	ADP
esrj-100518	9	10	the	the	DET
esrj-100518	9	11	loosely	loosely	ADV
esrj-100518	9	12	coupled	couple	VERB
esrj-100518	9	13	(	(	PUNCT
esrj-100518	9	14	lc	lc	NOUN
esrj-100518	9	15	)	)	PUNCT
esrj-100518	9	16	and	and	CCONJ
esrj-100518	9	17	satellite	satellite	NOUN
esrj-100518	9	18	-	-	PUNCT
esrj-100518	9	19	based	base	VERB
esrj-100518	9	20	solutions	solution	NOUN
esrj-100518	9	21	in	in	ADP
esrj-100518	9	22	terms	term	NOUN
esrj-100518	9	23	of	of	ADP
esrj-100518	9	24	accuracy	accuracy	NOUN
esrj-100518	9	25	.	.	PUNCT
esrj-100518	10	1	compared	compare	VERB
esrj-100518	10	2	to	to	ADP
esrj-100518	10	3	satellite	satellite	NOUN
esrj-100518	10	4	-	-	PUNCT
esrj-100518	10	5	based	base	VERB
esrj-100518	10	6	solutions	solution	NOUN
esrj-100518	10	7	,	,	PUNCT
esrj-100518	10	8	the	the	DET
esrj-100518	10	9	findings	finding	NOUN
esrj-100518	10	10	confirmed	confirm	VERB
esrj-100518	10	11	that	that	SCONJ
esrj-100518	10	12	the	the	DET
esrj-100518	10	13	lc	lc	NOUN
esrj-100518	10	14	-	-	PUNCT
esrj-100518	10	15	based	base	VERB
esrj-100518	10	16	solutions	solution	NOUN
esrj-100518	10	17	enhanced	enhance	VERB
esrj-100518	10	18	accuracy	accuracy	NOUN
esrj-100518	10	19	by	by	ADP
esrj-100518	10	20	1	1	NUM
esrj-100518	10	21	cm	cm	NOUN
esrj-100518	10	22	in	in	ADP
esrj-100518	10	23	position	position	NOUN
esrj-100518	10	24	and	and	CCONJ
esrj-100518	10	25	6	6	NUM
esrj-100518	10	26	-	-	SYM
esrj-100518	10	27	7	7	NUM
esrj-100518	10	28	cm	cm	NOUN
esrj-100518	10	29	in	in	ADP
esrj-100518	10	30	height	height	NOUN
esrj-100518	10	31	components	component	NOUN
esrj-100518	10	32	in	in	ADP
esrj-100518	10	33	the	the	DET
esrj-100518	10	34	wooded	woode	VERB
esrj-100518	10	35	area	area	NOUN
esrj-100518	10	36	.	.	PUNCT
esrj-100518	11	1	in	in	ADP
esrj-100518	11	2	the	the	DET
esrj-100518	11	3	urban	urban	ADJ
esrj-100518	11	4	area	area	NOUN
esrj-100518	11	5	,	,	PUNCT
esrj-100518	11	6	lc	lc	NOUN
esrj-100518	11	7	-	-	PUNCT
esrj-100518	11	8	based	base	VERB
esrj-100518	11	9	solutions	solution	NOUN
esrj-100518	11	10	improved	improve	VERB
esrj-100518	11	11	the	the	DET
esrj-100518	11	12	position	position	NOUN
esrj-100518	11	13	and	and	CCONJ
esrj-100518	11	14	height	height	NOUN
esrj-100518	11	15	accuracies	accuracy	NOUN
esrj-100518	11	16	up	up	ADP
esrj-100518	11	17	to	to	PART
esrj-100518	11	18	6	6	NUM
esrj-100518	11	19	cm	cm	NOUN
esrj-100518	11	20	and	and	CCONJ
esrj-100518	11	21	44	44	NUM
esrj-100518	11	22	cm	cm	NOUN
esrj-100518	11	23	,	,	PUNCT
esrj-100518	11	24	respectively	respectively	ADV
esrj-100518	11	25	.	.	PUNCT
esrj-100518	12	1	also	also	ADV
esrj-100518	12	2	,	,	PUNCT
esrj-100518	12	3	lc	lc	NOUN
esrj-100518	12	4	-	-	PUNCT
esrj-100518	12	5	based	base	VERB
esrj-100518	12	6	solutions	solution	NOUN
esrj-100518	12	7	bridged	bridge	VERB
esrj-100518	12	8	the	the	DET
esrj-100518	12	9	gaps	gap	NOUN
esrj-100518	12	10	and	and	CCONJ
esrj-100518	12	11	created	create	VERB
esrj-100518	12	12	a	a	DET
esrj-100518	12	13	seamless	seamless	ADJ
esrj-100518	12	14	solution	solution	NOUN
esrj-100518	12	15	in	in	ADP
esrj-100518	12	16	which	which	PRON
esrj-100518	12	17	the	the	DET
esrj-100518	12	18	gaps	gap	NOUN
esrj-100518	12	19	reach	reach	VERB
esrj-100518	12	20	almost	almost	ADV
esrj-100518	12	21	30	30	NUM
esrj-100518	12	22	%	%	NOUN
esrj-100518	12	23	in	in	ADP
esrj-100518	12	24	the	the	DET
esrj-100518	12	25	urban	urban	ADJ
esrj-100518	12	26	area	area	NOUN
esrj-100518	12	27	trajectory	trajectory	NOUN
esrj-100518	12	28	.	.	PUNCT
esrj-100518	13	1	secondly	secondly	ADV
esrj-100518	13	2	,	,	PUNCT
esrj-100518	13	3	the	the	DET
esrj-100518	13	4	authors	author	NOUN
esrj-100518	13	5	investigated	investigate	VERB
esrj-100518	13	6	the	the	DET
esrj-100518	13	7	performance	performance	NOUN
esrj-100518	13	8	of	of	ADP
esrj-100518	13	9	the	the	DET
esrj-100518	13	10	gps	gps	PROPN
esrj-100518	13	11	-	-	PUNCT
esrj-100518	13	12	based	base	VERB
esrj-100518	13	13	and	and	CCONJ
esrj-100518	13	14	gnss	gnss	NOUN
esrj-100518	13	15	-	-	PUNCT
esrj-100518	13	16	based	base	VERB
esrj-100518	13	17	solutions	solution	NOUN
esrj-100518	13	18	.	.	PUNCT
esrj-100518	14	1	in	in	ADP
esrj-100518	14	2	the	the	DET
esrj-100518	14	3	wooded	woode	VERB
esrj-100518	14	4	area	area	NOUN
esrj-100518	14	5	,	,	PUNCT
esrj-100518	14	6	the	the	DET
esrj-100518	14	7	gnss	gnss	NOUN
esrj-100518	14	8	-	-	PUNCT
esrj-100518	14	9	based	base	VERB
esrj-100518	14	10	solution	solution	NOUN
esrj-100518	14	11	delivered	deliver	VERB
esrj-100518	14	12	2	2	NUM
esrj-100518	14	13	cm	cm	NOUN
esrj-100518	14	14	better	well	ADJ
esrj-100518	14	15	accuracy	accuracy	NOUN
esrj-100518	14	16	in	in	ADP
esrj-100518	14	17	both	both	PRON
esrj-100518	14	18	position	position	NOUN
esrj-100518	14	19	and	and	CCONJ
esrj-100518	14	20	height	height	NOUN
esrj-100518	14	21	components	component	NOUN
esrj-100518	14	22	than	than	ADP
esrj-100518	14	23	the	the	DET
esrj-100518	14	24	gps	gps	NOUN
esrj-100518	14	25	-	-	PUNCT
esrj-100518	14	26	based	base	VERB
esrj-100518	14	27	solution	solution	NOUN
esrj-100518	14	28	.	.	PUNCT
esrj-100518	15	1	in	in	ADP
esrj-100518	15	2	the	the	DET
esrj-100518	15	3	urban	urban	ADJ
esrj-100518	15	4	area	area	NOUN
esrj-100518	15	5	,	,	PUNCT
esrj-100518	15	6	the	the	DET
esrj-100518	15	7	gnss	gnss	NOUN
esrj-100518	15	8	-	-	PUNCT
esrj-100518	15	9	based	base	VERB
esrj-100518	15	10	solution	solution	NOUN
esrj-100518	15	11	improved	improve	VERB
esrj-100518	15	12	the	the	DET
esrj-100518	15	13	accuracies	accuracy	NOUN
esrj-100518	15	14	up	up	ADP
esrj-100518	15	15	to	to	PART
esrj-100518	15	16	8	8	NUM
esrj-100518	15	17	and	and	CCONJ
esrj-100518	15	18	36	36	NUM
esrj-100518	15	19	cm	cm	NOUN
esrj-100518	15	20	in	in	ADP
esrj-100518	15	21	position	position	NOUN
esrj-100518	15	22	and	and	CCONJ
esrj-100518	15	23	height	height	NOUN
esrj-100518	15	24	components	component	NOUN
esrj-100518	15	25	,	,	PUNCT
esrj-100518	15	26	respectively	respectively	ADV
esrj-100518	15	27	.	.	PUNCT
esrj-100518	16	1	also	also	ADV
esrj-100518	16	2	,	,	PUNCT
esrj-100518	16	3	the	the	DET
esrj-100518	16	4	solution	solution	NOUN
esrj-100518	16	5	availability	availability	NOUN
esrj-100518	16	6	of	of	ADP
esrj-100518	16	7	the	the	DET
esrj-100518	16	8	gnss	gnss	NOUN
esrj-100518	16	9	-	-	PUNCT
esrj-100518	16	10	based	base	VERB
esrj-100518	16	11	process	process	NOUN
esrj-100518	16	12	is	be	AUX
esrj-100518	16	13	10	10	NUM
esrj-100518	16	14	%	%	NOUN
esrj-100518	16	15	better	well	ADJ
esrj-100518	16	16	than	than	ADP
esrj-100518	16	17	the	the	DET
esrj-100518	16	18	gps	gps	NOUN
esrj-100518	16	19	-	-	PUNCT
esrj-100518	16	20	based	base	VERB
esrj-100518	16	21	solution	solution	NOUN
esrj-100518	16	22	.	.	PUNCT
esrj-100518	17	1	the	the	DET
esrj-100518	17	2	third	third	ADJ
esrj-100518	17	3	objective	objective	NOUN
esrj-100518	17	4	of	of	ADP
esrj-100518	17	5	this	this	DET
esrj-100518	17	6	study	study	NOUN
esrj-100518	17	7	is	be	AUX
esrj-100518	17	8	to	to	PART
esrj-100518	17	9	test	test	VERB
esrj-100518	17	10	the	the	DET
esrj-100518	17	11	performance	performance	NOUN
esrj-100518	17	12	of	of	ADP
esrj-100518	17	13	the	the	DET
esrj-100518	17	14	ppp	ppp	NOUN
esrj-100518	17	15	and	and	CCONJ
esrj-100518	17	16	ppk	ppk	NOUN
esrj-100518	17	17	-	-	PUNCT
esrj-100518	17	18	based	base	VERB
esrj-100518	17	19	solutions	solution	NOUN
esrj-100518	17	20	in	in	ADP
esrj-100518	17	21	the	the	DET
esrj-100518	17	22	two	two	NUM
esrj-100518	17	23	test	test	NOUN
esrj-100518	17	24	areas	area	NOUN
esrj-100518	17	25	.	.	PUNCT
esrj-100518	18	1	ppk	ppk	NOUN
esrj-100518	18	2	-	-	PUNCT
esrj-100518	18	3	based	base	VERB
esrj-100518	18	4	solutions	solution	NOUN
esrj-100518	18	5	outperformed	outperform	VERB
esrj-100518	18	6	only	only	ADV
esrj-100518	18	7	2	2	NUM
esrj-100518	18	8	cm	cm	NOUN
esrj-100518	18	9	in	in	ADP
esrj-100518	18	10	position	position	NOUN
esrj-100518	18	11	and	and	CCONJ
esrj-100518	18	12	height	height	NOUN
esrj-100518	18	13	components	component	NOUN
esrj-100518	18	14	compared	compare	VERB
esrj-100518	18	15	to	to	ADP
esrj-100518	18	16	the	the	DET
esrj-100518	18	17	ppp	ppp	NOUN
esrj-100518	18	18	-	-	PUNCT
esrj-100518	18	19	based	base	VERB
esrj-100518	18	20	in	in	ADP
esrj-100518	18	21	the	the	DET
esrj-100518	18	22	wooded	woode	VERB
esrj-100518	18	23	area	area	NOUN
esrj-100518	18	24	;	;	PUNCT
esrj-100518	18	25	however	however	ADV
esrj-100518	18	26	,	,	PUNCT
esrj-100518	18	27	in	in	ADP
esrj-100518	18	28	the	the	DET
esrj-100518	18	29	urban	urban	ADJ
esrj-100518	18	30	area	area	NOUN
esrj-100518	18	31	,	,	PUNCT
esrj-100518	18	32	the	the	DET
esrj-100518	18	33	ppk	ppk	NOUN
esrj-100518	18	34	-	-	PUNCT
esrj-100518	18	35	based	base	VERB
esrj-100518	18	36	solution	solution	NOUN
esrj-100518	18	37	improved	improve	VERB
esrj-100518	18	38	the	the	DET
esrj-100518	18	39	accuracies	accuracy	NOUN
esrj-100518	18	40	4	4	NUM
esrj-100518	18	41	-	-	SYM
esrj-100518	18	42	5	5	NUM
esrj-100518	18	43	dm	dm	NOUN
esrj-100518	18	44	and	and	CCONJ
esrj-100518	18	45	1.1	1.1	NUM
esrj-100518	18	46	-	-	SYM
esrj-100518	18	47	1.5	1.5	NUM
esrj-100518	18	48	meter	meter	NOUN
esrj-100518	18	49	level	level	NOUN
esrj-100518	18	50	in	in	ADP
esrj-100518	18	51	position	position	NOUN
esrj-100518	18	52	and	and	CCONJ
esrj-100518	18	53	height	height	NOUN
esrj-100518	18	54	components	component	NOUN
esrj-100518	18	55	,	,	PUNCT
esrj-100518	18	56	respectively	respectively	ADV
esrj-100518	18	57	.	.	PUNCT
esrj-100518	19	1	these	these	DET
esrj-100518	19	2	results	result	NOUN
esrj-100518	19	3	indicate	indicate	VERB
esrj-100518	19	4	that	that	SCONJ
esrj-100518	19	5	the	the	DET
esrj-100518	19	6	ppp	ppp	NOUN
esrj-100518	19	7	-	-	PUNCT
esrj-100518	19	8	based	base	VERB
esrj-100518	19	9	solutions	solution	NOUN
esrj-100518	19	10	offer	offer	VERB
esrj-100518	19	11	a	a	DET
esrj-100518	19	12	similar	similar	ADJ
esrj-100518	19	13	level	level	NOUN
esrj-100518	19	14	of	of	ADP
esrj-100518	19	15	accuracy	accuracy	NOUN
esrj-100518	19	16	to	to	ADP
esrj-100518	19	17	the	the	DET
esrj-100518	19	18	ppk	ppk	NOUN
esrj-100518	19	19	-	-	PUNCT
esrj-100518	19	20	based	base	VERB
esrj-100518	19	21	solutions	solution	NOUN
esrj-100518	19	22	in	in	ADP
esrj-100518	19	23	the	the	DET
esrj-100518	19	24	wooded	woode	VERB
esrj-100518	19	25	area	area	NOUN
esrj-100518	19	26	where	where	SCONJ
esrj-100518	19	27	the	the	DET
esrj-100518	19	28	satellite	satellite	NOUN
esrj-100518	19	29	visibility	visibility	NOUN
esrj-100518	19	30	is	be	AUX
esrj-100518	19	31	high	high	ADJ
esrj-100518	19	32	throughout	throughout	ADP
esrj-100518	19	33	the	the	DET
esrj-100518	19	34	trajectory	trajectory	NOUN
esrj-100518	19	35	.	.	PUNCT
esrj-100518	20	1	however	however	ADV
esrj-100518	20	2	,	,	PUNCT
esrj-100518	20	3	the	the	DET
esrj-100518	20	4	ppk	ppk	NOUN
esrj-100518	20	5	-	-	PUNCT
esrj-100518	20	6	based	base	VERB
esrj-100518	20	7	solution	solution	NOUN
esrj-100518	20	8	provided	provide	VERB
esrj-100518	20	9	better	well	ADJ
esrj-100518	20	10	positioning	positioning	NOUN
esrj-100518	20	11	accuracies	accuracy	NOUN
esrj-100518	20	12	in	in	ADP
esrj-100518	20	13	the	the	DET
esrj-100518	20	14	urban	urban	ADJ
esrj-100518	20	15	environment	environment	NOUN
esrj-100518	20	16	with	with	ADP
esrj-100518	20	17	limited	limited	ADJ
esrj-100518	20	18	satellite	satellite	NOUN
esrj-100518	20	19	visibility	visibility	NOUN
esrj-100518	20	20	.	.	PUNCT
esrj-100518	21	1	keywords	keyword	NOUN
esrj-100518	21	2	:	:	PUNCT
esrj-100518	21	3	gnss	gnss	NOUN
esrj-100518	21	4	;	;	PUNCT
esrj-100518	21	5	imu	imu	NOUN
esrj-100518	21	6	;	;	PUNCT
esrj-100518	21	7	loosely	loosely	ADV
esrj-100518	21	8	coupled	couple	VERB
esrj-100518	21	9	integration	integration	NOUN
esrj-100518	21	10	;	;	PUNCT
esrj-100518	21	11	ppp	ppp	NOUN
esrj-100518	21	12	;	;	PUNCT
esrj-100518	21	13	ppk	ppk	NOUN
esrj-100518	21	14	;	;	PUNCT
esrj-100518	21	15	evaluación	evaluación	PROPN
esrj-100518	21	16	de	de	X
esrj-100518	21	17	desempeño	desempeño	PROPN
esrj-100518	21	18	de	de	X
esrj-100518	21	19	la	la	PROPN
esrj-100518	21	20	integración	integración	PROPN
esrj-100518	21	21	débilmente	débilmente	PROPN
esrj-100518	21	22	acoplada	acoplada	PROPN
esrj-100518	21	23	con	con	PROPN
esrj-100518	21	24	el	el	PROPN
esrj-100518	21	25	sistema	sistema	PROPN
esrj-100518	21	26	de	de	PROPN
esrj-100518	21	27	postproceso	postproceso	PROPN
esrj-100518	21	28	cinemático	cinemático	PROPN
esrj-100518	21	29	y	y	PROPN
esrj-100518	21	30	posicionamiento	posicionamiento	PROPN
esrj-100518	21	31	preciso	preciso	PROPN
esrj-100518	21	32	en	en	PROPN
esrj-100518	21	33	áreas	áreas	PROPN
esrj-100518	21	34	arborizadas	arborizadas	PROPN
esrj-100518	21	35	y	y	PROPN
esrj-100518	21	36	urbanas	urbanas	PROPN
esrj-100518	21	37	resumen	resuman	NOUN
esrj-100518	21	38	en	en	X
esrj-100518	21	39	este	este	X
esrj-100518	21	40	estudio	estudio	PROPN
esrj-100518	21	41	los	los	PROPN
esrj-100518	21	42	autores	autores	PROPN
esrj-100518	21	43	presentan	presentan	PROPN
esrj-100518	21	44	series	series	PROPN
esrj-100518	21	45	de	de	PROPN
esrj-100518	21	46	mediciones	mediciones	PROPN
esrj-100518	21	47	de	de	PROPN
esrj-100518	21	48	prueba	prueba	PROPN
esrj-100518	21	49	en	en	PROPN
esrj-100518	21	50	áreas	áreas	PROPN
esrj-100518	21	51	arborizadas	arborizadas	PROPN
esrj-100518	21	52	y	y	PROPN
esrj-100518	21	53	en	en	PROPN
esrj-100518	21	54	áreas	áreas	PROPN
esrj-100518	21	55	urbanas	urbanas	PROPN
esrj-100518	21	56	y	y	PROPN
esrj-100518	21	57	analizan	analizan	PROPN
esrj-100518	21	58	los	los	PROPN
esrj-100518	21	59	resultados	resultado	VERB
esrj-100518	21	60	a	a	DET
esrj-100518	21	61	la	la	X
esrj-100518	21	62	luz	luz	PROPN
esrj-100518	21	63	de	de	X
esrj-100518	21	64	tres	tres	X
esrj-100518	21	65	objetivos	objetivos	PROPN
esrj-100518	21	66	.	.	PUNCT
esrj-100518	22	1	el	el	PROPN
esrj-100518	22	2	primero	primero	PROPN
esrj-100518	22	3	de	de	PROPN
esrj-100518	22	4	estos	estos	PROPN
esrj-100518	22	5	objetivos	objetivos	PROPN
esrj-100518	22	6	es	es	X
esrj-100518	22	7	comparar	comparar	PROPN
esrj-100518	22	8	las	las	PROPN
esrj-100518	22	9	soluciones	soluciones	PROPN
esrj-100518	22	10	de	de	PROPN
esrj-100518	22	11	un	un	PROPN
esrj-100518	22	12	sistema	sistema	PROPN
esrj-100518	22	13	débilmente	débilmente	PROPN
esrj-100518	22	14	acoplado	acoplado	PROPN
esrj-100518	22	15	y	y	PROPN
esrj-100518	22	16	las	las	PROPN
esrj-100518	22	17	satelitales	satelitale	NOUN
esrj-100518	22	18	en	en	ADP
esrj-100518	22	19	términos	términos	PROPN
esrj-100518	22	20	de	de	X
esrj-100518	22	21	precisión	precisión	PROPN
esrj-100518	22	22	.	.	PUNCT
esrj-100518	23	1	los	los	PROPN
esrj-100518	23	2	resultados	resultado	VERB
esrj-100518	23	3	muestran	muestran	ADJ
esrj-100518	23	4	que	que	PROPN
esrj-100518	23	5	las	las	PROPN
esrj-100518	23	6	soluciones	soluciones	PROPN
esrj-100518	23	7	satelitales	satelitale	NOUN
esrj-100518	23	8	,	,	PUNCT
esrj-100518	23	9	en	en	X
esrj-100518	23	10	comparación	comparación	PROPN
esrj-100518	23	11	con	con	PROPN
esrj-100518	23	12	las	las	PROPN
esrj-100518	23	13	soluciones	soluciones	PROPN
esrj-100518	23	14	del	del	PROPN
esrj-100518	23	15	sistema	sistema	PROPN
esrj-100518	23	16	débilmente	débilmente	PROPN
esrj-100518	23	17	acoplado	acoplado	PROPN
esrj-100518	23	18	,	,	PUNCT
esrj-100518	23	19	mejoraron	mejoraron	NOUN
esrj-100518	23	20	la	la	PROPN
esrj-100518	23	21	precisión	precisión	PROPN
esrj-100518	23	22	de	de	PROPN
esrj-100518	23	23	posición	posición	PROPN
esrj-100518	23	24	en	en	ADP
esrj-100518	23	25	1	1	NUM
esrj-100518	23	26	cm	cm	NOUN
esrj-100518	23	27	y	y	PROPN
esrj-100518	23	28	entre	entre	PROPN
esrj-100518	23	29	6	6	NUM
esrj-100518	23	30	y	y	PROPN
esrj-100518	23	31	7	7	NUM
esrj-100518	23	32	cm	cm	NOUN
esrj-100518	23	33	en	en	ADP
esrj-100518	23	34	componentes	componente	NOUN
esrj-100518	23	35	de	de	X
esrj-100518	23	36	altura	altura	PROPN
esrj-100518	23	37	para	para	PROPN
esrj-100518	23	38	la	la	PROPN
esrj-100518	23	39	zona	zona	PROPN
esrj-100518	23	40	arborizada	arborizada	PROPN
esrj-100518	23	41	.	.	PUNCT
esrj-100518	24	1	en	en	PROPN
esrj-100518	24	2	el	el	PROPN
esrj-100518	24	3	área	área	PROPN
esrj-100518	24	4	urbana	urbana	PROPN
esrj-100518	24	5	las	las	PROPN
esrj-100518	24	6	soluciones	soluciones	PROPN
esrj-100518	24	7	del	del	PROPN
esrj-100518	24	8	sistema	sistema	PROPN
esrj-100518	24	9	débilmente	débilmente	PROPN
esrj-100518	24	10	acoplado	acoplado	PROPN
esrj-100518	24	11	mejoraron	mejoraron	PROPN
esrj-100518	24	12	la	la	PROPN
esrj-100518	24	13	precisión	precisión	PROPN
esrj-100518	24	14	de	de	PROPN
esrj-100518	24	15	la	la	PROPN
esrj-100518	24	16	posición	posición	PROPN
esrj-100518	24	17	hasta	hasta	PROPN
esrj-100518	24	18	en	en	PROPN
esrj-100518	24	19	6	6	NUM
esrj-100518	24	20	cm	cm	NOUN
esrj-100518	24	21	y	y	PROPN
esrj-100518	24	22	la	la	X
esrj-100518	24	23	altura	altura	PROPN
esrj-100518	24	24	hasta	hasta	PROPN
esrj-100518	24	25	en	en	PROPN
esrj-100518	24	26	44	44	NUM
esrj-100518	24	27	cm	cm	NOUN
esrj-100518	24	28	.	.	PUNCT
esrj-100518	25	1	también	también	PROPN
esrj-100518	25	2	el	el	PROPN
esrj-100518	25	3	sistema	sistema	PROPN
esrj-100518	25	4	débilmente	débilmente	PROPN
esrj-100518	25	5	acoplado	acoplado	PROPN
esrj-100518	25	6	abarca	abarca	PROPN
esrj-100518	25	7	los	los	PROPN
esrj-100518	25	8	vacíos	vacíos	PROPN
esrj-100518	25	9	de	de	PROPN
esrj-100518	25	10	información	información	PROPN
esrj-100518	25	11	y	y	PROPN
esrj-100518	25	12	crea	crea	PROPN
esrj-100518	25	13	una	una	PROPN
esrj-100518	25	14	solución	solución	PROPN
esrj-100518	25	15	constante	constante	PROPN
esrj-100518	25	16	para	para	NOUN
esrj-100518	25	17	estos	estos	NOUN
esrj-100518	25	18	vacíos	vacíos	NOUN
esrj-100518	25	19	,	,	PUNCT
esrj-100518	25	20	que	que	PROPN
esrj-100518	25	21	alcanzan	alcanzan	PROPN
esrj-100518	25	22	hasta	hasta	PROPN
esrj-100518	25	23	el	el	PROPN
esrj-100518	25	24	30	30	NUM
esrj-100518	25	25	%	%	NOUN
esrj-100518	25	26	en	en	X
esrj-100518	25	27	la	la	PROPN
esrj-100518	25	28	trayectoria	trayectoria	PROPN
esrj-100518	25	29	del	del	PROPN
esrj-100518	25	30	área	área	PROPN
esrj-100518	25	31	urbana	urbana	PROPN
esrj-100518	25	32	.	.	PUNCT
esrj-100518	26	1	los	los	PROPN
esrj-100518	26	2	autores	autores	PROPN
esrj-100518	26	3	investigaron	investigaron	PROPN
esrj-100518	26	4	el	el	PROPN
esrj-100518	26	5	desempeño	desempeño	PROPN
esrj-100518	26	6	de	de	PROPN
esrj-100518	26	7	las	las	PROPN
esrj-100518	26	8	soluciones	soluciones	PROPN
esrj-100518	26	9	de	de	PROPN
esrj-100518	26	10	gps	gps	PROPN
esrj-100518	26	11	y	y	PROPN
esrj-100518	26	12	de	de	PROPN
esrj-100518	26	13	gnss	gnss	PROPN
esrj-100518	26	14	en	en	ADP
esrj-100518	26	15	segunda	segunda	PROPN
esrj-100518	26	16	instancia	instancia	PROPN
esrj-100518	26	17	.	.	PUNCT
esrj-100518	27	1	en	en	PROPN
esrj-100518	27	2	el	el	PROPN
esrj-100518	27	3	área	área	PROPN
esrj-100518	27	4	arborizada	arborizada	PROPN
esrj-100518	27	5	la	la	PROPN
esrj-100518	27	6	solución	solución	PROPN
esrj-100518	27	7	gnss	gnss	PROPN
esrj-100518	27	8	presentó	presentó	X
esrj-100518	27	9	una	una	X
esrj-100518	27	10	mejora	mejora	PROPN
esrj-100518	27	11	de	de	PROPN
esrj-100518	27	12	2	2	NUM
esrj-100518	27	13	cm	cm	NOUN
esrj-100518	27	14	en	en	X
esrj-100518	27	15	la	la	PROPN
esrj-100518	27	16	precisión	precisión	PROPN
esrj-100518	27	17	para	para	PROPN
esrj-100518	27	18	los	los	PROPN
esrj-100518	27	19	componentes	componente	NOUN
esrj-100518	27	20	de	de	PROPN
esrj-100518	27	21	posición	posición	PROPN
esrj-100518	27	22	y	y	PROPN
esrj-100518	27	23	altura	altura	PROPN
esrj-100518	27	24	sobre	sobre	PROPN
esrj-100518	27	25	la	la	PROPN
esrj-100518	27	26	solución	solución	PROPN
esrj-100518	27	27	gps	gps	PROPN
esrj-100518	27	28	.	.	PUNCT
esrj-100518	28	1	en	en	PROPN
esrj-100518	28	2	el	el	PROPN
esrj-100518	28	3	área	área	PROPN
esrj-100518	28	4	urbana	urbana	PROPN
esrj-100518	28	5	la	la	PROPN
esrj-100518	28	6	solución	solución	PROPN
esrj-100518	28	7	gnss	gnss	NOUN
esrj-100518	28	8	mejoró	mejoró	VERB
esrj-100518	28	9	la	la	PRON
esrj-100518	28	10	precisión	precisión	PROPN
esrj-100518	28	11	de	de	PROPN
esrj-100518	28	12	posición	posición	PROPN
esrj-100518	28	13	en	en	ADP
esrj-100518	28	14	8	8	NUM
esrj-100518	28	15	cm	cm	NOUN
esrj-100518	28	16	y	y	PROPN
esrj-100518	28	17	la	la	PROPN
esrj-100518	28	18	de	de	X
esrj-100518	28	19	altura	altura	NOUN
esrj-100518	28	20	en	en	ADP
esrj-100518	28	21	36	36	NUM
esrj-100518	28	22	cm	cm	NOUN
esrj-100518	28	23	.	.	PUNCT
esrj-100518	29	1	también	también	PROPN
esrj-100518	29	2	la	la	PRON
esrj-100518	29	3	solución	solución	X
esrj-100518	29	4	de	de	X
esrj-100518	29	5	disponibilidad	disponibilidad	X
esrj-100518	29	6	del	del	PROPN
esrj-100518	29	7	proceso	proceso	NOUN
esrj-100518	29	8	gnss	gnss	NOUN
esrj-100518	29	9	es	es	ADP
esrj-100518	29	10	10	10	NUM
esrj-100518	29	11	%	%	NOUN
esrj-100518	29	12	mejor	mejor	NOUN
esrj-100518	29	13	que	que	X
esrj-100518	29	14	la	la	X
esrj-100518	29	15	solución	solución	NOUN
esrj-100518	29	16	gps	gps	PROPN
esrj-100518	29	17	.	.	PUNCT
esrj-100518	30	1	el	el	PROPN
esrj-100518	30	2	tercer	tercer	PROPN
esrj-100518	30	3	objetivo	objetivo	PROPN
esrj-100518	30	4	de	de	X
esrj-100518	30	5	este	este	X
esrj-100518	30	6	estudio	estudio	PROPN
esrj-100518	30	7	es	es	PROPN
esrj-100518	30	8	evaluar	evaluar	PROPN
esrj-100518	30	9	el	el	PROPN
esrj-100518	30	10	desempeño	desempeño	PROPN
esrj-100518	30	11	de	de	PROPN
esrj-100518	30	12	las	las	PROPN
esrj-100518	30	13	soluciones	soluciones	PROPN
esrj-100518	30	14	de	de	PROPN
esrj-100518	30	15	posicionamiento	posicionamiento	PROPN
esrj-100518	30	16	preciso	preciso	PROPN
esrj-100518	30	17	frente	frente	PROPN
esrj-100518	30	18	a	a	DET
esrj-100518	30	19	las	las	PROPN
esrj-100518	30	20	soluciones	soluciones	PROPN
esrj-100518	30	21	de	de	PROPN
esrj-100518	30	22	postproceso	postproceso	PROPN
esrj-100518	30	23	cinemático	cinemático	PROPN
esrj-100518	30	24	en	en	PROPN
esrj-100518	30	25	las	las	PROPN
esrj-100518	30	26	dos	dos	PROPN
esrj-100518	30	27	áreas	áreas	NUM
esrj-100518	30	28	.	.	PUNCT
esrj-100518	31	1	las	las	PROPN
esrj-100518	31	2	soluciones	soluciones	PROPN
esrj-100518	31	3	de	de	PROPN
esrj-100518	31	4	postproceso	postproceso	PROPN
esrj-100518	31	5	cinemático	cinemático	PROPN
esrj-100518	31	6	consiguieron	consiguieron	PROPN
esrj-100518	31	7	mejores	mejores	PROPN
esrj-100518	31	8	resultados	resultados	PROPN
esrj-100518	31	9	de	de	X
esrj-100518	31	10	solo	solo	ADJ
esrj-100518	31	11	2	2	NUM
esrj-100518	31	12	cm	cm	NOUN
esrj-100518	31	13	en	en	ADP
esrj-100518	31	14	los	los	PROPN
esrj-100518	31	15	componentes	componente	NOUN
esrj-100518	31	16	de	de	PROPN
esrj-100518	31	17	posición	posición	PROPN
esrj-100518	31	18	y	y	PROPN
esrj-100518	31	19	altura	altura	PROPN
esrj-100518	31	20	frente	frente	PROPN
esrj-100518	31	21	al	al	PROPN
esrj-100518	31	22	posicionamiento	posicionamiento	PROPN
esrj-100518	31	23	preciso	preciso	PROPN
esrj-100518	31	24	en	en	PROPN
esrj-100518	31	25	el	el	PROPN
esrj-100518	31	26	área	área	PROPN
esrj-100518	31	27	arborizada	arborizada	PROPN
esrj-100518	31	28	;	;	PUNCT
esrj-100518	31	29	sin	sin	NOUN
esrj-100518	31	30	embargo	embargo	NOUN
esrj-100518	31	31	,	,	PUNCT
esrj-100518	31	32	las	las	PROPN
esrj-100518	31	33	soluciones	soluciones	PROPN
esrj-100518	31	34	de	de	PROPN
esrj-100518	31	35	postproceso	postproceso	PROPN
esrj-100518	31	36	cinemático	cinemático	PROPN
esrj-100518	31	37	mejoraron	mejoraron	PROPN
esrj-100518	31	38	la	la	PROPN
esrj-100518	31	39	precisión	precisión	PROPN
esrj-100518	31	40	entre	entre	PROPN
esrj-100518	31	41	40	40	NUM
esrj-100518	31	42	y	y	PROPN
esrj-100518	31	43	50	50	NUM
esrj-100518	31	44	cm	cm	NOUN
esrj-100518	31	45	en	en	ADP
esrj-100518	31	46	posición	posición	PROPN
esrj-100518	31	47	y	y	PROPN
esrj-100518	31	48	entre	entre	PROPN
esrj-100518	31	49	1.1	1.1	NUM
esrj-100518	31	50	y	y	PROPN
esrj-100518	31	51	1.5	1.5	NUM
esrj-100518	31	52	metros	metro	NOUN
esrj-100518	31	53	en	en	X
esrj-100518	31	54	altura	altura	NOUN
esrj-100518	31	55	en	en	PROPN
esrj-100518	31	56	el	el	PROPN
esrj-100518	31	57	área	área	PROPN
esrj-100518	31	58	urbana	urbana	PROPN
esrj-100518	31	59	.	.	PUNCT
esrj-100518	32	1	estos	estos	PROPN
esrj-100518	32	2	resultados	resultado	VERB
esrj-100518	32	3	indican	indican	X
esrj-100518	32	4	que	que	PROPN
esrj-100518	32	5	las	las	PROPN
esrj-100518	32	6	soluciones	soluciones	PROPN
esrj-100518	32	7	de	de	PROPN
esrj-100518	32	8	posicionamiento	posicionamiento	PROPN
esrj-100518	32	9	preciso	preciso	PROPN
esrj-100518	32	10	ofrecen	ofrecen	PROPN
esrj-100518	32	11	un	un	PROPN
esrj-100518	32	12	nivel	nivel	PROPN
esrj-100518	32	13	de	de	PROPN
esrj-100518	32	14	precisión	precisión	X
esrj-100518	32	15	similar	similar	ADJ
esrj-100518	32	16	a	a	DET
esrj-100518	32	17	las	las	PROPN
esrj-100518	32	18	postproceso	postproceso	PROPN
esrj-100518	32	19	cinemático	cinemático	PROPN
esrj-100518	32	20	en	en	PROPN
esrj-100518	32	21	el	el	PROPN
esrj-100518	32	22	área	área	PROPN
esrj-100518	32	23	arborizada	arborizada	PROPN
esrj-100518	32	24	cuando	cuando	PROPN
esrj-100518	32	25	la	la	PROPN
esrj-100518	32	26	visibilidad	visibilidad	PROPN
esrj-100518	32	27	del	del	PROPN
esrj-100518	32	28	satélite	satélite	PROPN
esrj-100518	32	29	es	es	PROPN
esrj-100518	32	30	alto	alto	PROPN
esrj-100518	32	31	a	a	DET
esrj-100518	32	32	través	través	X
esrj-100518	32	33	de	de	X
esrj-100518	32	34	la	la	PROPN
esrj-100518	32	35	trayectoria	trayectoria	PROPN
esrj-100518	32	36	.	.	PUNCT
esrj-100518	33	1	pero	pero	PROPN
esrj-100518	33	2	las	las	PROPN
esrj-100518	33	3	soluciones	soluciones	PROPN
esrj-100518	33	4	provistas	provistas	PROPN
esrj-100518	33	5	por	por	PROPN
esrj-100518	33	6	el	el	PROPN
esrj-100518	33	7	sistema	sistema	PROPN
esrj-100518	33	8	de	de	PROPN
esrj-100518	33	9	postproceso	postproceso	PROPN
esrj-100518	33	10	cinemático	cinemático	PROPN
esrj-100518	33	11	son	son	PROPN
esrj-100518	33	12	más	más	PROPN
esrj-100518	33	13	precisas	precisas	PROPN
esrj-100518	33	14	en	en	PROPN
esrj-100518	33	15	el	el	PROPN
esrj-100518	33	16	ambiente	ambiente	PROPN
esrj-100518	33	17	urbano	urbano	PROPN
esrj-100518	33	18	con	con	PROPN
esrj-100518	33	19	condiciones	condiciones	PROPN
esrj-100518	33	20	de	de	X
esrj-100518	33	21	visibilidad	visibilidad	PROPN
esrj-100518	33	22	satelital	satelital	PROPN
esrj-100518	33	23	limitada	limitada	PROPN
esrj-100518	33	24	.	.	PUNCT
esrj-100518	34	1	palabras	palabras	PROPN
esrj-100518	34	2	clave	clave	PROPN
esrj-100518	34	3	:	:	PUNCT
esrj-100518	34	4	gnss	gnss	NOUN
esrj-100518	34	5	;	;	PUNCT
esrj-100518	34	6	unidad	unidad	PROPN
esrj-100518	34	7	de	de	PROPN
esrj-100518	34	8	medición	medición	PROPN
esrj-100518	34	9	inercial	inercial	NOUN
esrj-100518	34	10	;	;	PUNCT
esrj-100518	34	11	integración	integración	PROPN
esrj-100518	34	12	débilmente	débilmente	PROPN
esrj-100518	34	13	acoplada	acoplada	PROPN
esrj-100518	34	14	;	;	PUNCT
esrj-100518	34	15	posicionamiento	posicionamiento	NOUN
esrj-100518	34	16	preciso	preciso	NOUN
esrj-100518	34	17	;	;	PUNCT
esrj-100518	34	18	postproceso	postproceso	NOUN
esrj-100518	34	19	cinemático	cinemático	NOUN
esrj-100518	34	20	.	.	PUNCT
esrj-100518	35	1	record	record	NOUN
esrj-100518	35	2	manuscript	manuscript	NOUN
esrj-100518	35	3	received	receive	VERB
esrj-100518	35	4	:	:	PUNCT
esrj-100518	35	5	17/01/2022	17/01/2022	NUM
esrj-100518	35	6	accepted	accept	VERB
esrj-100518	35	7	for	for	ADP
esrj-100518	35	8	publication	publication	NOUN
esrj-100518	35	9	:	:	PUNCT
esrj-100518	35	10	11/08/2022	11/08/2022	NUM
esrj-100518	35	11	how	how	SCONJ
esrj-100518	35	12	to	to	PART
esrj-100518	35	13	cite	cite	VERB
esrj-100518	35	14	item	item	NOUN
esrj-100518	35	15	:	:	PUNCT
esrj-100518	35	16	gurturk	gurturk	ADJ
esrj-100518	35	17	,	,	PUNCT
esrj-100518	35	18	m.	m.	NOUN
esrj-100518	35	19	,	,	PUNCT
esrj-100518	35	20	&	&	CCONJ
esrj-100518	35	21	ilci	ilci	PROPN
esrj-100518	35	22	,	,	PUNCT
esrj-100518	35	23	v.	v.	PROPN
esrj-100518	35	24	(	(	PUNCT
esrj-100518	35	25	2022	2022	NUM
esrj-100518	35	26	)	)	PUNCT
esrj-100518	35	27	.	.	PUNCT
esrj-100518	36	1	the	the	DET
esrj-100518	36	2	performance	performance	NOUN
esrj-100518	36	3	evaluation	evaluation	NOUN
esrj-100518	36	4	of	of	ADP
esrj-100518	36	5	ppk	ppk	NOUN
esrj-100518	36	6	and	and	CCONJ
esrj-100518	36	7	ppp	ppp	NOUN
esrj-100518	36	8	-	-	PUNCT
esrj-100518	36	9	based	base	VERB
esrj-100518	36	10	loosely	loosely	ADV
esrj-100518	36	11	coupled	couple	VERB
esrj-100518	36	12	integration	integration	NOUN
esrj-100518	36	13	in	in	ADP
esrj-100518	36	14	wooded	woode	VERB
esrj-100518	36	15	and	and	CCONJ
esrj-100518	36	16	urban	urban	ADJ
esrj-100518	36	17	areas	area	NOUN
esrj-100518	36	18	.	.	PUNCT
esrj-100518	37	1	earth	earth	NOUN
esrj-100518	37	2	sciences	sciences	PROPN
esrj-100518	37	3	research	research	PROPN
esrj-100518	37	4	journal	journal	PROPN
esrj-100518	37	5	,	,	PUNCT
esrj-100518	37	6	26(3	26(3	NUM
esrj-100518	37	7	)	)	PUNCT
esrj-100518	37	8	,	,	PUNCT
esrj-100518	37	9	211	211	NUM
esrj-100518	37	10	-	-	SYM
esrj-100518	37	11	220	220	NUM
esrj-100518	37	12	.	.	PUNCT
esrj-100518	38	1	https://	https://	PROPN
esrj-100518	38	2	doi.org/10.15446/esrj.v26n3.100518	doi.org/10.15446/esrj.v26n3.100518	VERB
esrj-100518	38	3	https://doi.org/10.15446/esrj.v26n3.100518	https://doi.org/10.15446/esrj.v26n3.100518	X
esrj-100518	38	4	https://doi.org/10.15446/esrj.v26n3.100518	https://doi.org/10.15446/esrj.v26n3.100518	X
esrj-100518	38	5	https://doi.org/10.15446/esrj.v26n3.100518	https://doi.org/10.15446/esrj.v26n3.100518	X
esrj-100518	38	6	212	212	NUM
esrj-100518	38	7	mert	mert	PROPN
esrj-100518	38	8	gürtürk	gürtürk	NOUN
esrj-100518	38	9	,	,	PUNCT
esrj-100518	38	10	veli	veli	PROPN
esrj-100518	38	11	i̇lçi	i̇lçi	PROPN
esrj-100518	38	12	,	,	PUNCT
esrj-100518	38	13	1	1	NUM
esrj-100518	38	14	.	.	PUNCT
esrj-100518	39	1	introduction	introduction	NOUN
esrj-100518	39	2	global	global	ADJ
esrj-100518	39	3	navigation	navigation	NOUN
esrj-100518	39	4	satellite	satellite	NOUN
esrj-100518	39	5	system	system	NOUN
esrj-100518	39	6	(	(	PUNCT
esrj-100518	39	7	gnss	gnss	NOUN
esrj-100518	39	8	)	)	PUNCT
esrj-100518	39	9	is	be	AUX
esrj-100518	39	10	the	the	DET
esrj-100518	39	11	basic	basic	ADJ
esrj-100518	39	12	component	component	NOUN
esrj-100518	39	13	of	of	ADP
esrj-100518	39	14	many	many	ADJ
esrj-100518	39	15	kinematic	kinematic	ADJ
esrj-100518	39	16	or	or	CCONJ
esrj-100518	39	17	dynamic	dynamic	ADJ
esrj-100518	39	18	applications	application	NOUN
esrj-100518	39	19	that	that	PRON
esrj-100518	39	20	require	require	VERB
esrj-100518	39	21	high	high	ADJ
esrj-100518	39	22	-	-	PUNCT
esrj-100518	39	23	precision	precision	NOUN
esrj-100518	39	24	positioning	positioning	NOUN
esrj-100518	39	25	such	such	ADJ
esrj-100518	39	26	as	as	ADP
esrj-100518	39	27	unmanned	unmanned	ADJ
esrj-100518	39	28	aerial	aerial	ADJ
esrj-100518	39	29	vehicles	vehicle	NOUN
esrj-100518	39	30	(	(	PUNCT
esrj-100518	39	31	eling	eling	PROPN
esrj-100518	39	32	et	et	PROPN
esrj-100518	39	33	al	al	PROPN
esrj-100518	39	34	.	.	PROPN
esrj-100518	39	35	,	,	PUNCT
esrj-100518	39	36	2015	2015	NUM
esrj-100518	39	37	)	)	PUNCT
esrj-100518	39	38	,	,	PUNCT
esrj-100518	39	39	mobile	mobile	NOUN
esrj-100518	39	40	mapping	mapping	NOUN
esrj-100518	39	41	(	(	PUNCT
esrj-100518	39	42	nocerino	nocerino	PROPN
esrj-100518	39	43	et	et	PROPN
esrj-100518	39	44	al	al	PROPN
esrj-100518	39	45	.	.	PROPN
esrj-100518	39	46	,	,	PUNCT
esrj-100518	39	47	2017	2017	NUM
esrj-100518	39	48	)	)	PUNCT
esrj-100518	39	49	,	,	PUNCT
esrj-100518	39	50	road	road	NOUN
esrj-100518	39	51	surveying	surveying	NOUN
esrj-100518	39	52	(	(	PUNCT
esrj-100518	39	53	jo	jo	PROPN
esrj-100518	39	54	&	&	CCONJ
esrj-100518	39	55	sunwoo	sunwoo	PROPN
esrj-100518	39	56	,	,	PUNCT
esrj-100518	39	57	2014	2014	NUM
esrj-100518	39	58	)	)	PUNCT
esrj-100518	39	59	,	,	PUNCT
esrj-100518	39	60	marine	marine	NOUN
esrj-100518	39	61	positioning	positioning	NOUN
esrj-100518	39	62	(	(	PUNCT
esrj-100518	39	63	jiang	jiang	PROPN
esrj-100518	39	64	et	et	PROPN
esrj-100518	39	65	al	al	PROPN
esrj-100518	39	66	.	.	PROPN
esrj-100518	39	67	,	,	PUNCT
esrj-100518	39	68	2015	2015	NUM
esrj-100518	39	69	)	)	PUNCT
esrj-100518	39	70	,	,	PUNCT
esrj-100518	39	71	structural	structural	ADJ
esrj-100518	39	72	health	health	NOUN
esrj-100518	39	73	monitoring	monitoring	NOUN
esrj-100518	39	74	(	(	PUNCT
esrj-100518	39	75	shen	shen	PROPN
esrj-100518	39	76	et	et	PROPN
esrj-100518	39	77	al	al	PROPN
esrj-100518	39	78	.	.	PROPN
esrj-100518	39	79	,	,	PUNCT
esrj-100518	39	80	2019	2019	NUM
esrj-100518	39	81	)	)	PUNCT
esrj-100518	39	82	and	and	CCONJ
esrj-100518	39	83	autonomous	autonomous	ADJ
esrj-100518	39	84	vehicles	vehicle	NOUN
esrj-100518	39	85	(	(	PUNCT
esrj-100518	39	86	kuutti	kuutti	PROPN
esrj-100518	39	87	et	et	PROPN
esrj-100518	39	88	al	al	PROPN
esrj-100518	39	89	.	.	PROPN
esrj-100518	39	90	,	,	PUNCT
esrj-100518	39	91	2018	2018	NUM
esrj-100518	39	92	)	)	PUNCT
esrj-100518	39	93	.	.	PUNCT
esrj-100518	40	1	gnss	gnss	NOUN
esrj-100518	40	2	positioning	positioning	NOUN
esrj-100518	40	3	techniques	technique	NOUN
esrj-100518	40	4	vary	vary	VERB
esrj-100518	40	5	according	accord	VERB
esrj-100518	40	6	to	to	ADP
esrj-100518	40	7	the	the	DET
esrj-100518	40	8	required	require	VERB
esrj-100518	40	9	accuracy	accuracy	NOUN
esrj-100518	40	10	for	for	ADP
esrj-100518	40	11	kinematic	kinematic	ADJ
esrj-100518	40	12	applications	application	NOUN
esrj-100518	40	13	.	.	PUNCT
esrj-100518	41	1	in	in	ADP
esrj-100518	41	2	high	high	ADJ
esrj-100518	41	3	-	-	PUNCT
esrj-100518	41	4	precision	precision	NOUN
esrj-100518	41	5	kinematic	kinematic	ADJ
esrj-100518	41	6	positioning	positioning	NOUN
esrj-100518	41	7	studies	study	NOUN
esrj-100518	41	8	,	,	PUNCT
esrj-100518	41	9	the	the	DET
esrj-100518	41	10	post	post	ADJ
esrj-100518	41	11	-	-	ADJ
esrj-100518	41	12	process	process	ADJ
esrj-100518	41	13	kinematic	kinematic	ADJ
esrj-100518	41	14	technique	technique	NOUN
esrj-100518	41	15	is	be	AUX
esrj-100518	41	16	generally	generally	ADV
esrj-100518	41	17	preferred	prefer	VERB
esrj-100518	41	18	,	,	PUNCT
esrj-100518	41	19	and	and	CCONJ
esrj-100518	41	20	double	double	ADJ
esrj-100518	41	21	-	-	PUNCT
esrj-100518	41	22	differential	differential	NOUN
esrj-100518	41	23	observations	observation	NOUN
esrj-100518	41	24	are	be	AUX
esrj-100518	41	25	used	use	VERB
esrj-100518	41	26	(	(	PUNCT
esrj-100518	41	27	paziewski	paziewski	INTJ
esrj-100518	41	28	et	et	PROPN
esrj-100518	41	29	al	al	PROPN
esrj-100518	41	30	.	.	PROPN
esrj-100518	41	31	,	,	PUNCT
esrj-100518	41	32	2018	2018	NUM
esrj-100518	41	33	)	)	PUNCT
esrj-100518	41	34	.	.	PUNCT
esrj-100518	42	1	postprocess	postprocess	NOUN
esrj-100518	42	2	kinematic	kinematic	NOUN
esrj-100518	42	3	(	(	PUNCT
esrj-100518	42	4	ppk	ppk	NOUN
esrj-100518	42	5	)	)	PUNCT
esrj-100518	42	6	technique	technique	NOUN
esrj-100518	42	7	has	have	AUX
esrj-100518	42	8	proven	prove	VERB
esrj-100518	42	9	its	its	PRON
esrj-100518	42	10	reliability	reliability	NOUN
esrj-100518	42	11	and	and	CCONJ
esrj-100518	42	12	effectiveness	effectiveness	NOUN
esrj-100518	42	13	by	by	ADP
esrj-100518	42	14	providing	provide	VERB
esrj-100518	42	15	centimeter	centimeter	NOUN
esrj-100518	42	16	level	level	NOUN
esrj-100518	42	17	accuracy	accuracy	NOUN
esrj-100518	42	18	after	after	ADP
esrj-100518	42	19	the	the	DET
esrj-100518	42	20	resolution	resolution	NOUN
esrj-100518	42	21	of	of	ADP
esrj-100518	42	22	the	the	DET
esrj-100518	42	23	carrier	carrier	NOUN
esrj-100518	42	24	phase	phase	NOUN
esrj-100518	42	25	integer	integer	NOUN
esrj-100518	42	26	.	.	PUNCT
esrj-100518	43	1	but	but	CCONJ
esrj-100518	43	2	the	the	DET
esrj-100518	43	3	accuracy	accuracy	NOUN
esrj-100518	43	4	of	of	ADP
esrj-100518	43	5	the	the	DET
esrj-100518	43	6	ppk	ppk	NOUN
esrj-100518	43	7	method	method	NOUN
esrj-100518	43	8	may	may	AUX
esrj-100518	43	9	be	be	AUX
esrj-100518	43	10	adversely	adversely	ADV
esrj-100518	43	11	affected	affect	VERB
esrj-100518	43	12	by	by	ADP
esrj-100518	43	13	the	the	DET
esrj-100518	43	14	long	long	ADJ
esrj-100518	43	15	baselines	baseline	NOUN
esrj-100518	43	16	(	(	PUNCT
esrj-100518	43	17	ocalan	ocalan	ADJ
esrj-100518	43	18	,	,	PUNCT
esrj-100518	43	19	2016	2016	NUM
esrj-100518	43	20	)	)	PUNCT
esrj-100518	43	21	.	.	PUNCT
esrj-100518	44	1	however	however	ADV
esrj-100518	44	2	,	,	PUNCT
esrj-100518	44	3	positioning	positioning	NOUN
esrj-100518	44	4	accuracy	accuracy	NOUN
esrj-100518	44	5	is	be	AUX
esrj-100518	44	6	not	not	PART
esrj-100518	44	7	affected	affect	VERB
esrj-100518	44	8	by	by	ADP
esrj-100518	44	9	the	the	DET
esrj-100518	44	10	baseline	baseline	ADJ
esrj-100518	44	11	length	length	NOUN
esrj-100518	44	12	in	in	ADP
esrj-100518	44	13	precise	precise	ADJ
esrj-100518	44	14	point	point	NOUN
esrj-100518	44	15	positioning	positioning	NOUN
esrj-100518	44	16	(	(	PUNCT
esrj-100518	44	17	ppp	ppp	NOUN
esrj-100518	44	18	)	)	PUNCT
esrj-100518	44	19	technique	technique	NOUN
esrj-100518	44	20	since	since	SCONJ
esrj-100518	44	21	the	the	DET
esrj-100518	44	22	technique	technique	NOUN
esrj-100518	44	23	requires	require	VERB
esrj-100518	44	24	only	only	ADV
esrj-100518	44	25	one	one	NUM
esrj-100518	44	26	receiver	receiver	NOUN
esrj-100518	44	27	(	(	PUNCT
esrj-100518	44	28	furones	furone	NOUN
esrj-100518	44	29	et	et	NOUN
esrj-100518	44	30	al	al	PROPN
esrj-100518	44	31	.	.	PROPN
esrj-100518	44	32	,	,	PUNCT
esrj-100518	44	33	2012	2012	NUM
esrj-100518	44	34	)	)	PUNCT
esrj-100518	44	35	.	.	PUNCT
esrj-100518	45	1	ppp	ppp	NOUN
esrj-100518	45	2	is	be	AUX
esrj-100518	45	3	a	a	DET
esrj-100518	45	4	method	method	NOUN
esrj-100518	45	5	that	that	PRON
esrj-100518	45	6	can	can	AUX
esrj-100518	45	7	generate	generate	VERB
esrj-100518	45	8	positioning	positioning	NOUN
esrj-100518	45	9	at	at	ADP
esrj-100518	45	10	the	the	DET
esrj-100518	45	11	centimeter	centimeter	NOUN
esrj-100518	45	12	or	or	CCONJ
esrj-100518	45	13	decimeter	decimeter	NOUN
esrj-100518	45	14	level	level	NOUN
esrj-100518	45	15	employing	employ	VERB
esrj-100518	45	16	precise	precise	ADJ
esrj-100518	45	17	satellite	satellite	NOUN
esrj-100518	45	18	orbit	orbit	NOUN
esrj-100518	45	19	and	and	CCONJ
esrj-100518	45	20	clock	clock	NOUN
esrj-100518	45	21	data	datum	NOUN
esrj-100518	45	22	that	that	PRON
esrj-100518	45	23	can	can	AUX
esrj-100518	45	24	be	be	AUX
esrj-100518	45	25	obtained	obtain	VERB
esrj-100518	45	26	from	from	ADP
esrj-100518	45	27	analysis	analysis	NOUN
esrj-100518	45	28	centers	center	NOUN
esrj-100518	45	29	,	,	PUNCT
esrj-100518	45	30	such	such	ADJ
esrj-100518	45	31	as	as	ADP
esrj-100518	45	32	international	international	ADJ
esrj-100518	45	33	gnss	gnss	NOUN
esrj-100518	45	34	service	service	NOUN
esrj-100518	45	35	(	(	PUNCT
esrj-100518	45	36	igs	igs	PROPN
esrj-100518	45	37	)	)	PUNCT
esrj-100518	45	38	,	,	PUNCT
esrj-100518	45	39	bundesamt	bundesamt	VERB
esrj-100518	45	40	für	für	PROPN
esrj-100518	45	41	kartographie	kartographie	PROPN
esrj-100518	45	42	und	und	VERB
esrj-100518	45	43	geodäsie	geodäsie	PROPN
esrj-100518	45	44	(	(	PUNCT
esrj-100518	45	45	bkg	bkg	PROPN
esrj-100518	45	46	)	)	PUNCT
esrj-100518	45	47	,	,	PUNCT
esrj-100518	45	48	centre	centre	NOUN
esrj-100518	45	49	national	national	ADJ
esrj-100518	45	50	d’etudes	d’etude	NOUN
esrj-100518	45	51	spatiales	spatiale	NOUN
esrj-100518	45	52	(	(	PUNCT
esrj-100518	45	53	cnes	cne	NOUN
esrj-100518	45	54	)	)	PUNCT
esrj-100518	45	55	,	,	PUNCT
esrj-100518	45	56	european	european	ADJ
esrj-100518	45	57	space	space	NOUN
esrj-100518	45	58	agency	agency	PROPN
esrj-100518	45	59	(	(	PUNCT
esrj-100518	45	60	esa	esa	PROPN
esrj-100518	45	61	)	)	PUNCT
esrj-100518	45	62	,	,	PUNCT
esrj-100518	45	63	deutsches	deutsche	NOUN
esrj-100518	45	64	geoforschungszentrum	geoforschungszentrum	NOUN
esrj-100518	45	65	(	(	PUNCT
esrj-100518	45	66	gfz	gfz	PROPN
esrj-100518	45	67	)	)	PUNCT
esrj-100518	45	68	and	and	CCONJ
esrj-100518	45	69	gmv	gmv	PROPN
esrj-100518	45	70	aerospace	aerospace	NOUN
esrj-100518	45	71	and	and	CCONJ
esrj-100518	45	72	defense	defense	NOUN
esrj-100518	45	73	(	(	PUNCT
esrj-100518	45	74	gmv	gmv	ADJ
esrj-100518	45	75	)	)	PUNCT
esrj-100518	45	76	)	)	PUNCT
esrj-100518	45	77	,	,	PUNCT
esrj-100518	45	78	with	with	ADP
esrj-100518	45	79	undifferenced	undifferenced	ADJ
esrj-100518	45	80	code	code	NOUN
esrj-100518	45	81	and	and	CCONJ
esrj-100518	45	82	phase	phase	NOUN
esrj-100518	45	83	measurements	measurement	NOUN
esrj-100518	45	84	using	use	VERB
esrj-100518	45	85	a	a	DET
esrj-100518	45	86	single	single	ADJ
esrj-100518	45	87	gnss	gnss	NOUN
esrj-100518	45	88	receiver	receiver	NOUN
esrj-100518	45	89	.	.	PUNCT
esrj-100518	46	1	thus	thus	ADV
esrj-100518	46	2	,	,	PUNCT
esrj-100518	46	3	it	it	PRON
esrj-100518	46	4	has	have	AUX
esrj-100518	46	5	become	become	VERB
esrj-100518	46	6	an	an	DET
esrj-100518	46	7	essential	essential	ADJ
esrj-100518	46	8	alternative	alternative	NOUN
esrj-100518	46	9	to	to	PART
esrj-100518	46	10	ppk	ppk	VERB
esrj-100518	46	11	in	in	ADP
esrj-100518	46	12	evaluating	evaluate	VERB
esrj-100518	46	13	kinematic	kinematic	ADJ
esrj-100518	46	14	gnss	gnss	NOUN
esrj-100518	46	15	data	datum	NOUN
esrj-100518	46	16	gathered	gather	VERB
esrj-100518	46	17	with	with	ADP
esrj-100518	46	18	aircraft	aircraft	NOUN
esrj-100518	46	19	,	,	PUNCT
esrj-100518	46	20	vessels	vessel	NOUN
esrj-100518	46	21	,	,	PUNCT
esrj-100518	46	22	and	and	CCONJ
esrj-100518	46	23	cars	car	NOUN
esrj-100518	46	24	at	at	ADP
esrj-100518	46	25	high	high	ADJ
esrj-100518	46	26	speed	speed	NOUN
esrj-100518	46	27	(	(	PUNCT
esrj-100518	46	28	alkan	alkan	PROPN
esrj-100518	46	29	et	et	PROPN
esrj-100518	46	30	al	al	PROPN
esrj-100518	46	31	.	.	PROPN
esrj-100518	46	32	,	,	PUNCT
esrj-100518	46	33	2017	2017	NUM
esrj-100518	46	34	;	;	PUNCT
esrj-100518	46	35	elliott	elliott	PROPN
esrj-100518	46	36	&	&	CCONJ
esrj-100518	46	37	hegarty	hegarty	PROPN
esrj-100518	46	38	,	,	PUNCT
esrj-100518	46	39	2017	2017	NUM
esrj-100518	46	40	;	;	PUNCT
esrj-100518	46	41	erol	erol	NOUN
esrj-100518	46	42	et	et	PROPN
esrj-100518	46	43	al	al	PROPN
esrj-100518	46	44	.	.	PROPN
esrj-100518	46	45	,	,	PUNCT
esrj-100518	46	46	2020	2020	NUM
esrj-100518	46	47	;	;	PUNCT
esrj-100518	46	48	misra	misra	PROPN
esrj-100518	46	49	&	&	CCONJ
esrj-100518	46	50	enge	enge	PROPN
esrj-100518	46	51	,	,	PUNCT
esrj-100518	46	52	2011	2011	NUM
esrj-100518	46	53	)	)	PUNCT
esrj-100518	46	54	.	.	PUNCT
esrj-100518	47	1	el	el	NOUN
esrj-100518	47	2	-	-	PUNCT
esrj-100518	47	3	mowafy	mowafy	NOUN
esrj-100518	47	4	(	(	PUNCT
esrj-100518	47	5	2011	2011	NUM
esrj-100518	47	6	)	)	PUNCT
esrj-100518	47	7	compared	compare	VERB
esrj-100518	47	8	ppp	ppp	PROPN
esrj-100518	47	9	and	and	CCONJ
esrj-100518	47	10	ppk	ppk	NOUN
esrj-100518	47	11	coordinate	coordinate	NOUN
esrj-100518	47	12	results	result	NOUN
esrj-100518	47	13	using	use	VERB
esrj-100518	47	14	fixed	fix	VERB
esrj-100518	47	15	-	-	PUNCT
esrj-100518	47	16	wing	wing	NOUN
esrj-100518	47	17	aircraft	aircraft	NOUN
esrj-100518	47	18	and	and	CCONJ
esrj-100518	47	19	showed	show	VERB
esrj-100518	47	20	that	that	SCONJ
esrj-100518	47	21	their	their	PRON
esrj-100518	47	22	differences	difference	NOUN
esrj-100518	47	23	ranged	range	VERB
esrj-100518	47	24	from	from	ADP
esrj-100518	47	25	a	a	DET
esrj-100518	47	26	few	few	ADJ
esrj-100518	47	27	millimeters	millimeter	NOUN
esrj-100518	47	28	to	to	ADP
esrj-100518	47	29	1.5	1.5	NUM
esrj-100518	47	30	decimeters	decimeter	NOUN
esrj-100518	47	31	.	.	PUNCT
esrj-100518	48	1	moreover	moreover	ADV
esrj-100518	48	2	,	,	PUNCT
esrj-100518	48	3	the	the	DET
esrj-100518	48	4	convergence	convergence	NOUN
esrj-100518	48	5	time	time	NOUN
esrj-100518	48	6	of	of	ADP
esrj-100518	48	7	the	the	DET
esrj-100518	48	8	solution	solution	NOUN
esrj-100518	48	9	can	can	AUX
esrj-100518	48	10	be	be	AUX
esrj-100518	48	11	shortened	shorten	VERB
esrj-100518	48	12	,	,	PUNCT
esrj-100518	48	13	and	and	CCONJ
esrj-100518	48	14	the	the	DET
esrj-100518	48	15	position	position	NOUN
esrj-100518	48	16	accuracy	accuracy	NOUN
esrj-100518	48	17	can	can	AUX
esrj-100518	48	18	be	be	AUX
esrj-100518	48	19	increased	increase	VERB
esrj-100518	48	20	by	by	ADP
esrj-100518	48	21	adding	add	VERB
esrj-100518	48	22	glonass	glonass	NOUN
esrj-100518	48	23	observations	observation	NOUN
esrj-100518	48	24	to	to	PART
esrj-100518	48	25	gps	gps	VERB
esrj-100518	48	26	observations	observation	NOUN
esrj-100518	48	27	in	in	ADP
esrj-100518	48	28	the	the	DET
esrj-100518	48	29	ppp	ppp	NOUN
esrj-100518	48	30	method	method	NOUN
esrj-100518	48	31	(	(	PUNCT
esrj-100518	48	32	choy	choy	NOUN
esrj-100518	48	33	et	et	NOUN
esrj-100518	48	34	al	al	PROPN
esrj-100518	48	35	.	.	PROPN
esrj-100518	48	36	,	,	PUNCT
esrj-100518	48	37	2013	2013	NUM
esrj-100518	48	38	)	)	PUNCT
esrj-100518	48	39	.	.	PUNCT
esrj-100518	49	1	in	in	ADP
esrj-100518	49	2	the	the	DET
esrj-100518	49	3	near	near	ADJ
esrj-100518	49	4	future	future	NOUN
esrj-100518	49	5	,	,	PUNCT
esrj-100518	49	6	the	the	DET
esrj-100518	49	7	ppp	ppp	NOUN
esrj-100518	49	8	method	method	NOUN
esrj-100518	49	9	is	be	AUX
esrj-100518	49	10	expected	expect	VERB
esrj-100518	49	11	to	to	PART
esrj-100518	49	12	be	be	AUX
esrj-100518	49	13	used	use	VERB
esrj-100518	49	14	effectively	effectively	ADV
esrj-100518	49	15	in	in	ADP
esrj-100518	49	16	smart	smart	ADJ
esrj-100518	49	17	city	city	NOUN
esrj-100518	49	18	applications	application	NOUN
esrj-100518	49	19	such	such	ADJ
esrj-100518	49	20	as	as	ADP
esrj-100518	49	21	parking	parking	NOUN
esrj-100518	49	22	,	,	PUNCT
esrj-100518	49	23	cargo	cargo	NOUN
esrj-100518	49	24	delivery	delivery	NOUN
esrj-100518	49	25	,	,	PUNCT
esrj-100518	49	26	shared	share	VERB
esrj-100518	49	27	vehicle	vehicle	NOUN
esrj-100518	49	28	use	use	NOUN
esrj-100518	49	29	,	,	PUNCT
esrj-100518	49	30	emergency	emergency	NOUN
esrj-100518	49	31	response	response	NOUN
esrj-100518	49	32	and	and	CCONJ
esrj-100518	49	33	autonomous	autonomous	ADJ
esrj-100518	49	34	driving	driving	NOUN
esrj-100518	49	35	(	(	PUNCT
esrj-100518	49	36	brovelli	brovelli	NOUN
esrj-100518	49	37	et	et	PROPN
esrj-100518	49	38	al	al	PROPN
esrj-100518	49	39	.	.	PROPN
esrj-100518	49	40	,	,	PUNCT
esrj-100518	49	41	2016	2016	NUM
esrj-100518	49	42	;	;	PUNCT
esrj-100518	49	43	robustelli	robustelli	PROPN
esrj-100518	49	44	&	&	CCONJ
esrj-100518	49	45	pugliano	pugliano	PROPN
esrj-100518	49	46	,	,	PUNCT
esrj-100518	49	47	2019	2019	NUM
esrj-100518	49	48	;	;	PUNCT
esrj-100518	50	1	xu	xu	PROPN
esrj-100518	50	2	et	et	PROPN
esrj-100518	50	3	al	al	PROPN
esrj-100518	50	4	.	.	PROPN
esrj-100518	50	5	,	,	PUNCT
esrj-100518	50	6	2018	2018	NUM
esrj-100518	50	7	)	)	PUNCT
esrj-100518	50	8	.	.	PUNCT
esrj-100518	51	1	at	at	ADP
esrj-100518	51	2	present	present	ADJ
esrj-100518	51	3	,	,	PUNCT
esrj-100518	51	4	gnss	gnss	NOUN
esrj-100518	51	5	receivers	receiver	NOUN
esrj-100518	51	6	have	have	AUX
esrj-100518	51	7	become	become	VERB
esrj-100518	51	8	the	the	DET
esrj-100518	51	9	main	main	ADJ
esrj-100518	51	10	component	component	NOUN
esrj-100518	51	11	of	of	ADP
esrj-100518	51	12	precise	precise	ADJ
esrj-100518	51	13	navigation	navigation	NOUN
esrj-100518	51	14	systems	system	NOUN
esrj-100518	51	15	with	with	ADP
esrj-100518	51	16	the	the	DET
esrj-100518	51	17	high	high	ADJ
esrj-100518	51	18	precision	precision	NOUN
esrj-100518	51	19	and	and	CCONJ
esrj-100518	51	20	accuracy	accuracy	NOUN
esrj-100518	51	21	that	that	SCONJ
esrj-100518	51	22	ppp	ppp	PROPN
esrj-100518	51	23	and	and	CCONJ
esrj-100518	51	24	ppk	ppk	NOUN
esrj-100518	51	25	methods	method	NOUN
esrj-100518	51	26	offer	offer	VERB
esrj-100518	51	27	.	.	PUNCT
esrj-100518	52	1	still	still	ADV
esrj-100518	52	2	,	,	PUNCT
esrj-100518	52	3	it	it	PRON
esrj-100518	52	4	may	may	AUX
esrj-100518	52	5	not	not	PART
esrj-100518	52	6	always	always	ADV
esrj-100518	52	7	be	be	AUX
esrj-100518	52	8	possible	possible	ADJ
esrj-100518	52	9	to	to	PART
esrj-100518	52	10	use	use	VERB
esrj-100518	52	11	the	the	DET
esrj-100518	52	12	position	position	NOUN
esrj-100518	52	13	information	information	NOUN
esrj-100518	52	14	of	of	ADP
esrj-100518	52	15	gnss	gnss	NOUN
esrj-100518	52	16	receivers	receiver	NOUN
esrj-100518	52	17	since	since	SCONJ
esrj-100518	52	18	signal	signal	ADJ
esrj-100518	52	19	interruptions	interruption	NOUN
esrj-100518	52	20	in	in	ADP
esrj-100518	52	21	areas	area	NOUN
esrj-100518	52	22	with	with	ADP
esrj-100518	52	23	many	many	ADJ
esrj-100518	52	24	restrictions	restriction	NOUN
esrj-100518	52	25	on	on	ADP
esrj-100518	52	26	satellite	satellite	NOUN
esrj-100518	52	27	visibility	visibility	NOUN
esrj-100518	52	28	,	,	PUNCT
esrj-100518	52	29	such	such	ADJ
esrj-100518	52	30	as	as	ADP
esrj-100518	52	31	footbridges	footbridge	NOUN
esrj-100518	52	32	,	,	PUNCT
esrj-100518	52	33	flyovers	flyover	NOUN
esrj-100518	52	34	,	,	PUNCT
esrj-100518	52	35	tunnels	tunnel	NOUN
esrj-100518	52	36	,	,	PUNCT
esrj-100518	52	37	or	or	CCONJ
esrj-100518	52	38	close	close	ADV
esrj-100518	52	39	to	to	ADP
esrj-100518	52	40	tall	tall	ADJ
esrj-100518	52	41	buildings	building	NOUN
esrj-100518	52	42	or	or	CCONJ
esrj-100518	52	43	forests	forest	NOUN
esrj-100518	52	44	.	.	PUNCT
esrj-100518	53	1	in	in	ADP
esrj-100518	53	2	these	these	DET
esrj-100518	53	3	situations	situation	NOUN
esrj-100518	53	4	,	,	PUNCT
esrj-100518	53	5	the	the	DET
esrj-100518	53	6	number	number	NOUN
esrj-100518	53	7	of	of	ADP
esrj-100518	53	8	visible	visible	ADJ
esrj-100518	53	9	satellites	satellite	NOUN
esrj-100518	53	10	(	(	PUNCT
esrj-100518	53	11	nvs	nvs	PROPN
esrj-100518	53	12	)	)	PUNCT
esrj-100518	53	13	is	be	AUX
esrj-100518	53	14	insufficient	insufficient	ADJ
esrj-100518	53	15	;	;	PUNCT
esrj-100518	53	16	that	that	PRON
esrj-100518	53	17	’s	’	VERB
esrj-100518	53	18	why	why	SCONJ
esrj-100518	53	19	desired	desire	VERB
esrj-100518	53	20	positioning	positioning	NOUN
esrj-100518	53	21	accuracy	accuracy	NOUN
esrj-100518	53	22	level	level	NOUN
esrj-100518	53	23	may	may	AUX
esrj-100518	53	24	not	not	PART
esrj-100518	53	25	be	be	AUX
esrj-100518	53	26	provided	provide	VERB
esrj-100518	53	27	.	.	PUNCT
esrj-100518	54	1	although	although	SCONJ
esrj-100518	54	2	multi	multi	ADJ
esrj-100518	54	3	-	-	ADJ
esrj-100518	54	4	constellations	constellation	NOUN
esrj-100518	54	5	increase	increase	VERB
esrj-100518	54	6	satellite	satellite	NOUN
esrj-100518	54	7	visibility	visibility	NOUN
esrj-100518	54	8	and	and	CCONJ
esrj-100518	54	9	geometry	geometry	NOUN
esrj-100518	54	10	,	,	PUNCT
esrj-100518	54	11	they	they	PRON
esrj-100518	54	12	can	can	AUX
esrj-100518	54	13	not	not	PART
esrj-100518	54	14	provide	provide	VERB
esrj-100518	54	15	sufficient	sufficient	ADJ
esrj-100518	54	16	enhancement	enhancement	NOUN
esrj-100518	54	17	in	in	ADP
esrj-100518	54	18	positioning	positioning	NOUN
esrj-100518	54	19	accuracy	accuracy	NOUN
esrj-100518	54	20	compared	compare	VERB
esrj-100518	54	21	to	to	ADP
esrj-100518	54	22	the	the	DET
esrj-100518	54	23	gps	gps	PROPN
esrj-100518	54	24	-	-	PUNCT
esrj-100518	54	25	only	only	ADJ
esrj-100518	54	26	results	result	NOUN
esrj-100518	54	27	unless	unless	SCONJ
esrj-100518	54	28	there	there	PRON
esrj-100518	54	29	is	be	VERB
esrj-100518	54	30	a	a	DET
esrj-100518	54	31	weak	weak	ADJ
esrj-100518	54	32	number	number	NOUN
esrj-100518	54	33	of	of	ADP
esrj-100518	54	34	gps	gps	NOUN
esrj-100518	54	35	satellites	satellite	NOUN
esrj-100518	54	36	and	and	CCONJ
esrj-100518	54	37	the	the	DET
esrj-100518	54	38	poor	poor	ADJ
esrj-100518	54	39	satellite	satellite	NOUN
esrj-100518	54	40	geometry	geometry	NOUN
esrj-100518	54	41	(	(	PUNCT
esrj-100518	54	42	bakuła	bakuła	PROPN
esrj-100518	54	43	et	et	PROPN
esrj-100518	54	44	al	al	PROPN
esrj-100518	54	45	.	.	PROPN
esrj-100518	54	46	,	,	PUNCT
esrj-100518	54	47	2015	2015	NUM
esrj-100518	54	48	;	;	PUNCT
esrj-100518	54	49	li	li	PROPN
esrj-100518	54	50	et	et	PROPN
esrj-100518	54	51	al	al	PROPN
esrj-100518	54	52	.	.	PROPN
esrj-100518	54	53	,	,	PUNCT
esrj-100518	54	54	2019	2019	NUM
esrj-100518	54	55	;	;	PUNCT
esrj-100518	54	56	specht	specht	PROPN
esrj-100518	54	57	et	et	PROPN
esrj-100518	54	58	al	al	PROPN
esrj-100518	54	59	.	.	PROPN
esrj-100518	54	60	,	,	PUNCT
esrj-100518	54	61	2020	2020	NUM
esrj-100518	54	62	,	,	PUNCT
esrj-100518	54	63	ocalan	ocalan	NOUN
esrj-100518	54	64	et	et	PROPN
esrj-100518	54	65	al	al	PROPN
esrj-100518	54	66	.	.	PROPN
esrj-100518	54	67	,	,	PUNCT
esrj-100518	54	68	2016	2016	NUM
esrj-100518	54	69	)	)	PUNCT
esrj-100518	54	70	.	.	PUNCT
esrj-100518	55	1	also	also	ADV
esrj-100518	55	2	,	,	PUNCT
esrj-100518	55	3	multi	multi	ADJ
esrj-100518	55	4	-	-	ADJ
esrj-100518	55	5	constellation	constellation	ADJ
esrj-100518	55	6	solutions	solution	NOUN
esrj-100518	55	7	in	in	ADP
esrj-100518	55	8	challenging	challenging	ADJ
esrj-100518	55	9	conditions	condition	NOUN
esrj-100518	55	10	may	may	AUX
esrj-100518	55	11	not	not	PART
esrj-100518	55	12	be	be	AUX
esrj-100518	55	13	sufficient	sufficient	ADJ
esrj-100518	55	14	for	for	ADP
esrj-100518	55	15	high	high	ADJ
esrj-100518	55	16	-	-	PUNCT
esrj-100518	55	17	precision	precision	NOUN
esrj-100518	55	18	positioning	positioning	NOUN
esrj-100518	55	19	studies	study	NOUN
esrj-100518	55	20	(	(	PUNCT
esrj-100518	55	21	petovello	petovello	NOUN
esrj-100518	55	22	,	,	PUNCT
esrj-100518	55	23	2003	2003	NUM
esrj-100518	55	24	;	;	PUNCT
esrj-100518	55	25	yigit	yigit	PROPN
esrj-100518	55	26	et	et	PROPN
esrj-100518	55	27	al	al	PROPN
esrj-100518	55	28	.	.	PROPN
esrj-100518	55	29	,	,	PUNCT
esrj-100518	55	30	2014	2014	NUM
esrj-100518	55	31	)	)	PUNCT
esrj-100518	55	32	.	.	PUNCT
esrj-100518	56	1	therefore	therefore	ADV
esrj-100518	56	2	,	,	PUNCT
esrj-100518	56	3	satellite	satellite	NOUN
esrj-100518	56	4	systems	system	NOUN
esrj-100518	56	5	are	be	AUX
esrj-100518	56	6	often	often	ADV
esrj-100518	56	7	used	use	VERB
esrj-100518	56	8	in	in	ADP
esrj-100518	56	9	such	such	ADJ
esrj-100518	56	10	areas	area	NOUN
esrj-100518	56	11	by	by	ADP
esrj-100518	56	12	being	be	AUX
esrj-100518	56	13	integrated	integrate	VERB
esrj-100518	56	14	with	with	ADP
esrj-100518	56	15	inertial	inertial	ADJ
esrj-100518	56	16	sensors	sensor	NOUN
esrj-100518	56	17	due	due	ADP
esrj-100518	56	18	to	to	ADP
esrj-100518	56	19	their	their	PRON
esrj-100518	56	20	complementary	complementary	ADJ
esrj-100518	56	21	properties	property	NOUN
esrj-100518	56	22	.	.	PUNCT
esrj-100518	57	1	the	the	DET
esrj-100518	57	2	inertial	inertial	ADJ
esrj-100518	57	3	measurement	measurement	NOUN
esrj-100518	57	4	unit	unit	NOUN
esrj-100518	57	5	(	(	PUNCT
esrj-100518	57	6	imu	imu	NOUN
esrj-100518	57	7	)	)	PUNCT
esrj-100518	57	8	provides	provide	VERB
esrj-100518	57	9	high	high	ADJ
esrj-100518	57	10	-	-	PUNCT
esrj-100518	57	11	rate	rate	NOUN
esrj-100518	57	12	signals	signal	NOUN
esrj-100518	57	13	(	(	PUNCT
esrj-100518	57	14	specific	specific	ADJ
esrj-100518	57	15	force	force	NOUN
esrj-100518	57	16	and	and	CCONJ
esrj-100518	57	17	angular	angular	ADJ
esrj-100518	57	18	velocity	velocity	NOUN
esrj-100518	57	19	)	)	PUNCT
esrj-100518	57	20	for	for	ADP
esrj-100518	57	21	monitoring	monitor	VERB
esrj-100518	57	22	the	the	DET
esrj-100518	57	23	ego	ego	NOUN
esrj-100518	57	24	-	-	PUNCT
esrj-100518	57	25	motion	motion	NOUN
esrj-100518	57	26	of	of	ADP
esrj-100518	57	27	the	the	DET
esrj-100518	57	28	sensors	sensor	NOUN
esrj-100518	57	29	.	.	PUNCT
esrj-100518	58	1	integrating	integrate	VERB
esrj-100518	58	2	the	the	DET
esrj-100518	58	3	measurements	measurement	NOUN
esrj-100518	58	4	from	from	ADP
esrj-100518	58	5	the	the	DET
esrj-100518	58	6	gnss	gnss	NOUN
esrj-100518	58	7	receiver	receiver	NOUN
esrj-100518	58	8	with	with	ADP
esrj-100518	58	9	the	the	DET
esrj-100518	58	10	measurements	measurement	NOUN
esrj-100518	58	11	from	from	ADP
esrj-100518	58	12	the	the	DET
esrj-100518	58	13	imu	imu	NOUN
esrj-100518	58	14	is	be	AUX
esrj-100518	58	15	achieved	achieve	VERB
esrj-100518	58	16	with	with	ADP
esrj-100518	58	17	the	the	DET
esrj-100518	58	18	kalman	kalman	PROPN
esrj-100518	58	19	filter	filter	NOUN
esrj-100518	58	20	.	.	PUNCT
esrj-100518	59	1	this	this	DET
esrj-100518	59	2	conventional	conventional	ADJ
esrj-100518	59	3	configuration	configuration	NOUN
esrj-100518	59	4	can	can	AUX
esrj-100518	59	5	provide	provide	VERB
esrj-100518	59	6	very	very	ADV
esrj-100518	59	7	high	high	ADJ
esrj-100518	59	8	accuracy	accuracy	NOUN
esrj-100518	59	9	due	due	ADP
esrj-100518	59	10	to	to	ADP
esrj-100518	59	11	its	its	PRON
esrj-100518	59	12	completeness	completeness	NOUN
esrj-100518	59	13	.	.	PUNCT
esrj-100518	60	1	in	in	ADP
esrj-100518	60	2	this	this	DET
esrj-100518	60	3	paper	paper	NOUN
esrj-100518	60	4	,	,	PUNCT
esrj-100518	60	5	to	to	PART
esrj-100518	60	6	evaluate	evaluate	VERB
esrj-100518	60	7	the	the	DET
esrj-100518	60	8	positioning	positioning	NOUN
esrj-100518	60	9	performance	performance	NOUN
esrj-100518	60	10	of	of	ADP
esrj-100518	60	11	the	the	DET
esrj-100518	60	12	gnss	gnss	NOUN
esrj-100518	60	13	/	/	SYM
esrj-100518	60	14	imu	imu	NOUN
esrj-100518	60	15	integration	integration	NOUN
esrj-100518	60	16	,	,	PUNCT
esrj-100518	60	17	a	a	DET
esrj-100518	60	18	field	field	NOUN
esrj-100518	60	19	experiment	experiment	NOUN
esrj-100518	60	20	was	be	AUX
esrj-100518	60	21	carried	carry	VERB
esrj-100518	60	22	out	out	ADP
esrj-100518	60	23	in	in	ADP
esrj-100518	60	24	two	two	NUM
esrj-100518	60	25	different	different	ADJ
esrj-100518	60	26	environments	environment	NOUN
esrj-100518	60	27	,	,	PUNCT
esrj-100518	60	28	urban	urban	ADJ
esrj-100518	60	29	and	and	CCONJ
esrj-100518	60	30	wooded	woode	VERB
esrj-100518	60	31	areas	area	NOUN
esrj-100518	60	32	with	with	ADP
esrj-100518	60	33	poor	poor	ADJ
esrj-100518	60	34	gnss	gnss	NOUN
esrj-100518	60	35	satellite	satellite	NOUN
esrj-100518	60	36	geometry	geometry	NOUN
esrj-100518	60	37	and	and	CCONJ
esrj-100518	60	38	limited	limited	ADJ
esrj-100518	60	39	satellite	satellite	NOUN
esrj-100518	60	40	visibility	visibility	NOUN
esrj-100518	60	41	.	.	PUNCT
esrj-100518	61	1	in	in	ADP
esrj-100518	61	2	this	this	DET
esrj-100518	61	3	contribution	contribution	NOUN
esrj-100518	61	4	,	,	PUNCT
esrj-100518	61	5	there	there	PRON
esrj-100518	61	6	are	be	VERB
esrj-100518	61	7	three	three	NUM
esrj-100518	61	8	main	main	ADJ
esrj-100518	61	9	objectives	objective	NOUN
esrj-100518	61	10	.	.	PUNCT
esrj-100518	62	1	firstly	firstly	ADV
esrj-100518	62	2	,	,	PUNCT
esrj-100518	62	3	the	the	DET
esrj-100518	62	4	positioning	positioning	NOUN
esrj-100518	62	5	accuracies	accuracy	NOUN
esrj-100518	62	6	of	of	ADP
esrj-100518	62	7	the	the	DET
esrj-100518	62	8	satellite	satellite	NOUN
esrj-100518	62	9	-	-	PUNCT
esrj-100518	62	10	based	base	VERB
esrj-100518	62	11	and	and	CCONJ
esrj-100518	62	12	loosely	loosely	ADV
esrj-100518	62	13	-	-	PUNCT
esrj-100518	62	14	coupled	couple	VERB
esrj-100518	62	15	based	base	VERB
esrj-100518	62	16	(	(	PUNCT
esrj-100518	62	17	lcbased	lcbase	VERB
esrj-100518	62	18	)	)	PUNCT
esrj-100518	62	19	results	result	NOUN
esrj-100518	62	20	were	be	AUX
esrj-100518	62	21	comparatively	comparatively	ADV
esrj-100518	62	22	investigated	investigate	VERB
esrj-100518	62	23	.	.	PUNCT
esrj-100518	63	1	second	second	ADJ
esrj-100518	63	2	,	,	PUNCT
esrj-100518	63	3	in	in	ADP
esrj-100518	63	4	these	these	DET
esrj-100518	63	5	conditions	condition	NOUN
esrj-100518	63	6	,	,	PUNCT
esrj-100518	63	7	the	the	DET
esrj-100518	63	8	impact	impact	NOUN
esrj-100518	63	9	of	of	ADP
esrj-100518	63	10	satellite	satellite	NOUN
esrj-100518	63	11	systems	system	NOUN
esrj-100518	63	12	(	(	PUNCT
esrj-100518	63	13	including	include	VERB
esrj-100518	63	14	multi	multi	ADJ
esrj-100518	63	15	-	-	ADJ
esrj-100518	63	16	gnss	gnss	NOUN
esrj-100518	63	17	and	and	CCONJ
esrj-100518	63	18	gps	gps	PROPN
esrj-100518	63	19	-	-	PUNCT
esrj-100518	63	20	only	only	ADV
esrj-100518	63	21	)	)	PUNCT
esrj-100518	63	22	on	on	ADP
esrj-100518	63	23	positioning	positioning	NOUN
esrj-100518	63	24	accuracy	accuracy	NOUN
esrj-100518	63	25	was	be	AUX
esrj-100518	63	26	examined	examine	VERB
esrj-100518	63	27	.	.	PUNCT
esrj-100518	64	1	finally	finally	ADV
esrj-100518	64	2	,	,	PUNCT
esrj-100518	64	3	a	a	DET
esrj-100518	64	4	comparative	comparative	ADJ
esrj-100518	64	5	analysis	analysis	NOUN
esrj-100518	64	6	of	of	ADP
esrj-100518	64	7	the	the	DET
esrj-100518	64	8	accuracy	accuracy	NOUN
esrj-100518	64	9	performance	performance	NOUN
esrj-100518	64	10	of	of	ADP
esrj-100518	64	11	the	the	DET
esrj-100518	64	12	ppp	ppp	NOUN
esrj-100518	64	13	and	and	CCONJ
esrj-100518	64	14	ppk	ppk	NOUN
esrj-100518	64	15	approaches	approach	NOUN
esrj-100518	64	16	in	in	ADP
esrj-100518	64	17	challenging	challenging	ADJ
esrj-100518	64	18	situations	situation	NOUN
esrj-100518	64	19	was	be	AUX
esrj-100518	64	20	conducted	conduct	VERB
esrj-100518	64	21	.	.	PUNCT
esrj-100518	65	1	2	2	X
esrj-100518	65	2	.	.	X
esrj-100518	65	3	motivation	motivation	NOUN
esrj-100518	65	4	in	in	ADP
esrj-100518	65	5	the	the	DET
esrj-100518	65	6	literature	literature	NOUN
esrj-100518	65	7	,	,	PUNCT
esrj-100518	65	8	several	several	ADJ
esrj-100518	65	9	studies	study	NOUN
esrj-100518	65	10	evaluated	evaluate	VERB
esrj-100518	65	11	the	the	DET
esrj-100518	65	12	loosely	loosely	ADV
esrj-100518	65	13	coupled	couple	VERB
esrj-100518	65	14	integration	integration	NOUN
esrj-100518	65	15	of	of	ADP
esrj-100518	65	16	imu	imu	NOUN
esrj-100518	65	17	with	with	ADP
esrj-100518	65	18	the	the	DET
esrj-100518	65	19	rtk	rtk	PROPN
esrj-100518	65	20	,	,	PUNCT
esrj-100518	65	21	ppk	ppk	NOUN
esrj-100518	65	22	or	or	CCONJ
esrj-100518	65	23	ppp	ppp	NOUN
esrj-100518	65	24	methods	method	NOUN
esrj-100518	65	25	separately	separately	ADV
esrj-100518	65	26	;	;	PUNCT
esrj-100518	65	27	however	however	ADV
esrj-100518	65	28	,	,	PUNCT
esrj-100518	65	29	few	few	ADJ
esrj-100518	65	30	studies	study	NOUN
esrj-100518	65	31	assess	assess	VERB
esrj-100518	65	32	the	the	DET
esrj-100518	65	33	loosely	loosely	ADV
esrj-100518	65	34	coupled	couple	VERB
esrj-100518	65	35	integration	integration	NOUN
esrj-100518	65	36	of	of	ADP
esrj-100518	65	37	imu	imu	NOUN
esrj-100518	65	38	with	with	ADP
esrj-100518	65	39	both	both	CCONJ
esrj-100518	65	40	ppk	ppk	VERB
esrj-100518	65	41	and	and	CCONJ
esrj-100518	65	42	ppp	ppp	NOUN
esrj-100518	65	43	methods	method	NOUN
esrj-100518	65	44	under	under	ADP
esrj-100518	65	45	challenging	challenge	VERB
esrj-100518	65	46	environments	environment	NOUN
esrj-100518	65	47	with	with	ADP
esrj-100518	65	48	limited	limited	ADJ
esrj-100518	65	49	satellite	satellite	NOUN
esrj-100518	65	50	view	view	NOUN
esrj-100518	65	51	.	.	PUNCT
esrj-100518	66	1	godha	godha	NOUN
esrj-100518	66	2	and	and	CCONJ
esrj-100518	66	3	cannon	cannon	NOUN
esrj-100518	66	4	(	(	PUNCT
esrj-100518	66	5	2007	2007	NUM
esrj-100518	66	6	)	)	PUNCT
esrj-100518	66	7	achieved	achieve	VERB
esrj-100518	66	8	an	an	DET
esrj-100518	66	9	80	80	NUM
esrj-100518	66	10	-	-	SYM
esrj-100518	66	11	90	90	NUM
esrj-100518	66	12	%	%	NOUN
esrj-100518	66	13	improvement	improvement	NOUN
esrj-100518	66	14	by	by	ADP
esrj-100518	66	15	adding	add	VERB
esrj-100518	66	16	the	the	DET
esrj-100518	66	17	imu	imu	NOUN
esrj-100518	66	18	system	system	NOUN
esrj-100518	66	19	to	to	ADP
esrj-100518	66	20	the	the	DET
esrj-100518	66	21	ppk	ppk	NOUN
esrj-100518	66	22	method	method	NOUN
esrj-100518	66	23	during	during	ADP
esrj-100518	66	24	gps	gps	NOUN
esrj-100518	66	25	outages	outage	NOUN
esrj-100518	66	26	in	in	ADP
esrj-100518	66	27	an	an	DET
esrj-100518	66	28	urban	urban	ADJ
esrj-100518	66	29	area	area	NOUN
esrj-100518	66	30	.	.	PUNCT
esrj-100518	67	1	vu	vu	X
esrj-100518	67	2	et	et	PROPN
esrj-100518	67	3	al	al	PROPN
esrj-100518	67	4	.	.	PROPN
esrj-100518	68	1	(	(	PUNCT
esrj-100518	68	2	2013	2013	NUM
esrj-100518	68	3	)	)	PUNCT
esrj-100518	68	4	achieved	achieve	VERB
esrj-100518	68	5	a	a	DET
esrj-100518	68	6	centimeter	centimeter	NOUN
esrj-100518	68	7	precision	precision	NOUN
esrj-100518	68	8	result	result	NOUN
esrj-100518	68	9	by	by	ADP
esrj-100518	68	10	integrating	integrate	VERB
esrj-100518	68	11	the	the	DET
esrj-100518	68	12	data	datum	NOUN
esrj-100518	68	13	collected	collect	VERB
esrj-100518	68	14	with	with	ADP
esrj-100518	68	15	dual	dual	ADJ
esrj-100518	68	16	-	-	PUNCT
esrj-100518	68	17	frequency	frequency	NOUN
esrj-100518	68	18	gps	gps	NOUN
esrj-100518	68	19	processed	process	VERB
esrj-100518	68	20	according	accord	VERB
esrj-100518	68	21	to	to	ADP
esrj-100518	68	22	the	the	DET
esrj-100518	68	23	ppk	ppk	NOUN
esrj-100518	68	24	method	method	NOUN
esrj-100518	68	25	and	and	CCONJ
esrj-100518	68	26	200	200	NUM
esrj-100518	68	27	hz	hz	AUX
esrj-100518	68	28	imu	imu	NOUN
esrj-100518	68	29	on	on	ADP
esrj-100518	68	30	a	a	DET
esrj-100518	68	31	land	land	NOUN
esrj-100518	68	32	vehicle	vehicle	NOUN
esrj-100518	68	33	.	.	PUNCT
esrj-100518	69	1	vana	vana	PROPN
esrj-100518	69	2	and	and	CCONJ
esrj-100518	69	3	bisnath	bisnath	PROPN
esrj-100518	69	4	(	(	PUNCT
esrj-100518	69	5	2020	2020	NUM
esrj-100518	69	6	)	)	PUNCT
esrj-100518	69	7	,	,	PUNCT
esrj-100518	69	8	in	in	ADP
esrj-100518	69	9	which	which	PRON
esrj-100518	69	10	they	they	PRON
esrj-100518	69	11	integrated	integrate	VERB
esrj-100518	69	12	ppp	ppp	PROPN
esrj-100518	69	13	/	/	SYM
esrj-100518	69	14	imu	imu	NOUN
esrj-100518	69	15	with	with	ADP
esrj-100518	69	16	the	the	DET
esrj-100518	69	17	land	land	NOUN
esrj-100518	69	18	vehicle	vehicle	NOUN
esrj-100518	69	19	and	and	CCONJ
esrj-100518	69	20	obtained	obtain	VERB
esrj-100518	69	21	40	40	NUM
esrj-100518	69	22	cm	cm	NOUN
esrj-100518	69	23	accuracy	accuracy	NOUN
esrj-100518	69	24	in	in	ADP
esrj-100518	69	25	the	the	DET
esrj-100518	69	26	horizontal	horizontal	ADJ
esrj-100518	69	27	component	component	NOUN
esrj-100518	69	28	and	and	CCONJ
esrj-100518	69	29	1.2	1.2	NUM
esrj-100518	69	30	m	m	NOUN
esrj-100518	69	31	in	in	ADP
esrj-100518	69	32	the	the	DET
esrj-100518	69	33	vertical	vertical	ADJ
esrj-100518	69	34	component	component	NOUN
esrj-100518	69	35	during	during	ADP
esrj-100518	69	36	30	30	NUM
esrj-100518	69	37	seconds	second	NOUN
esrj-100518	69	38	of	of	ADP
esrj-100518	69	39	signal	signal	ADJ
esrj-100518	69	40	interruption	interruption	NOUN
esrj-100518	69	41	.	.	PUNCT
esrj-100518	70	1	the	the	DET
esrj-100518	70	2	primary	primary	ADJ
esrj-100518	70	3	motivation	motivation	NOUN
esrj-100518	70	4	of	of	ADP
esrj-100518	70	5	this	this	DET
esrj-100518	70	6	study	study	NOUN
esrj-100518	70	7	is	be	AUX
esrj-100518	70	8	to	to	PART
esrj-100518	70	9	examine	examine	VERB
esrj-100518	70	10	the	the	DET
esrj-100518	70	11	performance	performance	NOUN
esrj-100518	70	12	of	of	ADP
esrj-100518	70	13	ppp	ppp	PROPN
esrj-100518	70	14	and	and	CCONJ
esrj-100518	70	15	ppk	ppk	NOUN
esrj-100518	70	16	methods	method	NOUN
esrj-100518	70	17	as	as	ADP
esrj-100518	70	18	a	a	DET
esrj-100518	70	19	result	result	NOUN
esrj-100518	70	20	of	of	ADP
esrj-100518	70	21	imu	imu	ADJ
esrj-100518	70	22	integration	integration	NOUN
esrj-100518	70	23	in	in	ADP
esrj-100518	70	24	the	the	DET
esrj-100518	70	25	same	same	ADJ
esrj-100518	70	26	environment	environment	NOUN
esrj-100518	70	27	and	and	CCONJ
esrj-100518	70	28	conditions	condition	NOUN
esrj-100518	70	29	.	.	PUNCT
esrj-100518	71	1	in	in	ADP
esrj-100518	71	2	most	most	ADJ
esrj-100518	71	3	of	of	ADP
esrj-100518	71	4	the	the	DET
esrj-100518	71	5	ppp	ppp	NOUN
esrj-100518	71	6	/	/	SYM
esrj-100518	71	7	ppk	ppk	NOUN
esrj-100518	71	8	and	and	CCONJ
esrj-100518	71	9	imu	imu	NOUN
esrj-100518	71	10	integration	integration	NOUN
esrj-100518	71	11	studies	study	NOUN
esrj-100518	71	12	,	,	PUNCT
esrj-100518	71	13	the	the	DET
esrj-100518	71	14	obtained	obtain	VERB
esrj-100518	71	15	positioning	positioning	NOUN
esrj-100518	71	16	performance	performance	NOUN
esrj-100518	71	17	of	of	ADP
esrj-100518	71	18	the	the	DET
esrj-100518	71	19	proposed	propose	VERB
esrj-100518	71	20	methods	method	NOUN
esrj-100518	71	21	has	have	AUX
esrj-100518	71	22	been	be	AUX
esrj-100518	71	23	compared	compare	VERB
esrj-100518	71	24	to	to	ADP
esrj-100518	71	25	the	the	DET
esrj-100518	71	26	other	other	ADJ
esrj-100518	71	27	gnss	gnss	NOUN
esrj-100518	71	28	-	-	PUNCT
esrj-100518	71	29	based	base	VERB
esrj-100518	71	30	results	result	NOUN
esrj-100518	71	31	named	name	VERB
esrj-100518	71	32	as	as	ADP
esrj-100518	71	33	reference	reference	NOUN
esrj-100518	71	34	data	datum	NOUN
esrj-100518	71	35	(	(	PUNCT
esrj-100518	71	36	falco	falco	PROPN
esrj-100518	71	37	et	et	PROPN
esrj-100518	71	38	al	al	PROPN
esrj-100518	71	39	.	.	PROPN
esrj-100518	71	40	,	,	PUNCT
esrj-100518	71	41	2012	2012	NUM
esrj-100518	71	42	;	;	PUNCT
esrj-100518	71	43	chiang	chiang	PROPN
esrj-100518	71	44	et	et	PROPN
esrj-100518	71	45	al	al	PROPN
esrj-100518	71	46	.	.	PROPN
esrj-100518	71	47	,	,	PUNCT
esrj-100518	71	48	2013	2013	NUM
esrj-100518	71	49	;	;	PUNCT
esrj-100518	71	50	falco	falco	PROPN
esrj-100518	71	51	et	et	PROPN
esrj-100518	71	52	al	al	PROPN
esrj-100518	71	53	.	.	PROPN
esrj-100518	71	54	,	,	PUNCT
esrj-100518	71	55	2017	2017	NUM
esrj-100518	71	56	)	)	PUNCT
esrj-100518	71	57	.	.	PUNCT
esrj-100518	72	1	however	however	ADV
esrj-100518	72	2	,	,	PUNCT
esrj-100518	72	3	these	these	DET
esrj-100518	72	4	reference	reference	NOUN
esrj-100518	72	5	data	datum	NOUN
esrj-100518	72	6	are	be	AUX
esrj-100518	72	7	also	also	ADV
esrj-100518	72	8	highly	highly	ADV
esrj-100518	72	9	affected	affect	VERB
esrj-100518	72	10	by	by	ADP
esrj-100518	72	11	gnss	gnss	NOUN
esrj-100518	72	12	-	-	PUNCT
esrj-100518	72	13	based	base	VERB
esrj-100518	72	14	error	error	NOUN
esrj-100518	72	15	sources	source	NOUN
esrj-100518	72	16	such	such	ADJ
esrj-100518	72	17	as	as	ADP
esrj-100518	72	18	clock	clock	NOUN
esrj-100518	72	19	-	-	PUNCT
esrj-100518	72	20	related	relate	VERB
esrj-100518	72	21	errors	error	NOUN
esrj-100518	72	22	,	,	PUNCT
esrj-100518	72	23	atmospheric	atmospheric	ADJ
esrj-100518	72	24	errors	error	NOUN
esrj-100518	72	25	,	,	PUNCT
esrj-100518	72	26	multipath	multipath	NOUN
esrj-100518	72	27	errors	error	NOUN
esrj-100518	72	28	,	,	PUNCT
esrj-100518	72	29	orbital	orbital	ADJ
esrj-100518	72	30	errors	error	NOUN
esrj-100518	72	31	,	,	PUNCT
esrj-100518	72	32	and	and	CCONJ
esrj-100518	72	33	receiver	receiver	ADJ
esrj-100518	72	34	noise	noise	NOUN
esrj-100518	72	35	,	,	PUNCT
esrj-100518	72	36	especially	especially	ADV
esrj-100518	72	37	in	in	ADP
esrj-100518	72	38	harsh	harsh	ADJ
esrj-100518	72	39	environments	environment	NOUN
esrj-100518	72	40	such	such	ADJ
esrj-100518	72	41	as	as	ADP
esrj-100518	72	42	urban	urban	ADJ
esrj-100518	72	43	areas	area	NOUN
esrj-100518	72	44	,	,	PUNCT
esrj-100518	72	45	heavy	heavy	ADJ
esrj-100518	72	46	tree	tree	NOUN
esrj-100518	72	47	cover	cover	NOUN
esrj-100518	72	48	etc	etc	X
esrj-100518	72	49	.	.	X
esrj-100518	73	1	and	and	CCONJ
esrj-100518	73	2	thus	thus	ADV
esrj-100518	73	3	may	may	AUX
esrj-100518	73	4	offer	offer	VERB
esrj-100518	73	5	a	a	DET
esrj-100518	73	6	low	low	ADJ
esrj-100518	73	7	accuracy	accuracy	NOUN
esrj-100518	73	8	position	position	NOUN
esrj-100518	73	9	information	information	NOUN
esrj-100518	73	10	.	.	PUNCT
esrj-100518	74	1	as	as	ADP
esrj-100518	74	2	a	a	DET
esrj-100518	74	3	result	result	NOUN
esrj-100518	74	4	,	,	PUNCT
esrj-100518	74	5	comparing	compare	VERB
esrj-100518	74	6	the	the	DET
esrj-100518	74	7	proposed	propose	VERB
esrj-100518	74	8	method	method	NOUN
esrj-100518	74	9	with	with	ADP
esrj-100518	74	10	the	the	DET
esrj-100518	74	11	result	result	NOUN
esrj-100518	74	12	of	of	ADP
esrj-100518	74	13	another	another	DET
esrj-100518	74	14	gnss	gnss	NOUN
esrj-100518	74	15	-	-	PUNCT
esrj-100518	74	16	based	base	VERB
esrj-100518	74	17	method	method	NOUN
esrj-100518	74	18	may	may	AUX
esrj-100518	74	19	not	not	PART
esrj-100518	74	20	be	be	AUX
esrj-100518	74	21	appropriate	appropriate	ADJ
esrj-100518	74	22	in	in	ADP
esrj-100518	74	23	such	such	ADJ
esrj-100518	74	24	challenging	challenging	ADJ
esrj-100518	74	25	environments	environment	NOUN
esrj-100518	74	26	.	.	PUNCT
esrj-100518	75	1	the	the	DET
esrj-100518	75	2	highest	high	ADJ
esrj-100518	75	3	grade	grade	NOUN
esrj-100518	75	4	imus	imus	PROPN
esrj-100518	75	5	are	be	AUX
esrj-100518	75	6	used	use	VERB
esrj-100518	75	7	in	in	ADP
esrj-100518	75	8	some	some	DET
esrj-100518	75	9	studies	study	NOUN
esrj-100518	75	10	to	to	PART
esrj-100518	75	11	obtain	obtain	VERB
esrj-100518	75	12	the	the	DET
esrj-100518	75	13	high	high	ADJ
esrj-100518	75	14	accuracy	accuracy	NOUN
esrj-100518	75	15	reference	reference	NOUN
esrj-100518	75	16	solution	solution	NOUN
esrj-100518	75	17	,	,	PUNCT
esrj-100518	75	18	but	but	CCONJ
esrj-100518	75	19	this	this	DET
esrj-100518	75	20	solution	solution	NOUN
esrj-100518	75	21	is	be	AUX
esrj-100518	75	22	not	not	PART
esrj-100518	75	23	sufficient	sufficient	ADJ
esrj-100518	75	24	to	to	PART
esrj-100518	75	25	get	get	VERB
esrj-100518	75	26	the	the	DET
esrj-100518	75	27	exact	exact	ADJ
esrj-100518	75	28	trajectory	trajectory	NOUN
esrj-100518	75	29	(	(	PUNCT
esrj-100518	75	30	ilci	ilci	NOUN
esrj-100518	75	31	&	&	CCONJ
esrj-100518	75	32	toth	toth	PROPN
esrj-100518	75	33	,	,	PUNCT
esrj-100518	75	34	2020	2020	NUM
esrj-100518	75	35	;	;	PUNCT
esrj-100518	75	36	otegui	otegui	NOUN
esrj-100518	75	37	et	et	PROPN
esrj-100518	75	38	al	al	PROPN
esrj-100518	75	39	.	.	PROPN
esrj-100518	75	40	,	,	PUNCT
esrj-100518	75	41	2021	2021	NUM
esrj-100518	75	42	;	;	PUNCT
esrj-100518	76	1	zhang	zhang	PROPN
esrj-100518	76	2	et	et	PROPN
esrj-100518	76	3	al	al	PROPN
esrj-100518	76	4	.	.	PROPN
esrj-100518	76	5	,	,	PUNCT
esrj-100518	76	6	2020	2020	NUM
esrj-100518	76	7	)	)	PUNCT
esrj-100518	76	8	.	.	PUNCT
esrj-100518	77	1	to	to	PART
esrj-100518	77	2	avoid	avoid	VERB
esrj-100518	77	3	this	this	DET
esrj-100518	77	4	situation	situation	NOUN
esrj-100518	77	5	,	,	PUNCT
esrj-100518	77	6	in	in	ADP
esrj-100518	77	7	this	this	DET
esrj-100518	77	8	study	study	NOUN
esrj-100518	77	9	,	,	PUNCT
esrj-100518	77	10	reference	reference	NOUN
esrj-100518	77	11	data	datum	NOUN
esrj-100518	77	12	were	be	AUX
esrj-100518	77	13	obtained	obtain	VERB
esrj-100518	77	14	by	by	ADP
esrj-100518	77	15	terrestrial	terrestrial	ADJ
esrj-100518	77	16	methods	method	NOUN
esrj-100518	77	17	,	,	PUNCT
esrj-100518	77	18	and	and	CCONJ
esrj-100518	77	19	high	high	ADJ
esrj-100518	77	20	-	-	PUNCT
esrj-100518	77	21	accurate	accurate	ADJ
esrj-100518	77	22	reference	reference	NOUN
esrj-100518	77	23	data	datum	NOUN
esrj-100518	77	24	were	be	AUX
esrj-100518	77	25	obtained	obtain	VERB
esrj-100518	77	26	along	along	ADP
esrj-100518	77	27	the	the	DET
esrj-100518	77	28	trajectories	trajectory	NOUN
esrj-100518	77	29	in	in	ADP
esrj-100518	77	30	urban	urban	ADJ
esrj-100518	77	31	and	and	CCONJ
esrj-100518	77	32	wooded	woode	VERB
esrj-100518	77	33	areas	area	NOUN
esrj-100518	77	34	.	.	PUNCT
esrj-100518	78	1	in	in	ADP
esrj-100518	78	2	this	this	DET
esrj-100518	78	3	study	study	NOUN
esrj-100518	78	4	,	,	PUNCT
esrj-100518	78	5	besides	besides	SCONJ
esrj-100518	78	6	the	the	DET
esrj-100518	78	7	comparative	comparative	ADJ
esrj-100518	78	8	analysis	analysis	NOUN
esrj-100518	78	9	of	of	ADP
esrj-100518	78	10	the	the	DET
esrj-100518	78	11	ppp	ppp	NOUN
esrj-100518	78	12	-	-	PUNCT
esrj-100518	78	13	based	base	VERB
esrj-100518	78	14	and	and	CCONJ
esrj-100518	78	15	ppk	ppk	NOUN
esrj-100518	78	16	-	-	PUNCT
esrj-100518	78	17	based	base	VERB
esrj-100518	78	18	solutions	solution	NOUN
esrj-100518	78	19	,	,	PUNCT
esrj-100518	78	20	the	the	DET
esrj-100518	78	21	gps	gps	PROPN
esrj-100518	78	22	-	-	PUNCT
esrj-100518	78	23	based	base	VERB
esrj-100518	78	24	and	and	CCONJ
esrj-100518	78	25	gnss	gnss	NOUN
esrj-100518	78	26	-	-	PUNCT
esrj-100518	78	27	based	base	VERB
esrj-100518	78	28	solutions	solution	NOUN
esrj-100518	78	29	and	and	CCONJ
esrj-100518	78	30	the	the	DET
esrj-100518	78	31	lc	lc	NOUN
esrj-100518	78	32	-	-	PUNCT
esrj-100518	78	33	based	base	VERB
esrj-100518	78	34	and	and	CCONJ
esrj-100518	78	35	satellite	satellite	NOUN
esrj-100518	78	36	-	-	PUNCT
esrj-100518	78	37	based	base	VERB
esrj-100518	78	38	solutions	solution	NOUN
esrj-100518	78	39	are	be	AUX
esrj-100518	78	40	also	also	ADV
esrj-100518	78	41	comparatively	comparatively	ADV
esrj-100518	78	42	analyzed	analyze	VERB
esrj-100518	78	43	.	.	PUNCT
esrj-100518	79	1	3	3	X
esrj-100518	79	2	.	.	X
esrj-100518	79	3	loosely	loosely	ADV
esrj-100518	79	4	coupled	couple	VERB
esrj-100518	79	5	model	model	NOUN
esrj-100518	79	6	gnss	gnss	NOUN
esrj-100518	79	7	/	/	SYM
esrj-100518	79	8	ins	in	NOUN
esrj-100518	79	9	integration	integration	NOUN
esrj-100518	79	10	methods	method	NOUN
esrj-100518	79	11	are	be	AUX
esrj-100518	79	12	divided	divide	VERB
esrj-100518	79	13	into	into	ADP
esrj-100518	79	14	three	three	NUM
esrj-100518	79	15	different	different	ADJ
esrj-100518	79	16	types	type	NOUN
esrj-100518	79	17	called	call	VERB
esrj-100518	79	18	“	"	PUNCT
esrj-100518	79	19	loose	loose	ADJ
esrj-100518	79	20	”	"	PUNCT
esrj-100518	79	21	,	,	PUNCT
esrj-100518	79	22	“	"	PUNCT
esrj-100518	79	23	tight	tight	ADJ
esrj-100518	79	24	”	"	PUNCT
esrj-100518	79	25	,	,	PUNCT
esrj-100518	79	26	and	and	CCONJ
esrj-100518	79	27	“	"	PUNCT
esrj-100518	79	28	ultra	ultra	ADJ
esrj-100518	79	29	-	-	ADJ
esrj-100518	79	30	tight	tight	ADJ
esrj-100518	79	31	”	"	PUNCT
esrj-100518	79	32	(	(	PUNCT
esrj-100518	79	33	solimeno	solimeno	PROPN
esrj-100518	79	34	,	,	PUNCT
esrj-100518	79	35	2007	2007	NUM
esrj-100518	79	36	;	;	PUNCT
esrj-100518	79	37	gao	gao	PROPN
esrj-100518	79	38	and	and	CCONJ
esrj-100518	79	39	lachapelle	lachapelle	PROPN
esrj-100518	79	40	,	,	PUNCT
esrj-100518	79	41	2008	2008	NUM
esrj-100518	79	42	;	;	PUNCT
esrj-100518	79	43	petovello	petovello	NOUN
esrj-100518	79	44	,	,	PUNCT
esrj-100518	79	45	2003	2003	NUM
esrj-100518	79	46	)	)	PUNCT
esrj-100518	79	47	.	.	PUNCT
esrj-100518	80	1	the	the	DET
esrj-100518	80	2	fundamental	fundamental	ADJ
esrj-100518	80	3	difference	difference	NOUN
esrj-100518	80	4	between	between	ADP
esrj-100518	80	5	these	these	DET
esrj-100518	80	6	methods	method	NOUN
esrj-100518	80	7	is	be	AUX
esrj-100518	80	8	the	the	DET
esrj-100518	80	9	type	type	NOUN
esrj-100518	80	10	of	of	ADP
esrj-100518	80	11	data	datum	NOUN
esrj-100518	80	12	shared	share	VERB
esrj-100518	80	13	by	by	ADP
esrj-100518	80	14	the	the	DET
esrj-100518	80	15	gnss	gnss	NOUN
esrj-100518	80	16	receiver	receiver	NOUN
esrj-100518	80	17	and	and	CCONJ
esrj-100518	80	18	ins	in	NOUN
esrj-100518	80	19	.	.	PUNCT
esrj-100518	81	1	in	in	ADP
esrj-100518	81	2	the	the	DET
esrj-100518	81	3	lc	lc	NOUN
esrj-100518	81	4	technique	technique	NOUN
esrj-100518	81	5	,	,	PUNCT
esrj-100518	81	6	the	the	DET
esrj-100518	81	7	positions	position	NOUN
esrj-100518	81	8	,	,	PUNCT
esrj-100518	81	9	velocities	velocity	NOUN
esrj-100518	81	10	,	,	PUNCT
esrj-100518	81	11	and	and	CCONJ
esrj-100518	81	12	times	time	NOUN
esrj-100518	81	13	(	(	PUNCT
esrj-100518	81	14	pvt	pvt	PROPN
esrj-100518	81	15	)	)	PUNCT
esrj-100518	81	16	estimated	estimate	VERB
esrj-100518	81	17	by	by	ADP
esrj-100518	81	18	the	the	DET
esrj-100518	81	19	gnss	gnss	NOUN
esrj-100518	81	20	receiver	receiver	NOUN
esrj-100518	81	21	are	be	AUX
esrj-100518	81	22	integrated	integrate	VERB
esrj-100518	81	23	with	with	ADP
esrj-100518	81	24	the	the	DET
esrj-100518	81	25	ins	in	NOUN
esrj-100518	81	26	solution	solution	NOUN
esrj-100518	81	27	,	,	PUNCT
esrj-100518	81	28	while	while	SCONJ
esrj-100518	81	29	in	in	ADP
esrj-100518	81	30	the	the	DET
esrj-100518	81	31	case	case	NOUN
esrj-100518	81	32	of	of	ADP
esrj-100518	81	33	a	a	DET
esrj-100518	81	34	tightly	tightly	ADV
esrj-100518	81	35	-	-	PUNCT
esrj-100518	81	36	coupled	couple	VERB
esrj-100518	81	37	method	method	NOUN
esrj-100518	81	38	,	,	PUNCT
esrj-100518	81	39	measurements	measurement	NOUN
esrj-100518	81	40	from	from	ADP
esrj-100518	81	41	gnss	gnss	NOUN
esrj-100518	81	42	raw	raw	ADJ
esrj-100518	81	43	measurements	measurement	NOUN
esrj-100518	81	44	(	(	PUNCT
esrj-100518	81	45	i.e.	i.e.	X
esrj-100518	81	46	,	,	PUNCT
esrj-100518	81	47	pseudorange	pseudorange	NOUN
esrj-100518	81	48	,	,	PUNCT
esrj-100518	81	49	carrier	carrier	NOUN
esrj-100518	81	50	phase	phase	NOUN
esrj-100518	81	51	measurements	measurement	NOUN
esrj-100518	81	52	and	and	CCONJ
esrj-100518	81	53	doppler	doppler	NOUN
esrj-100518	81	54	observables	observable	NOUN
esrj-100518	81	55	)	)	PUNCT
esrj-100518	81	56	and	and	CCONJ
esrj-100518	81	57	measurements	measurement	NOUN
esrj-100518	81	58	from	from	ADP
esrj-100518	81	59	inertial	inertial	ADJ
esrj-100518	81	60	sensors	sensor	NOUN
esrj-100518	81	61	are	be	AUX
esrj-100518	81	62	processed	process	VERB
esrj-100518	81	63	to	to	PART
esrj-100518	81	64	estimate	estimate	VERB
esrj-100518	81	65	pvt	pvt	PROPN
esrj-100518	81	66	.	.	PUNCT
esrj-100518	82	1	the	the	DET
esrj-100518	82	2	ultra	ultra	ADJ
esrj-100518	82	3	-	-	ADJ
esrj-100518	82	4	tight	tight	ADJ
esrj-100518	82	5	integration	integration	NOUN
esrj-100518	82	6	method	method	NOUN
esrj-100518	82	7	includes	include	VERB
esrj-100518	82	8	the	the	DET
esrj-100518	82	9	baseband	baseband	NOUN
esrj-100518	82	10	signal	signal	NOUN
esrj-100518	82	11	processing	processing	NOUN
esrj-100518	82	12	of	of	ADP
esrj-100518	82	13	gnss	gnss	NOUN
esrj-100518	82	14	receivers	receiver	NOUN
esrj-100518	82	15	(	(	PUNCT
esrj-100518	82	16	i.e.	i.e.	X
esrj-100518	82	17	,	,	PUNCT
esrj-100518	82	18	the	the	DET
esrj-100518	82	19	digital	digital	ADJ
esrj-100518	82	20	tracking	tracking	NOUN
esrj-100518	82	21	loops	loop	NOUN
esrj-100518	82	22	)	)	PUNCT
esrj-100518	82	23	(	(	PUNCT
esrj-100518	82	24	falco	falco	PROPN
esrj-100518	82	25	et	et	PROPN
esrj-100518	82	26	al	al	PROPN
esrj-100518	82	27	.	.	PROPN
esrj-100518	82	28	,	,	PUNCT
esrj-100518	82	29	2017	2017	NUM
esrj-100518	82	30	)	)	PUNCT
esrj-100518	82	31	.	.	PUNCT
esrj-100518	83	1	for	for	ADP
esrj-100518	83	2	the	the	DET
esrj-100518	83	3	integration	integration	NOUN
esrj-100518	83	4	of	of	ADP
esrj-100518	83	5	individual	individual	ADJ
esrj-100518	83	6	systems	system	NOUN
esrj-100518	83	7	for	for	ADP
esrj-100518	83	8	the	the	DET
esrj-100518	83	9	accuracy	accuracy	NOUN
esrj-100518	83	10	or	or	CCONJ
esrj-100518	83	11	integrity	integrity	NOUN
esrj-100518	83	12	requirements	requirement	NOUN
esrj-100518	83	13	,	,	PUNCT
esrj-100518	83	14	lc	lc	PROPN
esrj-100518	83	15	integrations	integration	NOUN
esrj-100518	83	16	should	should	AUX
esrj-100518	83	17	be	be	AUX
esrj-100518	83	18	preferred	prefer	VERB
esrj-100518	83	19	(	(	PUNCT
esrj-100518	83	20	bhatti	bhatti	PROPN
esrj-100518	83	21	et	et	PROPN
esrj-100518	83	22	al	al	PROPN
esrj-100518	83	23	.	.	PROPN
esrj-100518	83	24	,	,	PUNCT
esrj-100518	83	25	2007	2007	NUM
esrj-100518	83	26	)	)	PUNCT
esrj-100518	83	27	.	.	PUNCT
esrj-100518	84	1	even	even	ADV
esrj-100518	84	2	though	though	SCONJ
esrj-100518	84	3	many	many	ADJ
esrj-100518	84	4	articles	article	NOUN
esrj-100518	84	5	describe	describe	VERB
esrj-100518	84	6	lc	lc	NOUN
esrj-100518	84	7	integrations	integration	NOUN
esrj-100518	84	8	for	for	ADP
esrj-100518	84	9	automotive	automotive	ADJ
esrj-100518	84	10	applications	application	NOUN
esrj-100518	84	11	in	in	ADP
esrj-100518	84	12	urban	urban	ADJ
esrj-100518	84	13	areas	area	NOUN
esrj-100518	84	14	(	(	PUNCT
esrj-100518	84	15	angrisano	angrisano	PROPN
esrj-100518	84	16	et	et	PROPN
esrj-100518	84	17	al	al	PROPN
esrj-100518	84	18	.	.	PROPN
esrj-100518	84	19	,	,	PUNCT
esrj-100518	84	20	2012	2012	NUM
esrj-100518	84	21	;	;	PUNCT
esrj-100518	84	22	atia	atia	PROPN
esrj-100518	84	23	&	&	CCONJ
esrj-100518	84	24	waslander	waslander	PROPN
esrj-100518	84	25	,	,	PUNCT
esrj-100518	84	26	2019	2019	NUM
esrj-100518	84	27	;	;	PUNCT
esrj-100518	84	28	godha	godha	NOUN
esrj-100518	84	29	&	&	CCONJ
esrj-100518	84	30	cannon	cannon	NOUN
esrj-100518	84	31	,	,	PUNCT
esrj-100518	84	32	2007	2007	NUM
esrj-100518	84	33	;	;	PUNCT
esrj-100518	84	34	li	li	PROPN
esrj-100518	84	35	et	et	PROPN
esrj-100518	84	36	al	al	PROPN
esrj-100518	84	37	.	.	PROPN
esrj-100518	84	38	,	,	PUNCT
esrj-100518	84	39	2018	2018	NUM
esrj-100518	84	40	;	;	PUNCT
esrj-100518	84	41	l.	l.	PROPN
esrj-100518	84	42	zhao	zhao	PROPN
esrj-100518	84	43	et	et	PROPN
esrj-100518	84	44	al	al	PROPN
esrj-100518	84	45	.	.	PROPN
esrj-100518	84	46	,	,	PUNCT
esrj-100518	84	47	2016	2016	NUM
esrj-100518	84	48	;	;	PUNCT
esrj-100518	84	49	s.	s.	PROPN
esrj-100518	84	50	zhao	zhao	PROPN
esrj-100518	84	51	et	et	PROPN
esrj-100518	84	52	al	al	PROPN
esrj-100518	84	53	.	.	PROPN
esrj-100518	84	54	,	,	PUNCT
esrj-100518	84	55	2016	2016	NUM
esrj-100518	84	56	)	)	PUNCT
esrj-100518	84	57	,	,	PUNCT
esrj-100518	84	58	limited	limited	ADJ
esrj-100518	84	59	studies	study	NOUN
esrj-100518	84	60	have	have	AUX
esrj-100518	84	61	been	be	AUX
esrj-100518	84	62	conducted	conduct	VERB
esrj-100518	84	63	to	to	PART
esrj-100518	84	64	evaluate	evaluate	VERB
esrj-100518	84	65	the	the	DET
esrj-100518	84	66	effectiveness	effectiveness	NOUN
esrj-100518	84	67	of	of	ADP
esrj-100518	84	68	lc	lc	PROPN
esrj-100518	84	69	solutions	solution	NOUN
esrj-100518	84	70	based	base	VERB
esrj-100518	84	71	on	on	ADP
esrj-100518	84	72	different	different	ADJ
esrj-100518	84	73	environments	environment	NOUN
esrj-100518	84	74	such	such	ADJ
esrj-100518	84	75	as	as	ADP
esrj-100518	84	76	forestry	forestry	NOUN
esrj-100518	84	77	and	and	CCONJ
esrj-100518	84	78	open	open	ADJ
esrj-100518	84	79	skies	sky	NOUN
esrj-100518	84	80	from	from	ADP
esrj-100518	84	81	a	a	DET
esrj-100518	84	82	practical	practical	ADJ
esrj-100518	84	83	point	point	NOUN
esrj-100518	84	84	of	of	ADP
esrj-100518	84	85	view	view	NOUN
esrj-100518	84	86	.	.	PUNCT
esrj-100518	85	1	however	however	ADV
esrj-100518	85	2	,	,	PUNCT
esrj-100518	85	3	the	the	DET
esrj-100518	85	4	loosely	loosely	ADV
esrj-100518	85	5	coupled	couple	VERB
esrj-100518	85	6	integration	integration	NOUN
esrj-100518	85	7	algorithm	algorithm	NOUN
esrj-100518	85	8	was	be	AUX
esrj-100518	85	9	used	use	VERB
esrj-100518	85	10	in	in	ADP
esrj-100518	85	11	this	this	DET
esrj-100518	85	12	study	study	NOUN
esrj-100518	85	13	,	,	PUNCT
esrj-100518	85	14	as	as	SCONJ
esrj-100518	85	15	salytcheva	salytcheva	X
esrj-100518	85	16	(	(	PUNCT
esrj-100518	85	17	2004	2004	NUM
esrj-100518	85	18	)	)	PUNCT
esrj-100518	85	19	also	also	ADV
esrj-100518	85	20	described	describe	VERB
esrj-100518	85	21	,	,	PUNCT
esrj-100518	85	22	because	because	SCONJ
esrj-100518	85	23	tightly	tightly	ADV
esrj-100518	85	24	coupled	couple	VERB
esrj-100518	85	25	algorithms	algorithm	NOUN
esrj-100518	85	26	have	have	VERB
esrj-100518	85	27	less	less	ADJ
esrj-100518	85	28	computational	computational	ADJ
esrj-100518	85	29	efficiency	efficiency	NOUN
esrj-100518	85	30	and	and	CCONJ
esrj-100518	85	31	a	a	DET
esrj-100518	85	32	more	more	ADV
esrj-100518	85	33	complex	complex	ADJ
esrj-100518	85	34	system	system	NOUN
esrj-100518	85	35	and	and	CCONJ
esrj-100518	85	36	measurement	measurement	NOUN
esrj-100518	85	37	model	model	NOUN
esrj-100518	85	38	than	than	ADP
esrj-100518	85	39	loosely	loosely	ADV
esrj-100518	85	40	coupled	couple	VERB
esrj-100518	85	41	schemas	schema	NOUN
esrj-100518	85	42	.	.	PUNCT
esrj-100518	86	1	kalman	kalman	NOUN
esrj-100518	86	2	filter	filter	PROPN
esrj-100518	86	3	is	be	AUX
esrj-100518	86	4	used	use	VERB
esrj-100518	86	5	in	in	ADP
esrj-100518	86	6	the	the	DET
esrj-100518	86	7	lc	lc	NOUN
esrj-100518	86	8	technique	technique	NOUN
esrj-100518	86	9	in	in	ADP
esrj-100518	86	10	order	order	NOUN
esrj-100518	86	11	to	to	PART
esrj-100518	86	12	determine	determine	VERB
esrj-100518	86	13	the	the	DET
esrj-100518	86	14	position	position	NOUN
esrj-100518	86	15	and	and	CCONJ
esrj-100518	86	16	velocity	velocity	NOUN
esrj-100518	86	17	errors	error	NOUN
esrj-100518	86	18	,	,	PUNCT
esrj-100518	86	19	gyroscope	gyroscope	NOUN
esrj-100518	86	20	bias	bias	NOUN
esrj-100518	86	21	error	error	NOUN
esrj-100518	86	22	,	,	PUNCT
esrj-100518	86	23	first	first	ADJ
esrj-100518	86	24	-	-	PUNCT
esrj-100518	86	25	order	order	NOUN
esrj-100518	86	26	markov	markov	NOUN
esrj-100518	86	27	process	process	NOUN
esrj-100518	86	28	random	random	ADJ
esrj-100518	86	29	noise	noise	NOUN
esrj-100518	86	30	errors	error	NOUN
esrj-100518	86	31	and	and	CCONJ
esrj-100518	86	32	accelerometer	accelerometer	NOUN
esrj-100518	86	33	bias	bias	NOUN
esrj-100518	86	34	error	error	NOUN
esrj-100518	86	35	(	(	PUNCT
esrj-100518	86	36	hol	hol	NOUN
esrj-100518	86	37	,	,	PUNCT
esrj-100518	86	38	j.	j.	PROPN
esrj-100518	86	39	d.	d.	PROPN
esrj-100518	86	40	2011	2011	NUM
esrj-100518	86	41	;	;	PUNCT
esrj-100518	87	1	xu	xu	PROPN
esrj-100518	87	2	et	et	PROPN
esrj-100518	87	3	al	al	PROPN
esrj-100518	87	4	.	.	PROPN
esrj-100518	87	5	,	,	PUNCT
esrj-100518	87	6	2018	2018	NUM
esrj-100518	87	7	)	)	PUNCT
esrj-100518	87	8	.	.	PUNCT
esrj-100518	88	1	then	then	ADV
esrj-100518	88	2	,	,	PUNCT
esrj-100518	88	3	ins	in	NOUN
esrj-100518	88	4	position	position	NOUN
esrj-100518	88	5	error	error	NOUN
esrj-100518	88	6	δp	δp	NOUN
esrj-100518	88	7	,	,	PUNCT
esrj-100518	88	8	velocity	velocity	NOUN
esrj-100518	88	9	error	error	NOUN
esrj-100518	88	10	δv	δv	PROPN
esrj-100518	88	11	,	,	PUNCT
esrj-100518	88	12	gyroscope	gyroscope	NOUN
esrj-100518	88	13	bias	bias	NOUN
esrj-100518	88	14	errors	error	NOUN
esrj-100518	88	15	ε	ε	PROPN
esrj-100518	88	16	b	b	PROPN
esrj-100518	88	17	,	,	PUNCT
esrj-100518	88	18	and	and	CCONJ
esrj-100518	88	19	first	first	ADJ
esrj-100518	88	20	-	-	PUNCT
esrj-100518	88	21	order	order	NOUN
esrj-100518	88	22	markov	markov	NOUN
esrj-100518	88	23	process	process	NOUN
esrj-100518	88	24	random	random	ADJ
esrj-100518	88	25	noise	noise	NOUN
esrj-100518	88	26	errors	error	NOUN
esrj-100518	88	27	of	of	ADP
esrj-100518	88	28	gyroscope	gyroscope	NOUN
esrj-100518	88	29	εr	εr	NOUN
esrj-100518	88	30	and	and	CCONJ
esrj-100518	88	31	accelerometer	accelerometer	NOUN
esrj-100518	88	32	bias	bias	NOUN
esrj-100518	88	33	error	error	NOUN
esrj-100518	88	34	𝝯	𝝯	NOUN
esrj-100518	88	35	constitutes	constitute	VERB
esrj-100518	88	36	the	the	DET
esrj-100518	88	37	state	state	NOUN
esrj-100518	88	38	vector	vector	NOUN
esrj-100518	88	39	xk=	xk=	PROPN
esrj-100518	88	40	(	(	PUNCT
esrj-100518	88	41	δpkδvkεb	δpkδvkεb	ADJ
esrj-100518	88	42	,	,	PUNCT
esrj-100518	88	43	k𝝯	k𝝯	PROPN
esrj-100518	88	44	k)t	k)t	NOUN
esrj-100518	88	45	.	.	PUNCT
esrj-100518	89	1	the	the	DET
esrj-100518	89	2	state	state	NOUN
esrj-100518	89	3	equation	equation	NOUN
esrj-100518	89	4	of	of	ADP
esrj-100518	89	5	gnss	gnss	PROPN
esrj-100518	89	6	/	/	SYM
esrj-100518	89	7	ins	ins	PROPN
esrj-100518	89	8	lc	lc	NOUN
esrj-100518	89	9	can	can	AUX
esrj-100518	89	10	be	be	AUX
esrj-100518	89	11	written	write	VERB
esrj-100518	89	12	as	as	ADP
esrj-100518	89	13	:	:	PUNCT
esrj-100518	89	14	213the	213the	NUM
esrj-100518	89	15	performance	performance	NOUN
esrj-100518	89	16	evaluation	evaluation	NOUN
esrj-100518	89	17	of	of	ADP
esrj-100518	89	18	ppk	ppk	NOUN
esrj-100518	89	19	and	and	CCONJ
esrj-100518	89	20	ppp	ppp	NOUN
esrj-100518	89	21	-	-	PUNCT
esrj-100518	89	22	based	base	VERB
esrj-100518	89	23	loosely	loosely	ADV
esrj-100518	89	24	coupled	couple	VERB
esrj-100518	89	25	integration	integration	NOUN
esrj-100518	89	26	in	in	ADP
esrj-100518	89	27	wooded	woode	VERB
esrj-100518	89	28	and	and	CCONJ
esrj-100518	89	29	urban	urban	ADJ
esrj-100518	89	30	areas	area	NOUN
esrj-100518	89	31	xk	xk	PUNCT
esrj-100518	90	1	=	=	PUNCT
esrj-100518	90	2	fk	fk	PROPN
esrj-100518	90	3	,	,	PUNCT
esrj-100518	90	4	k-1xk-1	k-1xk-1	PROPN
esrj-100518	90	5	+	+	PROPN
esrj-100518	90	6	gk-1wk-1	gk-1wk-1	NOUN
esrj-100518	90	7	(	(	PUNCT
esrj-100518	90	8	1	1	NUM
esrj-100518	90	9	)	)	PUNCT
esrj-100518	90	10	where	where	SCONJ
esrj-100518	90	11	,	,	PUNCT
esrj-100518	90	12	fk	fk	INTJ
esrj-100518	90	13	,	,	PUNCT
esrj-100518	90	14	k-1	k-1	PROPN
esrj-100518	90	15	:	:	PUNCT
esrj-100518	90	16	the	the	DET
esrj-100518	90	17	state	state	NOUN
esrj-100518	90	18	transition	transition	NOUN
esrj-100518	90	19	matrix	matrix	NOUN
esrj-100518	90	20	gk	gk	NOUN
esrj-100518	90	21	:	:	PUNCT
esrj-100518	90	22	the	the	DET
esrj-100518	90	23	system	system	NOUN
esrj-100518	90	24	noise	noise	NOUN
esrj-100518	90	25	distribution	distribution	NOUN
esrj-100518	90	26	matrix	matrix	NOUN
esrj-100518	90	27	wk	wk	INTJ
esrj-100518	90	28	:	:	PUNCT
esrj-100518	90	29	the	the	DET
esrj-100518	90	30	system	system	NOUN
esrj-100518	90	31	noise	noise	NOUN
esrj-100518	90	32	vector	vector	NOUN
esrj-100518	90	33	the	the	DET
esrj-100518	90	34	position	position	NOUN
esrj-100518	90	35	and	and	CCONJ
esrj-100518	90	36	velocity	velocity	NOUN
esrj-100518	90	37	differences	difference	NOUN
esrj-100518	90	38	between	between	ADP
esrj-100518	90	39	ins	in	NOUN
esrj-100518	90	40	and	and	CCONJ
esrj-100518	90	41	gnss	gnss	NOUN
esrj-100518	90	42	can	can	AUX
esrj-100518	90	43	be	be	AUX
esrj-100518	90	44	regarded	regard	VERB
esrj-100518	90	45	as	as	ADP
esrj-100518	90	46	measurements	measurement	NOUN
esrj-100518	90	47	.	.	PUNCT
esrj-100518	91	1	the	the	DET
esrj-100518	91	2	measurement	measurement	NOUN
esrj-100518	91	3	model	model	NOUN
esrj-100518	91	4	is	be	AUX
esrj-100518	91	5	written	write	VERB
esrj-100518	91	6	as:=	as:=	ADP
esrj-100518	91	7	,	,	PUNCT
esrj-100518	91	8	−1	−1	NOUN
esrj-100518	91	9	−1	−1	NOUN
esrj-100518	91	10	+	+	NUM
esrj-100518	91	11	−1	−1	NOUN
esrj-100518	91	12	−1	−1	NOUN
esrj-100518	91	13	=	=	SYM
esrj-100518	91	14	,	,	PUNCT
esrj-100518	91	15	,	,	PUNCT
esrj-100518	91	16	=	=	PRON
esrj-100518	91	17	,	,	PUNCT
esrj-100518	91	18	−	−	PROPN
esrj-100518	91	19	,	,	PUNCT
esrj-100518	91	20	,	,	PUNCT
esrj-100518	91	21	−	−	PROPN
esrj-100518	91	22	,	,	PUNCT
esrj-100518	91	23	=	=	PUNCT
esrj-100518	92	1	+	+	PUNCT
esrj-100518	92	2	,	,	PUNCT
esrj-100518	92	3	+	+	CCONJ
esrj-100518	92	4	,	,	PUNCT
esrj-100518	92	5	=	=	X
esrj-100518	92	6	]	]	PUNCT
esrj-100518	93	1	+	+	CCONJ
esrj-100518	93	2	,	,	PUNCT
esrj-100518	93	3	,	,	PUNCT
esrj-100518	93	4	=	=	PUNCT
esrj-100518	94	1	+	+	PUNCT
esrj-100518	94	2	(	(	PUNCT
esrj-100518	94	3	2	2	NUM
esrj-100518	94	4	)	)	PUNCT
esrj-100518	94	5	where	where	SCONJ
esrj-100518	94	6	,	,	PUNCT
esrj-100518	94	7	nɡ	nɡ	PROPN
esrj-100518	94	8	:	:	PUNCT
esrj-100518	94	9	the	the	DET
esrj-100518	94	10	position	position	NOUN
esrj-100518	94	11	error	error	NOUN
esrj-100518	94	12	of	of	ADP
esrj-100518	94	13	gnss	gnss	NOUN
esrj-100518	95	1	mɡ	mɡ	PROPN
esrj-100518	95	2	:	:	PUNCT
esrj-100518	95	3	the	the	DET
esrj-100518	95	4	velocity	velocity	NOUN
esrj-100518	95	5	error	error	NOUN
esrj-100518	95	6	of	of	ADP
esrj-100518	95	7	gnss	gnss	NOUN
esrj-100518	95	8	hp	hp	PROPN
esrj-100518	95	9	,	,	PUNCT
esrj-100518	95	10	hv	hv	PROPN
esrj-100518	95	11	:	:	PUNCT
esrj-100518	95	12	state	state	NOUN
esrj-100518	95	13	space	space	NOUN
esrj-100518	95	14	transformation	transformation	NOUN
esrj-100518	95	15	matrices	matrix	NOUN
esrj-100518	95	16	vk	vk	VERB
esrj-100518	95	17	:	:	PUNCT
esrj-100518	95	18	the	the	DET
esrj-100518	95	19	measurement	measurement	NOUN
esrj-100518	95	20	error	error	NOUN
esrj-100518	95	21	is	be	AUX
esrj-100518	95	22	considered	consider	VERB
esrj-100518	95	23	as	as	ADP
esrj-100518	95	24	white	white	ADJ
esrj-100518	95	25	noise	noise	NOUN
esrj-100518	95	26	,	,	PUNCT
esrj-100518	95	27	i.e.	i.e.	X
esrj-100518	95	28	,	,	PUNCT
esrj-100518	95	29	e(vk	e(vk	PROPN
esrj-100518	95	30	)	)	PUNCT
esrj-100518	95	31	=	=	SYM
esrj-100518	96	1	0	0	X
esrj-100518	96	2	.	.	PUNCT
esrj-100518	97	1	its	its	PRON
esrj-100518	97	2	covariance	covariance	NOUN
esrj-100518	97	3	rk	rk	NOUN
esrj-100518	97	4	can	can	AUX
esrj-100518	97	5	be	be	AUX
esrj-100518	97	6	estimated	estimate	VERB
esrj-100518	97	7	as	as	ADP
esrj-100518	97	8	rk	rk	PROPN
esrj-100518	97	9	=	=	SYM
esrj-100518	97	10	e(vk	e(vk	PROPN
esrj-100518	97	11	vk	vk	PROPN
esrj-100518	97	12	t	t	PROPN
esrj-100518	97	13	)	)	PUNCT
esrj-100518	97	14	.	.	PUNCT
esrj-100518	98	1	zk	zk	INTJ
esrj-100518	98	2	:	:	PUNCT
esrj-100518	99	1	the	the	DET
esrj-100518	99	2	position	position	NOUN
esrj-100518	99	3	and	and	CCONJ
esrj-100518	99	4	velocity	velocity	NOUN
esrj-100518	99	5	difference	difference	NOUN
esrj-100518	99	6	between	between	ADP
esrj-100518	99	7	the	the	DET
esrj-100518	99	8	gnss	gnss	NOUN
esrj-100518	99	9	measurements	measurement	NOUN
esrj-100518	99	10	and	and	CCONJ
esrj-100518	99	11	ins	in	NOUN
esrj-100518	99	12	estimation	estimation	NOUN
esrj-100518	99	13	.	.	PUNCT
esrj-100518	100	1	under	under	ADP
esrj-100518	100	2	the	the	DET
esrj-100518	100	3	normal	normal	ADJ
esrj-100518	100	4	cases	case	NOUN
esrj-100518	100	5	,	,	PUNCT
esrj-100518	100	6	there	there	PRON
esrj-100518	100	7	is	be	VERB
esrj-100518	100	8	consistency	consistency	NOUN
esrj-100518	100	9	between	between	ADP
esrj-100518	100	10	the	the	DET
esrj-100518	100	11	position	position	NOUN
esrj-100518	100	12	and	and	CCONJ
esrj-100518	100	13	velocity	velocity	NOUN
esrj-100518	100	14	states	state	NOUN
esrj-100518	100	15	of	of	ADP
esrj-100518	100	16	gnss	gnss	NOUN
esrj-100518	100	17	and	and	CCONJ
esrj-100518	100	18	that	that	PRON
esrj-100518	100	19	of	of	ADP
esrj-100518	100	20	ins	in	NOUN
esrj-100518	100	21	,	,	PUNCT
esrj-100518	100	22	and	and	CCONJ
esrj-100518	100	23	for	for	ADP
esrj-100518	100	24	this	this	DET
esrj-100518	100	25	reason	reason	NOUN
esrj-100518	100	26	,	,	PUNCT
esrj-100518	100	27	the	the	DET
esrj-100518	100	28	position	position	NOUN
esrj-100518	100	29	and	and	CCONJ
esrj-100518	100	30	velocity	velocity	NOUN
esrj-100518	100	31	difference	difference	NOUN
esrj-100518	100	32	zk	zk	PROPN
esrj-100518	100	33	is	be	AUX
esrj-100518	100	34	small	small	ADJ
esrj-100518	100	35	,	,	PUNCT
esrj-100518	100	36	equal	equal	ADJ
esrj-100518	100	37	to	to	ADP
esrj-100518	100	38	the	the	DET
esrj-100518	100	39	sum	sum	NOUN
esrj-100518	100	40	of	of	ADP
esrj-100518	100	41	gnss	gnss	NOUN
esrj-100518	100	42	noise	noise	NOUN
esrj-100518	100	43	and	and	CCONJ
esrj-100518	100	44	ins	in	NOUN
esrj-100518	100	45	errors	error	NOUN
esrj-100518	100	46	,	,	PUNCT
esrj-100518	100	47	i.e.	i.e.	X
esrj-100518	100	48	,	,	PUNCT
esrj-100518	100	49	zk	zk	PROPN
esrj-100518	100	50	=	=	SYM
esrj-100518	100	51	vk	vk	PROPN
esrj-100518	100	52	(	(	PUNCT
esrj-100518	100	53	xu	xu	INTJ
esrj-100518	100	54	et	et	PROPN
esrj-100518	100	55	al	al	PROPN
esrj-100518	100	56	.	.	PROPN
esrj-100518	100	57	,	,	PUNCT
esrj-100518	100	58	2018	2018	NUM
esrj-100518	100	59	)	)	PUNCT
esrj-100518	100	60	.	.	PUNCT
esrj-100518	101	1	the	the	DET
esrj-100518	101	2	item	item	NOUN
esrj-100518	101	3	zk	zk	PROPN
esrj-100518	101	4	is	be	AUX
esrj-100518	101	5	gnss	gnss	NOUN
esrj-100518	101	6	noise	noise	NOUN
esrj-100518	101	7	when	when	SCONJ
esrj-100518	101	8	all	all	DET
esrj-100518	101	9	ins	in	NOUN
esrj-100518	101	10	errors	error	NOUN
esrj-100518	101	11	are	be	AUX
esrj-100518	101	12	corrected	correct	VERB
esrj-100518	101	13	.	.	PUNCT
esrj-100518	102	1	the	the	DET
esrj-100518	102	2	velocity	velocity	NOUN
esrj-100518	102	3	difference	difference	NOUN
esrj-100518	102	4	δv	δv	ADV
esrj-100518	102	5	is	be	AUX
esrj-100518	102	6	optional	optional	ADJ
esrj-100518	102	7	in	in	ADP
esrj-100518	102	8	some	some	DET
esrj-100518	102	9	lc	lc	NOUN
esrj-100518	102	10	integration	integration	NOUN
esrj-100518	102	11	systems	system	NOUN
esrj-100518	102	12	(	(	PUNCT
esrj-100518	102	13	falco	falco	PROPN
esrj-100518	102	14	et	et	PROPN
esrj-100518	102	15	al	al	PROPN
esrj-100518	102	16	.	.	PROPN
esrj-100518	102	17	,	,	PUNCT
esrj-100518	102	18	2017	2017	NUM
esrj-100518	102	19	)	)	PUNCT
esrj-100518	102	20	.	.	PUNCT
esrj-100518	103	1	the	the	DET
esrj-100518	103	2	gnss	gnss	NOUN
esrj-100518	103	3	/	/	SYM
esrj-100518	103	4	ins	in	NOUN
esrj-100518	103	5	integration	integration	NOUN
esrj-100518	103	6	system	system	NOUN
esrj-100518	103	7	becomes	become	VERB
esrj-100518	103	8	integrated	integrate	VERB
esrj-100518	103	9	with	with	ADP
esrj-100518	103	10	position	position	NOUN
esrj-100518	103	11	fusion	fusion	NOUN
esrj-100518	103	12	,	,	PUNCT
esrj-100518	103	13	and	and	CCONJ
esrj-100518	103	14	the	the	DET
esrj-100518	103	15	measurement	measurement	NOUN
esrj-100518	103	16	model	model	NOUN
esrj-100518	103	17	becomes	become	VERB
esrj-100518	103	18	zk	zk	PROPN
esrj-100518	103	19	=	=	SYM
esrj-100518	103	20	hp	hp	PROPN
esrj-100518	103	21	,	,	PUNCT
esrj-100518	103	22	kxk	kxk	NOUN
esrj-100518	103	23	+	+	CCONJ
esrj-100518	103	24	nɡ	nɡ	NOUN
esrj-100518	103	25	,	,	PUNCT
esrj-100518	103	26	k	k	PROPN
esrj-100518	104	1	(	(	PUNCT
esrj-100518	104	2	xu	xu	INTJ
esrj-100518	104	3	et	et	PROPN
esrj-100518	104	4	al	al	PROPN
esrj-100518	104	5	.	.	PROPN
esrj-100518	104	6	,	,	PUNCT
esrj-100518	104	7	2018	2018	NUM
esrj-100518	104	8	)	)	PUNCT
esrj-100518	104	9	.	.	PUNCT
esrj-100518	105	1	details	detail	NOUN
esrj-100518	105	2	about	about	ADP
esrj-100518	105	3	the	the	DET
esrj-100518	105	4	lc	lc	PROPN
esrj-100518	105	5	integration	integration	NOUN
esrj-100518	105	6	model	model	NOUN
esrj-100518	105	7	can	can	AUX
esrj-100518	105	8	be	be	AUX
esrj-100518	105	9	found	find	VERB
esrj-100518	105	10	in	in	ADP
esrj-100518	105	11	(	(	PUNCT
esrj-100518	105	12	hol	hol	NOUN
esrj-100518	105	13	,	,	PUNCT
esrj-100518	105	14	j.	j.	PROPN
esrj-100518	105	15	d.	d.	PROPN
esrj-100518	105	16	2011	2011	NUM
esrj-100518	105	17	,	,	PUNCT
esrj-100518	105	18	qin	qin	PROPN
esrj-100518	105	19	et	et	PROPN
esrj-100518	105	20	al	al	PROPN
esrj-100518	105	21	.	.	PROPN
esrj-100518	105	22	,	,	PUNCT
esrj-100518	105	23	2015	2015	NUM
esrj-100518	105	24	)	)	PUNCT
esrj-100518	105	25	.	.	PUNCT
esrj-100518	106	1	4	4	X
esrj-100518	106	2	.	.	X
esrj-100518	106	3	study	study	NOUN
esrj-100518	106	4	area	area	NOUN
esrj-100518	106	5	in	in	ADP
esrj-100518	106	6	this	this	DET
esrj-100518	106	7	study	study	NOUN
esrj-100518	106	8	,	,	PUNCT
esrj-100518	106	9	the	the	DET
esrj-100518	106	10	data	datum	NOUN
esrj-100518	106	11	were	be	AUX
esrj-100518	106	12	collected	collect	VERB
esrj-100518	106	13	by	by	ADP
esrj-100518	106	14	using	use	VERB
esrj-100518	106	15	a	a	DET
esrj-100518	106	16	gnss	gnss	NOUN
esrj-100518	106	17	receiver	receiver	NOUN
esrj-100518	106	18	and	and	CCONJ
esrj-100518	106	19	an	an	DET
esrj-100518	106	20	imu	imu	NOUN
esrj-100518	106	21	sensor	sensor	NOUN
esrj-100518	106	22	mounted	mount	VERB
esrj-100518	106	23	on	on	ADP
esrj-100518	106	24	a	a	DET
esrj-100518	106	25	three	three	NUM
esrj-100518	106	26	-	-	PUNCT
esrj-100518	106	27	wheel	wheel	NOUN
esrj-100518	106	28	hand	hand	NOUN
esrj-100518	106	29	pushcart	pushcart	NOUN
esrj-100518	106	30	(	(	PUNCT
esrj-100518	106	31	carrier	carrier	NOUN
esrj-100518	106	32	platform	platform	NOUN
esrj-100518	106	33	)	)	PUNCT
esrj-100518	106	34	in	in	ADP
esrj-100518	106	35	the	the	DET
esrj-100518	106	36	yildiz	yildiz	PROPN
esrj-100518	106	37	technical	technical	PROPN
esrj-100518	106	38	university	university	PROPN
esrj-100518	106	39	,	,	PUNCT
esrj-100518	106	40	davutpasa	davutpasa	NOUN
esrj-100518	106	41	campus	campus	NOUN
esrj-100518	106	42	in	in	ADP
esrj-100518	106	43	2018	2018	NUM
esrj-100518	106	44	(	(	PUNCT
esrj-100518	106	45	doy	doy	X
esrj-100518	106	46	:	:	PUNCT
esrj-100518	106	47	137	137	NUM
esrj-100518	106	48	)	)	PUNCT
esrj-100518	106	49	.	.	PUNCT
esrj-100518	107	1	the	the	DET
esrj-100518	107	2	test	test	NOUN
esrj-100518	107	3	environments	environment	NOUN
esrj-100518	107	4	are	be	AUX
esrj-100518	107	5	shown	show	VERB
esrj-100518	107	6	in	in	ADP
esrj-100518	107	7	figure	figure	NOUN
esrj-100518	107	8	1	1	NUM
esrj-100518	107	9	.	.	PUNCT
esrj-100518	108	1	the	the	DET
esrj-100518	108	2	campus	campus	NOUN
esrj-100518	108	3	features	feature	VERB
esrj-100518	108	4	medium	medium	ADJ
esrj-100518	108	5	-	-	PUNCT
esrj-100518	108	6	sized	sized	ADJ
esrj-100518	108	7	buildings	building	NOUN
esrj-100518	108	8	that	that	PRON
esrj-100518	108	9	create	create	VERB
esrj-100518	108	10	lower	low	ADJ
esrj-100518	108	11	elevation	elevation	NOUN
esrj-100518	108	12	angles	angle	NOUN
esrj-100518	108	13	relative	relative	ADJ
esrj-100518	108	14	to	to	ADP
esrj-100518	108	15	dense	dense	ADJ
esrj-100518	108	16	urban	urban	ADJ
esrj-100518	108	17	areas	area	NOUN
esrj-100518	108	18	,	,	PUNCT
esrj-100518	108	19	and	and	CCONJ
esrj-100518	108	20	trees	tree	NOUN
esrj-100518	108	21	on	on	ADP
esrj-100518	108	22	both	both	DET
esrj-100518	108	23	sides	side	NOUN
esrj-100518	108	24	mainly	mainly	ADV
esrj-100518	108	25	cover	cover	VERB
esrj-100518	108	26	the	the	DET
esrj-100518	108	27	roads	road	NOUN
esrj-100518	108	28	.	.	PUNCT
esrj-100518	109	1	the	the	DET
esrj-100518	109	2	test	test	NOUN
esrj-100518	109	3	was	be	AUX
esrj-100518	109	4	conducted	conduct	VERB
esrj-100518	109	5	in	in	ADP
esrj-100518	109	6	two	two	NUM
esrj-100518	109	7	different	different	ADJ
esrj-100518	109	8	areas	area	NOUN
esrj-100518	109	9	;	;	PUNCT
esrj-100518	109	10	a	a	DET
esrj-100518	109	11	wooded	woode	VERB
esrj-100518	109	12	area	area	NOUN
esrj-100518	109	13	where	where	SCONJ
esrj-100518	109	14	the	the	DET
esrj-100518	109	15	gnss	gnss	NOUN
esrj-100518	109	16	signals	signal	NOUN
esrj-100518	109	17	are	be	AUX
esrj-100518	109	18	partly	partly	ADV
esrj-100518	109	19	interrupted	interrupted	ADJ
esrj-100518	109	20	due	due	ADP
esrj-100518	109	21	to	to	ADP
esrj-100518	109	22	trees	tree	NOUN
esrj-100518	109	23	around	around	ADP
esrj-100518	109	24	it	it	PRON
esrj-100518	109	25	and	and	CCONJ
esrj-100518	109	26	an	an	DET
esrj-100518	109	27	urban	urban	ADJ
esrj-100518	109	28	area	area	NOUN
esrj-100518	109	29	where	where	SCONJ
esrj-100518	109	30	gnss	gnss	NOUN
esrj-100518	109	31	signals	signal	NOUN
esrj-100518	109	32	are	be	AUX
esrj-100518	109	33	heavily	heavily	ADV
esrj-100518	109	34	interrupted	interrupted	ADJ
esrj-100518	109	35	by	by	ADP
esrj-100518	109	36	the	the	DET
esrj-100518	109	37	buildings	building	NOUN
esrj-100518	109	38	and	and	CCONJ
esrj-100518	109	39	the	the	DET
esrj-100518	109	40	footbridges	footbridge	NOUN
esrj-100518	109	41	between	between	ADP
esrj-100518	109	42	the	the	DET
esrj-100518	109	43	buildings	building	NOUN
esrj-100518	109	44	.	.	PUNCT
esrj-100518	110	1	the	the	DET
esrj-100518	110	2	roads	road	NOUN
esrj-100518	110	3	in	in	ADP
esrj-100518	110	4	the	the	DET
esrj-100518	110	5	test	test	NOUN
esrj-100518	110	6	environments	environment	NOUN
esrj-100518	110	7	are	be	AUX
esrj-100518	110	8	smooth	smooth	ADJ
esrj-100518	110	9	and	and	CCONJ
esrj-100518	110	10	are	be	AUX
esrj-100518	110	11	not	not	PART
esrj-100518	110	12	be	be	AUX
esrj-100518	110	13	exposed	expose	VERB
esrj-100518	110	14	to	to	ADP
esrj-100518	110	15	high	high	ADJ
esrj-100518	110	16	vibration	vibration	NOUN
esrj-100518	110	17	-	-	PUNCT
esrj-100518	110	18	effect	effect	NOUN
esrj-100518	110	19	.	.	PUNCT
esrj-100518	111	1	5	5	X
esrj-100518	111	2	.	.	X
esrj-100518	111	3	data	datum	NOUN
esrj-100518	111	4	collection	collection	NOUN
esrj-100518	111	5	and	and	CCONJ
esrj-100518	111	6	processing	process	VERB
esrj-100518	111	7	the	the	DET
esrj-100518	111	8	data	data	NOUN
esrj-100518	111	9	collection	collection	NOUN
esrj-100518	111	10	vehicle	vehicle	NOUN
esrj-100518	111	11	is	be	AUX
esrj-100518	111	12	shown	show	VERB
esrj-100518	111	13	in	in	ADP
esrj-100518	111	14	figure	figure	NOUN
esrj-100518	111	15	2	2	NUM
esrj-100518	111	16	.	.	PUNCT
esrj-100518	112	1	a	a	DET
esrj-100518	112	2	topcon	topcon	PROPN
esrj-100518	112	3	hyperpro	hyperpro	ADJ
esrj-100518	112	4	dual	dual	ADJ
esrj-100518	112	5	-	-	PUNCT
esrj-100518	112	6	frequency	frequency	NOUN
esrj-100518	112	7	gnss	gnss	NOUN
esrj-100518	112	8	receiver	receiver	NOUN
esrj-100518	112	9	and	and	CCONJ
esrj-100518	112	10	a	a	DET
esrj-100518	112	11	high	high	ADJ
esrj-100518	112	12	-	-	PUNCT
esrj-100518	112	13	precision	precision	NOUN
esrj-100518	112	14	xsens	xsen	NOUN
esrj-100518	112	15	mti	mti	NOUN
esrj-100518	112	16	-	-	PUNCT
esrj-100518	112	17	g-700	g-700	VERB
esrj-100518	112	18	imu	imu	NOUN
esrj-100518	112	19	were	be	AUX
esrj-100518	112	20	used	use	VERB
esrj-100518	112	21	in	in	ADP
esrj-100518	112	22	this	this	DET
esrj-100518	112	23	study	study	NOUN
esrj-100518	112	24	.	.	PUNCT
esrj-100518	113	1	in	in	ADP
esrj-100518	113	2	addition	addition	NOUN
esrj-100518	113	3	,	,	PUNCT
esrj-100518	113	4	raw	raw	ADJ
esrj-100518	113	5	data	datum	NOUN
esrj-100518	113	6	were	be	AUX
esrj-100518	113	7	received	receive	VERB
esrj-100518	113	8	and	and	CCONJ
esrj-100518	113	9	stored	store	VERB
esrj-100518	113	10	on	on	ADP
esrj-100518	113	11	a	a	DET
esrj-100518	113	12	laptop	laptop	NOUN
esrj-100518	113	13	.	.	PUNCT
esrj-100518	114	1	mti	mti	NOUN
esrj-100518	114	2	-	-	PUNCT
esrj-100518	114	3	g-700	g-700	NOUN
esrj-100518	114	4	sensor	sensor	NOUN
esrj-100518	114	5	generates	generate	VERB
esrj-100518	114	6	the	the	DET
esrj-100518	114	7	accelerometer	accelerometer	NOUN
esrj-100518	114	8	and	and	CCONJ
esrj-100518	114	9	gyroscope	gyroscope	NOUN
esrj-100518	114	10	data	datum	NOUN
esrj-100518	114	11	.	.	PUNCT
esrj-100518	115	1	the	the	DET
esrj-100518	115	2	technical	technical	ADJ
esrj-100518	115	3	characteristics	characteristic	NOUN
esrj-100518	115	4	of	of	ADP
esrj-100518	115	5	the	the	DET
esrj-100518	115	6	imu	imu	NOUN
esrj-100518	115	7	and	and	CCONJ
esrj-100518	115	8	gnss	gnss	NOUN
esrj-100518	115	9	receiver	receiver	NOUN
esrj-100518	115	10	are	be	AUX
esrj-100518	115	11	shown	show	VERB
esrj-100518	115	12	in	in	ADP
esrj-100518	115	13	table	table	NOUN
esrj-100518	115	14	1	1	NUM
esrj-100518	115	15	.	.	PUNCT
esrj-100518	116	1	the	the	DET
esrj-100518	116	2	data	datum	NOUN
esrj-100518	116	3	sampling	sample	VERB
esrj-100518	116	4	rates	rate	NOUN
esrj-100518	116	5	of	of	ADP
esrj-100518	116	6	the	the	DET
esrj-100518	116	7	gnss	gnss	NOUN
esrj-100518	116	8	and	and	CCONJ
esrj-100518	116	9	imu	imu	NOUN
esrj-100518	116	10	was	be	AUX
esrj-100518	116	11	set	set	VERB
esrj-100518	116	12	to	to	ADP
esrj-100518	116	13	10	10	NUM
esrj-100518	116	14	hz	hz	VERB
esrj-100518	116	15	and	and	CCONJ
esrj-100518	116	16	400	400	NUM
esrj-100518	116	17	hz	hz	NOUN
esrj-100518	116	18	,	,	PUNCT
esrj-100518	116	19	respectively	respectively	ADV
esrj-100518	116	20	.	.	PUNCT
esrj-100518	117	1	in	in	ADP
esrj-100518	117	2	two	two	NUM
esrj-100518	117	3	test	test	NOUN
esrj-100518	117	4	environments	environment	NOUN
esrj-100518	117	5	,	,	PUNCT
esrj-100518	117	6	data	datum	NOUN
esrj-100518	117	7	were	be	AUX
esrj-100518	117	8	collected	collect	VERB
esrj-100518	117	9	for	for	ADP
esrj-100518	117	10	approximately	approximately	ADV
esrj-100518	117	11	1	1	NUM
esrj-100518	117	12	hour	hour	NOUN
esrj-100518	117	13	.	.	PUNCT
esrj-100518	118	1	in	in	ADP
esrj-100518	118	2	the	the	DET
esrj-100518	118	3	study	study	NOUN
esrj-100518	118	4	,	,	PUNCT
esrj-100518	118	5	the	the	DET
esrj-100518	118	6	20	20	NUM
esrj-100518	118	7	-	-	PUNCT
esrj-100518	118	8	min	min	NOUN
esrj-100518	118	9	duration	duration	NOUN
esrj-100518	118	10	is	be	AUX
esrj-100518	118	11	considered	consider	VERB
esrj-100518	118	12	as	as	ADP
esrj-100518	118	13	convergence	convergence	NOUN
esrj-100518	118	14	time	time	NOUN
esrj-100518	118	15	.	.	PUNCT
esrj-100518	119	1	therefore	therefore	ADV
esrj-100518	119	2	,	,	PUNCT
esrj-100518	119	3	20	20	NUM
esrj-100518	119	4	minutes	minute	NOUN
esrj-100518	119	5	of	of	ADP
esrj-100518	119	6	static	static	ADJ
esrj-100518	119	7	observation	observation	NOUN
esrj-100518	119	8	data	datum	NOUN
esrj-100518	119	9	were	be	AUX
esrj-100518	119	10	collected	collect	VERB
esrj-100518	119	11	before	before	SCONJ
esrj-100518	119	12	the	the	DET
esrj-100518	119	13	vehicle	vehicle	NOUN
esrj-100518	119	14	started	start	VERB
esrj-100518	119	15	moving	move	VERB
esrj-100518	119	16	.	.	PUNCT
esrj-100518	120	1	figure	figure	NOUN
esrj-100518	120	2	1	1	NUM
esrj-100518	120	3	.	.	PUNCT
esrj-100518	120	4	study	study	NOUN
esrj-100518	120	5	areas	area	NOUN
esrj-100518	120	6	(	(	PUNCT
esrj-100518	120	7	blue	blue	ADJ
esrj-100518	120	8	line	line	NOUN
esrj-100518	120	9	:	:	PUNCT
esrj-100518	120	10	wooded	woode	VERB
esrj-100518	120	11	area	area	NOUN
esrj-100518	120	12	;	;	PUNCT
esrj-100518	120	13	red	red	ADJ
esrj-100518	120	14	line	line	NOUN
esrj-100518	120	15	:	:	PUNCT
esrj-100518	120	16	urban	urban	ADJ
esrj-100518	120	17	area	area	NOUN
esrj-100518	120	18	)	)	PUNCT
esrj-100518	120	19	214	214	NUM
esrj-100518	120	20	mert	mert	PROPN
esrj-100518	120	21	gürtürk	gürtürk	NOUN
esrj-100518	120	22	,	,	PUNCT
esrj-100518	120	23	veli	veli	PROPN
esrj-100518	120	24	i̇lçi	i̇lçi	PROPN
esrj-100518	120	25	,	,	PUNCT
esrj-100518	120	26	table	table	NOUN
esrj-100518	120	27	1	1	NUM
esrj-100518	120	28	.	.	PUNCT
esrj-100518	121	1	specifications	specification	NOUN
esrj-100518	121	2	of	of	ADP
esrj-100518	121	3	imu	imu	NOUN
esrj-100518	121	4	and	and	CCONJ
esrj-100518	121	5	gnss	gnss	NOUN
esrj-100518	121	6	receiver	receiver	ADJ
esrj-100518	121	7	dual	dual	ADJ
esrj-100518	121	8	frequency	frequency	NOUN
esrj-100518	121	9	gnss	gnss	NOUN
esrj-100518	121	10	receiver	receiver	NOUN
esrj-100518	121	11	xsens	xsen	VERB
esrj-100518	121	12	mti	mti	PROPN
esrj-100518	121	13	-	-	PUNCT
esrj-100518	121	14	g700	g700	PROPN
esrj-100518	121	15	specifications	specification	NOUN
esrj-100518	121	16	gyroscope	gyroscope	NOUN
esrj-100518	121	17	accelerometer	accelerometer	NOUN
esrj-100518	121	18	static	static	ADJ
esrj-100518	121	19	/	/	SYM
esrj-100518	121	20	fast	fast	ADJ
esrj-100518	121	21	static	static	ADJ
esrj-100518	121	22	h	h	NOUN
esrj-100518	121	23	:	:	PUNCT
esrj-100518	121	24	3.0	3.0	NUM
esrj-100518	121	25	mm+	mm+	NOUN
esrj-100518	121	26	0.4	0.4	NUM
esrj-100518	121	27	ppm	ppm	NOUN
esrj-100518	121	28	drift	drift	NOUN
esrj-100518	121	29	rate	rate	NOUN
esrj-100518	121	30	1	1	NUM
esrj-100518	121	31	deg	deg	NOUN
esrj-100518	121	32	/	/	SYM
esrj-100518	121	33	s	s	PART
esrj-100518	121	34	0.02	0.02	NUM
esrj-100518	121	35	m	m	PROPN
esrj-100518	121	36	/	/	SYM
esrj-100518	121	37	s2	s2	PROPN
esrj-100518	121	38	v	v	ADP
esrj-100518	121	39	:	:	PUNCT
esrj-100518	121	40	5.0	5.0	NUM
esrj-100518	121	41	mm	mm	NOUN
esrj-100518	121	42	+	+	CCONJ
esrj-100518	121	43	0.6	0.6	NUM
esrj-100518	121	44	ppm	ppm	NOUN
esrj-100518	121	45	precision	precision	NOUN
esrj-100518	121	46	static	static	ADJ
esrj-100518	121	47	h	h	NOUN
esrj-100518	121	48	:	:	PUNCT
esrj-100518	121	49	3.0	3.0	NUM
esrj-100518	121	50	mm+	mm+	NOUN
esrj-100518	121	51	0.1	0.1	NUM
esrj-100518	121	52	ppm	ppm	NOUN
esrj-100518	121	53	noise	noise	NOUN
esrj-100518	121	54	0.05	0.05	NUM
esrj-100518	121	55	deg	deg	NOUN
esrj-100518	121	56	/	/	SYM
esrj-100518	121	57	s/√hz	s/√hz	PROPN
esrj-100518	121	58	0.002	0.002	NUM
esrj-100518	121	59	deg	deg	PROPN
esrj-100518	121	60	/	/	SYM
esrj-100518	121	61	s/√hz	s/√hz	PROPN
esrj-100518	121	62	v	v	NOUN
esrj-100518	121	63	:	:	PUNCT
esrj-100518	121	64	3.5	3.5	NUM
esrj-100518	121	65	mm	mm	NOUN
esrj-100518	121	66	+	+	NUM
esrj-100518	121	67	0.4	0.4	NUM
esrj-100518	121	68	ppm	ppm	PROPN
esrj-100518	121	69	rtk	rtk	PROPN
esrj-100518	121	70	(	(	PUNCT
esrj-100518	121	71	l1	l1	PROPN
esrj-100518	121	72	+	+	NOUN
esrj-100518	121	73	l2	l2	PROPN
esrj-100518	121	74	)	)	PUNCT
esrj-100518	121	75	h	h	NOUN
esrj-100518	121	76	:	:	PUNCT
esrj-100518	121	77	10	10	NUM
esrj-100518	121	78	mm+	mm+	NOUN
esrj-100518	121	79	0.8	0.8	NUM
esrj-100518	121	80	ppm	ppm	NOUN
esrj-100518	121	81	bandwidth	bandwidth	NOUN
esrj-100518	121	82	40	40	NUM
esrj-100518	121	83	hz	hz	VERB
esrj-100518	121	84	30	30	NUM
esrj-100518	121	85	hz	hz	VERB
esrj-100518	121	86	v	v	NOUN
esrj-100518	121	87	:	:	PUNCT
esrj-100518	121	88	15	15	NUM
esrj-100518	121	89	mm	mm	NOUN
esrj-100518	121	90	+	+	NUM
esrj-100518	121	91	1.0	1.0	NUM
esrj-100518	121	92	ppm	ppm	NOUN
esrj-100518	121	93	dgps	dgps	PROPN
esrj-100518	121	94	h	h	NOUN
esrj-100518	121	95	:	:	PUNCT
esrj-100518	121	96	0.4	0.4	NUM
esrj-100518	121	97	m+	m+	NUM
esrj-100518	121	98	0.6	0.6	NUM
esrj-100518	121	99	m	m	NOUN
esrj-100518	121	100	misalignment	misalignment	NOUN
esrj-100518	121	101	0.1	0.1	NUM
esrj-100518	121	102	deg	deg	NOUN
esrj-100518	121	103	0.1	0.1	NUM
esrj-100518	121	104	deg	deg	NOUN
esrj-100518	121	105	scale	scale	NOUN
esrj-100518	121	106	factor	factor	NOUN
esrj-100518	121	107	˗˗˗˗	˗˗˗˗	NUM
esrj-100518	121	108	0.03	0.03	NUM
esrj-100518	121	109	%	%	NOUN
esrj-100518	121	110	figure	figure	NOUN
esrj-100518	121	111	2	2	NUM
esrj-100518	121	112	.	.	PUNCT
esrj-100518	121	113	data	datum	NOUN
esrj-100518	121	114	collection	collection	NOUN
esrj-100518	121	115	vehicle	vehicle	NOUN
esrj-100518	121	116	(	(	PUNCT
esrj-100518	121	117	a	a	X
esrj-100518	121	118	)	)	PUNCT
esrj-100518	121	119	wooded	woode	VERB
esrj-100518	121	120	-	-	PUNCT
esrj-100518	121	121	area	area	NOUN
esrj-100518	121	122	;	;	PUNCT
esrj-100518	121	123	b	b	X
esrj-100518	121	124	)	)	PUNCT
esrj-100518	121	125	urban	urban	ADJ
esrj-100518	121	126	area	area	NOUN
esrj-100518	121	127	)	)	PUNCT
esrj-100518	121	128	all	all	DET
esrj-100518	121	129	the	the	DET
esrj-100518	121	130	processes	process	NOUN
esrj-100518	121	131	were	be	AUX
esrj-100518	121	132	conducted	conduct	VERB
esrj-100518	121	133	using	use	VERB
esrj-100518	121	134	inertial	inertial	ADJ
esrj-100518	121	135	explorer	explorer	NOUN
esrj-100518	121	136	post	post	ADJ
esrj-100518	121	137	-	-	ADJ
esrj-100518	121	138	processing	processing	ADJ
esrj-100518	121	139	software	software	NOUN
esrj-100518	121	140	developed	develop	VERB
esrj-100518	121	141	by	by	ADP
esrj-100518	121	142	novatel	novatel	PROPN
esrj-100518	121	143	.	.	PUNCT
esrj-100518	122	1	the	the	DET
esrj-100518	122	2	collected	collect	VERB
esrj-100518	122	3	gnss	gnss	NOUN
esrj-100518	122	4	data	datum	NOUN
esrj-100518	122	5	was	be	AUX
esrj-100518	122	6	processed	process	VERB
esrj-100518	122	7	using	use	VERB
esrj-100518	122	8	post	post	ADJ
esrj-100518	122	9	-	-	ADJ
esrj-100518	122	10	process	process	ADJ
esrj-100518	122	11	kinematic	kinematic	NOUN
esrj-100518	122	12	(	(	PUNCT
esrj-100518	122	13	ppk	ppk	NOUN
esrj-100518	122	14	)	)	PUNCT
esrj-100518	122	15	and	and	CCONJ
esrj-100518	122	16	precise	precise	ADJ
esrj-100518	122	17	point	point	NOUN
esrj-100518	122	18	positioning	positioning	NOUN
esrj-100518	122	19	(	(	PUNCT
esrj-100518	122	20	ppp	ppp	NOUN
esrj-100518	122	21	)	)	PUNCT
esrj-100518	122	22	techniques	technique	NOUN
esrj-100518	122	23	in	in	ADP
esrj-100518	122	24	both	both	PRON
esrj-100518	122	25	only	only	ADJ
esrj-100518	122	26	gps	gps	NOUN
esrj-100518	122	27	signals	signal	NOUN
esrj-100518	122	28	and	and	CCONJ
esrj-100518	122	29	gps	gps	PROPN
esrj-100518	122	30	/	/	SYM
esrj-100518	122	31	glonass	glonass	NOUN
esrj-100518	122	32	(	(	PUNCT
esrj-100518	122	33	gnss	gnss	NOUN
esrj-100518	122	34	)	)	PUNCT
esrj-100518	122	35	multi	multi	ADJ
esrj-100518	122	36	-	-	ADJ
esrj-100518	122	37	constellation	constellation	ADJ
esrj-100518	122	38	satellite	satellite	NOUN
esrj-100518	122	39	system	system	NOUN
esrj-100518	122	40	signals	signal	NOUN
esrj-100518	122	41	.	.	PUNCT
esrj-100518	123	1	the	the	DET
esrj-100518	123	2	yldz	yldz	PROPN
esrj-100518	123	3	base	base	NOUN
esrj-100518	123	4	station	station	NOUN
esrj-100518	123	5	(	(	PUNCT
esrj-100518	123	6	located	locate	VERB
esrj-100518	123	7	on	on	ADP
esrj-100518	123	8	the	the	DET
esrj-100518	123	9	roof	roof	NOUN
esrj-100518	123	10	of	of	ADP
esrj-100518	123	11	the	the	DET
esrj-100518	123	12	yildiz	yildiz	PROPN
esrj-100518	123	13	technical	technical	PROPN
esrj-100518	123	14	university	university	PROPN
esrj-100518	123	15	,	,	PUNCT
esrj-100518	123	16	civil	civil	ADJ
esrj-100518	123	17	engineering	engineering	NOUN
esrj-100518	123	18	faculty	faculty	NOUN
esrj-100518	123	19	)	)	PUNCT
esrj-100518	123	20	data	datum	NOUN
esrj-100518	123	21	of	of	ADP
esrj-100518	123	22	the	the	DET
esrj-100518	123	23	related	relate	VERB
esrj-100518	123	24	test	test	NOUN
esrj-100518	123	25	dates	date	NOUN
esrj-100518	123	26	were	be	AUX
esrj-100518	123	27	used	use	VERB
esrj-100518	123	28	as	as	ADP
esrj-100518	123	29	the	the	DET
esrj-100518	123	30	reference	reference	NOUN
esrj-100518	123	31	in	in	ADP
esrj-100518	123	32	the	the	DET
esrj-100518	123	33	ppk	ppk	NOUN
esrj-100518	123	34	processes	process	NOUN
esrj-100518	123	35	.	.	PUNCT
esrj-100518	124	1	the	the	DET
esrj-100518	124	2	maximum	maximum	ADJ
esrj-100518	124	3	distances	distance	NOUN
esrj-100518	124	4	of	of	ADP
esrj-100518	124	5	the	the	DET
esrj-100518	124	6	yldz	yldz	PROPN
esrj-100518	124	7	base	base	NOUN
esrj-100518	124	8	station	station	NOUN
esrj-100518	124	9	to	to	ADP
esrj-100518	124	10	the	the	DET
esrj-100518	124	11	wooded	woode	VERB
esrj-100518	124	12	and	and	CCONJ
esrj-100518	124	13	urban	urban	ADJ
esrj-100518	124	14	areas	area	NOUN
esrj-100518	124	15	are	be	AUX
esrj-100518	124	16	280	280	NUM
esrj-100518	124	17	m	m	NOUN
esrj-100518	124	18	and	and	CCONJ
esrj-100518	124	19	160	160	NUM
esrj-100518	124	20	m	m	NOUN
esrj-100518	124	21	,	,	PUNCT
esrj-100518	124	22	respectively	respectively	ADV
esrj-100518	124	23	.	.	PUNCT
esrj-100518	125	1	in	in	ADP
esrj-100518	125	2	gps	gps	PROPN
esrj-100518	125	3	-	-	PUNCT
esrj-100518	125	4	only	only	ADV
esrj-100518	125	5	and	and	CCONJ
esrj-100518	125	6	gnss	gnss	NOUN
esrj-100518	125	7	processes	process	NOUN
esrj-100518	125	8	in	in	ADP
esrj-100518	125	9	both	both	PRON
esrj-100518	125	10	ppk	ppk	NOUN
esrj-100518	125	11	and	and	CCONJ
esrj-100518	125	12	ppp	ppp	NOUN
esrj-100518	125	13	methodologies	methodology	NOUN
esrj-100518	125	14	,	,	PUNCT
esrj-100518	125	15	the	the	DET
esrj-100518	125	16	cut	cut	VERB
esrj-100518	125	17	-	-	PUNCT
esrj-100518	125	18	off	off	ADP
esrj-100518	125	19	angle	angle	NOUN
esrj-100518	125	20	and	and	CCONJ
esrj-100518	125	21	data	datum	NOUN
esrj-100518	125	22	processing	processing	NOUN
esrj-100518	125	23	intervals	interval	NOUN
esrj-100518	125	24	were	be	AUX
esrj-100518	125	25	set	set	VERB
esrj-100518	125	26	to	to	ADP
esrj-100518	125	27	10	10	NUM
esrj-100518	125	28	degrees	degree	NOUN
esrj-100518	125	29	and	and	CCONJ
esrj-100518	125	30	0.1	0.1	NUM
esrj-100518	125	31	seconds	second	NOUN
esrj-100518	125	32	,	,	PUNCT
esrj-100518	125	33	respectively	respectively	ADV
esrj-100518	125	34	.	.	PUNCT
esrj-100518	126	1	then	then	ADV
esrj-100518	126	2	,	,	PUNCT
esrj-100518	126	3	these	these	DET
esrj-100518	126	4	ppk	ppk	NOUN
esrj-100518	126	5	and	and	CCONJ
esrj-100518	126	6	ppp	ppp	PROPN
esrj-100518	126	7	solutions	solution	NOUN
esrj-100518	126	8	were	be	AUX
esrj-100518	126	9	separately	separately	ADV
esrj-100518	126	10	combined	combine	VERB
esrj-100518	126	11	with	with	ADP
esrj-100518	126	12	the	the	DET
esrj-100518	126	13	400	400	NUM
esrj-100518	126	14	hz	hz	NOUN
esrj-100518	126	15	imu	imu	NOUN
esrj-100518	126	16	data	datum	NOUN
esrj-100518	126	17	using	use	VERB
esrj-100518	126	18	the	the	DET
esrj-100518	126	19	lc	lc	PROPN
esrj-100518	126	20	algorithm	algorithm	NOUN
esrj-100518	126	21	.	.	PUNCT
esrj-100518	127	1	all	all	DET
esrj-100518	127	2	these	these	DET
esrj-100518	127	3	procedures	procedure	NOUN
esrj-100518	127	4	were	be	AUX
esrj-100518	127	5	repeated	repeat	VERB
esrj-100518	127	6	for	for	ADP
esrj-100518	127	7	wooded	woode	VERB
esrj-100518	127	8	and	and	CCONJ
esrj-100518	127	9	urban	urban	ADJ
esrj-100518	127	10	areas	area	NOUN
esrj-100518	127	11	,	,	PUNCT
esrj-100518	127	12	and	and	CCONJ
esrj-100518	127	13	the	the	DET
esrj-100518	127	14	results	result	NOUN
esrj-100518	127	15	were	be	AUX
esrj-100518	127	16	exported	export	VERB
esrj-100518	127	17	in	in	ADP
esrj-100518	127	18	10	10	NUM
esrj-100518	127	19	hz	hz	ADJ
esrj-100518	127	20	frequencies	frequency	NOUN
esrj-100518	127	21	.	.	PUNCT
esrj-100518	128	1	so	so	ADV
esrj-100518	128	2	,	,	PUNCT
esrj-100518	128	3	eight	eight	NUM
esrj-100518	128	4	different	different	ADJ
esrj-100518	128	5	solutions	solution	NOUN
esrj-100518	128	6	were	be	AUX
esrj-100518	128	7	obtained	obtain	VERB
esrj-100518	128	8	:	:	PUNCT
esrj-100518	128	9	ppk	ppk	NOUN
esrj-100518	128	10	/	/	SYM
esrj-100518	128	11	gps	gps	PROPN
esrj-100518	128	12	,	,	PUNCT
esrj-100518	128	13	ppk	ppk	NOUN
esrj-100518	128	14	/	/	SYM
esrj-100518	128	15	gnss	gnss	NOUN
esrj-100518	128	16	,	,	PUNCT
esrj-100518	128	17	ppp	ppp	NOUN
esrj-100518	128	18	/	/	SYM
esrj-100518	128	19	gps	gps	PROPN
esrj-100518	128	20	,	,	PUNCT
esrj-100518	128	21	ppp	ppp	NOUN
esrj-100518	128	22	/	/	SYM
esrj-100518	128	23	gnss	gnss	NOUN
esrj-100518	128	24	,	,	PUNCT
esrj-100518	128	25	ppk	ppk	NOUN
esrj-100518	128	26	/	/	SYM
esrj-100518	128	27	gpsimu	gpsimu	NOUN
esrj-100518	128	28	,	,	PUNCT
esrj-100518	128	29	ppk	ppk	NOUN
esrj-100518	128	30	/	/	SYM
esrj-100518	128	31	gnss	gnss	NOUN
esrj-100518	128	32	-	-	PUNCT
esrj-100518	128	33	imu	imu	NOUN
esrj-100518	128	34	,	,	PUNCT
esrj-100518	128	35	ppp	ppp	NOUN
esrj-100518	128	36	/	/	SYM
esrj-100518	128	37	gps	gps	PROPN
esrj-100518	128	38	-	-	PUNCT
esrj-100518	128	39	imu	imu	NOUN
esrj-100518	128	40	,	,	PUNCT
esrj-100518	128	41	and	and	CCONJ
esrj-100518	128	42	ppp	ppp	PROPN
esrj-100518	128	43	/	/	SYM
esrj-100518	128	44	gnss	gnss	NOUN
esrj-100518	128	45	-	-	PUNCT
esrj-100518	128	46	imu	imu	NOUN
esrj-100518	128	47	.	.	PUNCT
esrj-100518	129	1	for	for	ADP
esrj-100518	129	2	clarity	clarity	NOUN
esrj-100518	129	3	,	,	PUNCT
esrj-100518	129	4	we	we	PRON
esrj-100518	129	5	grouped	group	VERB
esrj-100518	129	6	the	the	DET
esrj-100518	129	7	solutions	solution	NOUN
esrj-100518	129	8	for	for	ADP
esrj-100518	129	9	the	the	DET
esrj-100518	129	10	aimed	aim	VERB
esrj-100518	129	11	comparisons	comparison	NOUN
esrj-100518	129	12	seen	see	VERB
esrj-100518	129	13	in	in	ADP
esrj-100518	129	14	table	table	NOUN
esrj-100518	129	15	2	2	NUM
esrj-100518	129	16	,	,	PUNCT
esrj-100518	129	17	and	and	CCONJ
esrj-100518	129	18	the	the	DET
esrj-100518	129	19	solutions	solution	NOUN
esrj-100518	129	20	will	will	AUX
esrj-100518	129	21	be	be	AUX
esrj-100518	129	22	named	name	VERB
esrj-100518	129	23	as	as	ADP
esrj-100518	129	24	these	these	DET
esrj-100518	129	25	groups	group	NOUN
esrj-100518	129	26	.	.	PUNCT
esrj-100518	130	1	the	the	DET
esrj-100518	130	2	reference	reference	NOUN
esrj-100518	130	3	solution	solution	NOUN
esrj-100518	130	4	for	for	ADP
esrj-100518	130	5	wooded	woode	VERB
esrj-100518	130	6	and	and	CCONJ
esrj-100518	130	7	urban	urban	ADJ
esrj-100518	130	8	areas	area	NOUN
esrj-100518	130	9	has	have	AUX
esrj-100518	130	10	been	be	AUX
esrj-100518	130	11	provided	provide	VERB
esrj-100518	130	12	by	by	ADP
esrj-100518	130	13	the	the	DET
esrj-100518	130	14	traditional	traditional	ADJ
esrj-100518	130	15	surveying	surveying	NOUN
esrj-100518	130	16	method	method	NOUN
esrj-100518	130	17	,	,	PUNCT
esrj-100518	130	18	which	which	PRON
esrj-100518	130	19	is	be	AUX
esrj-100518	130	20	accurate	accurate	ADJ
esrj-100518	130	21	to	to	ADP
esrj-100518	130	22	1	1	NUM
esrj-100518	130	23	-	-	SYM
esrj-100518	130	24	2	2	NUM
esrj-100518	130	25	centimetres	centimetre	NOUN
esrj-100518	130	26	by	by	ADP
esrj-100518	130	27	using	use	VERB
esrj-100518	130	28	a	a	DET
esrj-100518	130	29	total	total	ADJ
esrj-100518	130	30	station	station	NOUN
esrj-100518	130	31	to	to	PART
esrj-100518	130	32	determine	determine	VERB
esrj-100518	130	33	the	the	DET
esrj-100518	130	34	accuracy	accuracy	NOUN
esrj-100518	130	35	of	of	ADP
esrj-100518	130	36	the	the	DET
esrj-100518	130	37	solutions	solution	NOUN
esrj-100518	130	38	.	.	PUNCT
esrj-100518	131	1	the	the	DET
esrj-100518	131	2	obtained	obtain	VERB
esrj-100518	131	3	processing	processing	NOUN
esrj-100518	131	4	results	result	NOUN
esrj-100518	131	5	were	be	AUX
esrj-100518	131	6	compared	compare	VERB
esrj-100518	131	7	with	with	ADP
esrj-100518	131	8	that	that	PRON
esrj-100518	131	9	of	of	ADP
esrj-100518	131	10	reference	reference	NOUN
esrj-100518	131	11	coordinates	coordinate	NOUN
esrj-100518	131	12	.	.	PUNCT
esrj-100518	132	1	table	table	NOUN
esrj-100518	132	2	2	2	NUM
esrj-100518	132	3	.	.	PUNCT
esrj-100518	132	4	solution	solution	NOUN
esrj-100518	132	5	groups	group	NOUN
esrj-100518	132	6	group	group	PROPN
esrj-100518	132	7	name	name	NOUN
esrj-100518	132	8	test	test	NOUN
esrj-100518	132	9	1	1	NUM
esrj-100518	132	10	(	(	PUNCT
esrj-100518	132	11	satellite	satellite	NOUN
esrj-100518	132	12	-	-	PUNCT
esrj-100518	132	13	based	base	VERB
esrj-100518	132	14	vs.	vs.	X
esrj-100518	132	15	lc	lc	NOUN
esrj-100518	132	16	-	-	PUNCT
esrj-100518	132	17	based	base	VERB
esrj-100518	132	18	)	)	PUNCT
esrj-100518	132	19	satellitebased	satellitebased	ADJ
esrj-100518	132	20	ppk	ppk	PROPN
esrj-100518	132	21	/	/	SYM
esrj-100518	132	22	gps	gps	PROPN
esrj-100518	132	23	ppk	ppk	NOUN
esrj-100518	132	24	/	/	SYM
esrj-100518	132	25	gnss	gnss	NOUN
esrj-100518	132	26	ppp	ppp	NOUN
esrj-100518	132	27	/	/	SYM
esrj-100518	132	28	gps	gps	PROPN
esrj-100518	132	29	ppp/	ppp/	ADJ
esrj-100518	132	30	gnss	gnss	NOUN
esrj-100518	132	31	lc	lc	NOUN
esrj-100518	132	32	-	-	PUNCT
esrj-100518	132	33	based	base	VERB
esrj-100518	132	34	ppk	ppk	NOUN
esrj-100518	132	35	/	/	SYM
esrj-100518	132	36	gpsimu	gpsimu	NOUN
esrj-100518	132	37	ppk	ppk	NOUN
esrj-100518	132	38	/	/	SYM
esrj-100518	132	39	gnssimu	gnssimu	NOUN
esrj-100518	132	40	ppp	ppp	NOUN
esrj-100518	132	41	/	/	SYM
esrj-100518	132	42	gpsimu	gpsimu	NOUN
esrj-100518	132	43	ppp/	ppp/	ADJ
esrj-100518	132	44	gnssimu	gnssimu	NOUN
esrj-100518	132	45	test	test	NOUN
esrj-100518	132	46	2	2	NUM
esrj-100518	132	47	(	(	PUNCT
esrj-100518	132	48	gnss	gnss	NOUN
esrj-100518	132	49	-	-	PUNCT
esrj-100518	132	50	based	base	VERB
esrj-100518	132	51	vs.	vs.	ADP
esrj-100518	132	52	gps	gps	NOUN
esrj-100518	132	53	-	-	PUNCT
esrj-100518	132	54	based	base	VERB
esrj-100518	132	55	)	)	PUNCT
esrj-100518	132	56	gnss	gnss	NOUN
esrj-100518	132	57	-	-	PUNCT
esrj-100518	132	58	based	base	VERB
esrj-100518	132	59	ppk	ppk	NOUN
esrj-100518	132	60	/	/	SYM
esrj-100518	132	61	gnss	gnss	NOUN
esrj-100518	132	62	ppp	ppp	NOUN
esrj-100518	132	63	/	/	SYM
esrj-100518	132	64	gnss	gnss	NOUN
esrj-100518	132	65	ppk	ppk	NOUN
esrj-100518	132	66	/	/	SYM
esrj-100518	132	67	gnssimu	gnssimu	NOUN
esrj-100518	132	68	ppp/	ppp/	VERB
esrj-100518	132	69	gnssimu	gnssimu	NOUN
esrj-100518	132	70	gps	gps	NOUN
esrj-100518	132	71	-	-	PUNCT
esrj-100518	132	72	based	base	VERB
esrj-100518	132	73	ppk	ppk	NOUN
esrj-100518	132	74	/	/	SYM
esrj-100518	132	75	gps	gps	PROPN
esrj-100518	132	76	ppp	ppp	NOUN
esrj-100518	132	77	/	/	SYM
esrj-100518	132	78	gnss	gnss	NOUN
esrj-100518	132	79	ppk	ppk	NOUN
esrj-100518	132	80	/	/	SYM
esrj-100518	132	81	gnssimu	gnssimu	NOUN
esrj-100518	132	82	ppp/	ppp/	ADJ
esrj-100518	132	83	gnssimu	gnssimu	NOUN
esrj-100518	132	84	test	test	NOUN
esrj-100518	132	85	3	3	NUM
esrj-100518	132	86	(	(	PUNCT
esrj-100518	132	87	ppk	ppk	NOUN
esrj-100518	132	88	-	-	PUNCT
esrj-100518	132	89	based	base	VERB
esrj-100518	132	90	vs.	vs.	ADP
esrj-100518	132	91	ppp	ppp	NOUN
esrj-100518	132	92	-	-	PUNCT
esrj-100518	132	93	based	base	VERB
esrj-100518	132	94	)	)	PUNCT
esrj-100518	132	95	ppk	ppk	NOUN
esrj-100518	132	96	-	-	PUNCT
esrj-100518	132	97	based	base	VERB
esrj-100518	132	98	ppk	ppk	NOUN
esrj-100518	132	99	/	/	SYM
esrj-100518	132	100	gps	gps	PROPN
esrj-100518	132	101	ppk	ppk	NOUN
esrj-100518	132	102	/	/	SYM
esrj-100518	132	103	gnss	gnss	NOUN
esrj-100518	132	104	ppk	ppk	NOUN
esrj-100518	132	105	/	/	SYM
esrj-100518	132	106	gpsimu	gpsimu	NOUN
esrj-100518	132	107	ppk/	ppk/	NOUN
esrj-100518	132	108	gnssimu	gnssimu	NOUN
esrj-100518	132	109	ppp	ppp	NOUN
esrj-100518	132	110	-	-	PUNCT
esrj-100518	132	111	based	base	VERB
esrj-100518	132	112	ppp	ppp	NOUN
esrj-100518	132	113	/	/	SYM
esrj-100518	132	114	gps	gps	PROPN
esrj-100518	132	115	ppp	ppp	NOUN
esrj-100518	132	116	/	/	SYM
esrj-100518	132	117	gnss	gnss	NOUN
esrj-100518	132	118	ppp	ppp	NOUN
esrj-100518	132	119	/	/	SYM
esrj-100518	132	120	gpsimu	gpsimu	NOUN
esrj-100518	132	121	ppp/	ppp/	NOUN
esrj-100518	132	122	gnssimu	gnssimu	NOUN
esrj-100518	132	123	215the	215the	DET
esrj-100518	132	124	performance	performance	NOUN
esrj-100518	132	125	evaluation	evaluation	NOUN
esrj-100518	132	126	of	of	ADP
esrj-100518	132	127	ppk	ppk	NOUN
esrj-100518	132	128	and	and	CCONJ
esrj-100518	132	129	ppp	ppp	NOUN
esrj-100518	132	130	-	-	PUNCT
esrj-100518	132	131	based	base	VERB
esrj-100518	132	132	loosely	loosely	ADV
esrj-100518	132	133	coupled	couple	VERB
esrj-100518	132	134	integration	integration	NOUN
esrj-100518	132	135	in	in	ADP
esrj-100518	132	136	wooded	woode	VERB
esrj-100518	132	137	and	and	CCONJ
esrj-100518	132	138	urban	urban	ADJ
esrj-100518	132	139	areas	area	NOUN
esrj-100518	132	140	6	6	NUM
esrj-100518	132	141	.	.	PUNCT
esrj-100518	132	142	results	result	VERB
esrj-100518	132	143	6.1	6.1	NUM
esrj-100518	132	144	.	.	PUNCT
esrj-100518	132	145	wooded	woode	VERB
esrj-100518	132	146	-	-	PUNCT
esrj-100518	132	147	area	area	NOUN
esrj-100518	132	148	test	test	NOUN
esrj-100518	132	149	:	:	PUNCT
esrj-100518	132	150	figure	figure	VERB
esrj-100518	132	151	3	3	NUM
esrj-100518	132	152	depicts	depict	VERB
esrj-100518	132	153	the	the	DET
esrj-100518	132	154	satellite	satellite	NOUN
esrj-100518	132	155	-	-	PUNCT
esrj-100518	132	156	based	base	VERB
esrj-100518	132	157	solutions	solution	NOUN
esrj-100518	132	158	in	in	ADP
esrj-100518	132	159	the	the	DET
esrj-100518	132	160	wooded	woode	VERB
esrj-100518	132	161	area	area	NOUN
esrj-100518	132	162	.	.	PUNCT
esrj-100518	133	1	none	none	NOUN
esrj-100518	133	2	of	of	ADP
esrj-100518	133	3	the	the	DET
esrj-100518	133	4	epochs	epoch	NOUN
esrj-100518	133	5	along	along	ADP
esrj-100518	133	6	the	the	DET
esrj-100518	133	7	trajectory	trajectory	NOUN
esrj-100518	133	8	for	for	ADP
esrj-100518	133	9	these	these	DET
esrj-100518	133	10	four	four	NUM
esrj-100518	133	11	solutions	solution	NOUN
esrj-100518	133	12	is	be	AUX
esrj-100518	133	13	missing	miss	VERB
esrj-100518	133	14	.	.	PUNCT
esrj-100518	134	1	according	accord	VERB
esrj-100518	134	2	to	to	ADP
esrj-100518	134	3	the	the	DET
esrj-100518	134	4	findings	finding	NOUN
esrj-100518	134	5	,	,	PUNCT
esrj-100518	134	6	the	the	DET
esrj-100518	134	7	satellite	satellite	NOUN
esrj-100518	134	8	-	-	PUNCT
esrj-100518	134	9	based	base	VERB
esrj-100518	134	10	solutions	solution	NOUN
esrj-100518	134	11	are	be	AUX
esrj-100518	134	12	quite	quite	ADV
esrj-100518	134	13	near	near	ADJ
esrj-100518	134	14	to	to	ADP
esrj-100518	134	15	the	the	DET
esrj-100518	134	16	reference	reference	NOUN
esrj-100518	134	17	trajectory	trajectory	NOUN
esrj-100518	134	18	through	through	ADP
esrj-100518	134	19	the	the	DET
esrj-100518	134	20	route	route	NOUN
esrj-100518	134	21	.	.	PUNCT
esrj-100518	135	1	figure	figure	NOUN
esrj-100518	135	2	4	4	NUM
esrj-100518	135	3	shows	show	VERB
esrj-100518	135	4	the	the	DET
esrj-100518	135	5	lc	lc	NOUN
esrj-100518	135	6	-	-	PUNCT
esrj-100518	135	7	based	base	VERB
esrj-100518	135	8	solutions	solution	NOUN
esrj-100518	135	9	in	in	ADP
esrj-100518	135	10	the	the	DET
esrj-100518	135	11	wooded	woode	VERB
esrj-100518	135	12	area	area	NOUN
esrj-100518	135	13	.	.	PUNCT
esrj-100518	136	1	it	it	PRON
esrj-100518	136	2	can	can	AUX
esrj-100518	136	3	be	be	AUX
esrj-100518	136	4	observed	observe	VERB
esrj-100518	136	5	that	that	SCONJ
esrj-100518	136	6	lc	lc	NOUN
esrj-100518	136	7	-	-	PUNCT
esrj-100518	136	8	based	base	VERB
esrj-100518	136	9	systems	system	NOUN
esrj-100518	136	10	offer	offer	VERB
esrj-100518	136	11	extremely	extremely	ADV
esrj-100518	136	12	accurate	accurate	ADJ
esrj-100518	136	13	results	result	NOUN
esrj-100518	136	14	that	that	PRON
esrj-100518	136	15	are	be	AUX
esrj-100518	136	16	comparable	comparable	ADJ
esrj-100518	136	17	to	to	ADP
esrj-100518	136	18	satellite	satellite	NOUN
esrj-100518	136	19	-	-	PUNCT
esrj-100518	136	20	based	base	VERB
esrj-100518	136	21	results	result	NOUN
esrj-100518	136	22	.	.	PUNCT
esrj-100518	137	1	figure	figure	NOUN
esrj-100518	137	2	5	5	NUM
esrj-100518	137	3	shows	show	VERB
esrj-100518	137	4	the	the	DET
esrj-100518	137	5	2d	2d	NUM
esrj-100518	137	6	position	position	NOUN
esrj-100518	137	7	errors	error	NOUN
esrj-100518	137	8	of	of	ADP
esrj-100518	137	9	the	the	DET
esrj-100518	137	10	satellite	satellite	NOUN
esrj-100518	137	11	-	-	PUNCT
esrj-100518	137	12	based	base	VERB
esrj-100518	137	13	(	(	PUNCT
esrj-100518	137	14	top	top	NOUN
esrj-100518	137	15	)	)	PUNCT
esrj-100518	137	16	and	and	CCONJ
esrj-100518	137	17	lcbased	lcbase	VERB
esrj-100518	137	18	(	(	PUNCT
esrj-100518	137	19	middle	middle	ADJ
esrj-100518	137	20	)	)	PUNCT
esrj-100518	137	21	solutions	solution	NOUN
esrj-100518	137	22	and	and	CCONJ
esrj-100518	137	23	the	the	DET
esrj-100518	137	24	nvs	nvs	PROPN
esrj-100518	137	25	(	(	PUNCT
esrj-100518	137	26	bottom	bottom	NOUN
esrj-100518	137	27	)	)	PUNCT
esrj-100518	137	28	during	during	ADP
esrj-100518	137	29	the	the	DET
esrj-100518	137	30	observations	observation	NOUN
esrj-100518	137	31	.	.	PUNCT
esrj-100518	138	1	the	the	DET
esrj-100518	138	2	satellite	satellite	NOUN
esrj-100518	138	3	-	-	PUNCT
esrj-100518	138	4	based	base	VERB
esrj-100518	138	5	(	(	PUNCT
esrj-100518	138	6	top	top	ADJ
esrj-100518	138	7	)	)	PUNCT
esrj-100518	138	8	and	and	CCONJ
esrj-100518	138	9	lc	lc	NOUN
esrj-100518	138	10	-	-	PUNCT
esrj-100518	138	11	based	base	VERB
esrj-100518	138	12	(	(	PUNCT
esrj-100518	138	13	middle	middle	ADJ
esrj-100518	138	14	)	)	PUNCT
esrj-100518	138	15	solutions	solution	NOUN
esrj-100518	138	16	provide	provide	VERB
esrj-100518	138	17	lower	low	ADJ
esrj-100518	138	18	than	than	ADP
esrj-100518	138	19	22	22	NUM
esrj-100518	138	20	cm	cm	NOUN
esrj-100518	138	21	error	error	NOUN
esrj-100518	138	22	levels	level	NOUN
esrj-100518	138	23	through	through	ADP
esrj-100518	138	24	the	the	DET
esrj-100518	138	25	trajectory	trajectory	NOUN
esrj-100518	138	26	where	where	SCONJ
esrj-100518	138	27	the	the	DET
esrj-100518	138	28	nvs	nvs	PROPN
esrj-100518	138	29	is	be	AUX
esrj-100518	138	30	mostly	mostly	ADV
esrj-100518	138	31	higher	high	ADJ
esrj-100518	138	32	than	than	ADP
esrj-100518	138	33	10	10	NUM
esrj-100518	138	34	.	.	PUNCT
esrj-100518	139	1	figure	figure	NOUN
esrj-100518	139	2	3	3	NUM
esrj-100518	139	3	.	.	PUNCT
esrj-100518	140	1	trajectories	trajectory	NOUN
esrj-100518	140	2	of	of	ADP
esrj-100518	140	3	satellite	satellite	NOUN
esrj-100518	140	4	-	-	PUNCT
esrj-100518	140	5	based	base	VERB
esrj-100518	140	6	solutions	solution	NOUN
esrj-100518	140	7	and	and	CCONJ
esrj-100518	140	8	the	the	DET
esrj-100518	140	9	reference	reference	NOUN
esrj-100518	140	10	trajectory	trajectory	NOUN
esrj-100518	140	11	in	in	ADP
esrj-100518	140	12	the	the	DET
esrj-100518	140	13	wooded	woode	VERB
esrj-100518	140	14	-	-	PUNCT
esrj-100518	140	15	area	area	NOUN
esrj-100518	140	16	figure	figure	NOUN
esrj-100518	140	17	4	4	NUM
esrj-100518	140	18	.	.	NUM
esrj-100518	140	19	obtained	obtain	VERB
esrj-100518	140	20	trajectories	trajectory	NOUN
esrj-100518	140	21	of	of	ADP
esrj-100518	140	22	lc	lc	NOUN
esrj-100518	140	23	-	-	PUNCT
esrj-100518	140	24	based	base	VERB
esrj-100518	140	25	solutions	solution	NOUN
esrj-100518	140	26	and	and	CCONJ
esrj-100518	140	27	the	the	DET
esrj-100518	140	28	reference	reference	NOUN
esrj-100518	140	29	trajectory	trajectory	NOUN
esrj-100518	140	30	in	in	ADP
esrj-100518	140	31	the	the	DET
esrj-100518	140	32	wooded	woode	VERB
esrj-100518	140	33	-	-	PUNCT
esrj-100518	140	34	area	area	NOUN
esrj-100518	140	35	216	216	NUM
esrj-100518	140	36	mert	mert	NOUN
esrj-100518	140	37	gürtürk	gürtürk	NOUN
esrj-100518	140	38	,	,	PUNCT
esrj-100518	140	39	veli	veli	PROPN
esrj-100518	140	40	i̇lçi	i̇lçi	PROPN
esrj-100518	140	41	,	,	PUNCT
esrj-100518	140	42	figure	figure	VERB
esrj-100518	140	43	6	6	NUM
esrj-100518	140	44	shows	show	VERB
esrj-100518	140	45	the	the	DET
esrj-100518	140	46	height	height	NOUN
esrj-100518	140	47	errors	error	NOUN
esrj-100518	140	48	of	of	ADP
esrj-100518	140	49	the	the	DET
esrj-100518	140	50	satellite	satellite	NOUN
esrj-100518	140	51	-	-	PUNCT
esrj-100518	140	52	based	base	VERB
esrj-100518	140	53	(	(	PUNCT
esrj-100518	140	54	top	top	ADJ
esrj-100518	140	55	)	)	PUNCT
esrj-100518	140	56	and	and	CCONJ
esrj-100518	140	57	lc	lc	NOUN
esrj-100518	140	58	-	-	PUNCT
esrj-100518	140	59	based	base	VERB
esrj-100518	140	60	solutions	solution	NOUN
esrj-100518	140	61	(	(	PUNCT
esrj-100518	140	62	middle	middle	NOUN
esrj-100518	140	63	)	)	PUNCT
esrj-100518	140	64	and	and	CCONJ
esrj-100518	140	65	the	the	DET
esrj-100518	140	66	nvs	nvs	PROPN
esrj-100518	140	67	(	(	PUNCT
esrj-100518	140	68	bottom	bottom	NOUN
esrj-100518	140	69	)	)	PUNCT
esrj-100518	140	70	during	during	ADP
esrj-100518	140	71	the	the	DET
esrj-100518	140	72	observations	observation	NOUN
esrj-100518	140	73	.	.	PUNCT
esrj-100518	141	1	unlike	unlike	ADP
esrj-100518	141	2	the	the	DET
esrj-100518	141	3	2d	2d	NUM
esrj-100518	141	4	position	position	NOUN
esrj-100518	141	5	errors	error	NOUN
esrj-100518	141	6	,	,	PUNCT
esrj-100518	141	7	lc	lc	NOUN
esrj-100518	141	8	-	-	PUNCT
esrj-100518	141	9	based	base	VERB
esrj-100518	141	10	height	height	NOUN
esrj-100518	141	11	solutions	solution	NOUN
esrj-100518	141	12	provide	provide	VERB
esrj-100518	141	13	better	well	ADJ
esrj-100518	141	14	results	result	NOUN
esrj-100518	141	15	than	than	ADP
esrj-100518	141	16	satellitebased	satellitebase	VERB
esrj-100518	141	17	height	height	NOUN
esrj-100518	141	18	results	result	NOUN
esrj-100518	141	19	.	.	PUNCT
esrj-100518	142	1	also	also	ADV
esrj-100518	142	2	,	,	PUNCT
esrj-100518	142	3	both	both	PRON
esrj-100518	142	4	figure	figure	VERB
esrj-100518	142	5	5	5	NUM
esrj-100518	142	6	and	and	CCONJ
esrj-100518	142	7	figure	figure	VERB
esrj-100518	142	8	6	6	NUM
esrj-100518	142	9	show	show	NOUN
esrj-100518	142	10	that	that	SCONJ
esrj-100518	142	11	the	the	DET
esrj-100518	142	12	lc	lc	NOUN
esrj-100518	142	13	-	-	PUNCT
esrj-100518	142	14	based	base	VERB
esrj-100518	142	15	result	result	NOUN
esrj-100518	142	16	’s	’s	PART
esrj-100518	142	17	fluctuation	fluctuation	NOUN
esrj-100518	142	18	is	be	AUX
esrj-100518	142	19	smaller	small	ADJ
esrj-100518	142	20	than	than	ADP
esrj-100518	142	21	that	that	PRON
esrj-100518	142	22	of	of	ADP
esrj-100518	142	23	satellite	satellite	NOUN
esrj-100518	142	24	-	-	PUNCT
esrj-100518	142	25	based	base	VERB
esrj-100518	142	26	results	result	NOUN
esrj-100518	142	27	.	.	PUNCT
esrj-100518	143	1	since	since	SCONJ
esrj-100518	143	2	kalman	kalman	PROPN
esrj-100518	143	3	filtering	filtering	NOUN
esrj-100518	143	4	technique	technique	NOUN
esrj-100518	143	5	is	be	AUX
esrj-100518	143	6	used	use	VERB
esrj-100518	143	7	to	to	PART
esrj-100518	143	8	determine	determine	VERB
esrj-100518	143	9	the	the	DET
esrj-100518	143	10	unknowns	unknown	NOUN
esrj-100518	143	11	,	,	PUNCT
esrj-100518	143	12	thus	thus	ADV
esrj-100518	143	13	,	,	PUNCT
esrj-100518	143	14	it	it	PRON
esrj-100518	143	15	can	can	AUX
esrj-100518	143	16	be	be	AUX
esrj-100518	143	17	concluded	conclude	VERB
esrj-100518	143	18	that	that	SCONJ
esrj-100518	143	19	the	the	DET
esrj-100518	143	20	lc	lc	NOUN
esrj-100518	143	21	-	-	PUNCT
esrj-100518	143	22	based	base	VERB
esrj-100518	143	23	solutions	solution	NOUN
esrj-100518	143	24	are	be	AUX
esrj-100518	143	25	more	more	ADV
esrj-100518	143	26	reliable	reliable	ADJ
esrj-100518	143	27	than	than	ADP
esrj-100518	143	28	the	the	DET
esrj-100518	143	29	satellite	satellite	NOUN
esrj-100518	143	30	-	-	PUNCT
esrj-100518	143	31	based	base	VERB
esrj-100518	143	32	solutions	solution	NOUN
esrj-100518	143	33	.	.	PUNCT
esrj-100518	144	1	figure	figure	NOUN
esrj-100518	144	2	6	6	NUM
esrj-100518	144	3	.	.	PUNCT
esrj-100518	144	4	height	height	NOUN
esrj-100518	144	5	errors	error	NOUN
esrj-100518	144	6	in	in	ADP
esrj-100518	144	7	wooded	woode	VERB
esrj-100518	144	8	-	-	PUNCT
esrj-100518	144	9	area	area	NOUN
esrj-100518	144	10	(	(	PUNCT
esrj-100518	144	11	top	top	ADJ
esrj-100518	144	12	:	:	PUNCT
esrj-100518	144	13	satellite	satellite	NOUN
esrj-100518	144	14	-	-	PUNCT
esrj-100518	144	15	based	base	VERB
esrj-100518	144	16	;	;	PUNCT
esrj-100518	144	17	middle	middle	ADJ
esrj-100518	144	18	:	:	PUNCT
esrj-100518	144	19	lc	lc	NOUN
esrj-100518	144	20	-	-	PUNCT
esrj-100518	144	21	based	base	VERB
esrj-100518	144	22	)	)	PUNCT
esrj-100518	144	23	,	,	PUNCT
esrj-100518	144	24	and	and	CCONJ
esrj-100518	144	25	the	the	DET
esrj-100518	144	26	nvs	nvs	PROPN
esrj-100518	144	27	during	during	ADP
esrj-100518	144	28	the	the	DET
esrj-100518	144	29	wooded	woode	VERB
esrj-100518	144	30	-	-	PUNCT
esrj-100518	144	31	area	area	NOUN
esrj-100518	144	32	test	test	NOUN
esrj-100518	144	33	(	(	PUNCT
esrj-100518	144	34	bottom	bottom	ADJ
esrj-100518	144	35	)	)	PUNCT
esrj-100518	144	36	table	table	NOUN
esrj-100518	144	37	3	3	NUM
esrj-100518	144	38	.	.	X
esrj-100518	144	39	error	error	NOUN
esrj-100518	144	40	statistics	statistic	NOUN
esrj-100518	144	41	of	of	ADP
esrj-100518	144	42	2d	2d	NUM
esrj-100518	144	43	position	position	NOUN
esrj-100518	144	44	for	for	ADP
esrj-100518	144	45	wooded	woode	VERB
esrj-100518	144	46	-	-	PUNCT
esrj-100518	144	47	area	area	NOUN
esrj-100518	144	48	2d	2d	NUM
esrj-100518	144	49	position	position	NOUN
esrj-100518	144	50	(	(	PUNCT
esrj-100518	144	51	m	m	NOUN
esrj-100518	144	52	)	)	PUNCT
esrj-100518	144	53	satellite	satellite	NOUN
esrj-100518	144	54	-	-	PUNCT
esrj-100518	144	55	based	base	VERB
esrj-100518	144	56	lc	lc	NOUN
esrj-100518	144	57	-	-	PUNCT
esrj-100518	144	58	based	base	VERB
esrj-100518	144	59	ppk	ppk	NOUN
esrj-100518	144	60	ppp	ppp	PROPN
esrj-100518	144	61	ppk	ppk	NOUN
esrj-100518	144	62	ppp	ppp	PROPN
esrj-100518	144	63	gnss	gnss	PROPN
esrj-100518	144	64	gps	gps	PROPN
esrj-100518	144	65	gnss	gnss	NOUN
esrj-100518	144	66	gps	gps	PROPN
esrj-100518	144	67	gnss	gnss	NOUN
esrj-100518	144	68	gps	gps	PROPN
esrj-100518	144	69	gnss	gnss	NOUN
esrj-100518	144	70	gps	gps	PROPN
esrj-100518	144	71	max	max	PROPN
esrj-100518	144	72	0.20	0.20	NUM
esrj-100518	144	73	0.21	0.21	NUM
esrj-100518	144	74	0.16	0.16	NUM
esrj-100518	144	75	0.21	0.21	NUM
esrj-100518	144	76	0.10	0.10	NUM
esrj-100518	144	77	0.17	0.17	NUM
esrj-100518	144	78	0.12	0.12	NUM
esrj-100518	144	79	0.18	0.18	NUM
esrj-100518	144	80	average	average	ADJ
esrj-100518	144	81	0.03	0.03	NUM
esrj-100518	144	82	0.04	0.04	NUM
esrj-100518	144	83	0.04	0.04	NUM
esrj-100518	144	84	0.06	0.06	NUM
esrj-100518	144	85	0.03	0.03	NUM
esrj-100518	144	86	0.04	0.04	NUM
esrj-100518	144	87	0.03	0.03	NUM
esrj-100518	144	88	0.05	0.05	NUM
esrj-100518	144	89	rmse	rmse	NOUN
esrj-100518	144	90	0.04	0.04	NUM
esrj-100518	144	91	0.05	0.05	NUM
esrj-100518	144	92	0.04	0.04	NUM
esrj-100518	144	93	0.07	0.07	NUM
esrj-100518	144	94	0.04	0.04	NUM
esrj-100518	144	95	0.05	0.05	NUM
esrj-100518	144	96	0.04	0.04	NUM
esrj-100518	144	97	0.06	0.06	NUM
esrj-100518	144	98	table	table	NOUN
esrj-100518	144	99	3	3	NUM
esrj-100518	144	100	gives	give	VERB
esrj-100518	144	101	the	the	DET
esrj-100518	144	102	error	error	NOUN
esrj-100518	144	103	statistics	statistic	NOUN
esrj-100518	144	104	of	of	ADP
esrj-100518	144	105	the	the	DET
esrj-100518	144	106	2d	2d	NUM
esrj-100518	144	107	position	position	NOUN
esrj-100518	144	108	for	for	ADP
esrj-100518	144	109	satellite	satellite	NOUN
esrj-100518	144	110	-	-	PUNCT
esrj-100518	144	111	based	base	VERB
esrj-100518	144	112	and	and	CCONJ
esrj-100518	144	113	lc	lc	NOUN
esrj-100518	144	114	-	-	PUNCT
esrj-100518	144	115	based	base	VERB
esrj-100518	144	116	solutions	solution	NOUN
esrj-100518	144	117	in	in	ADP
esrj-100518	144	118	the	the	DET
esrj-100518	144	119	wooded	woode	VERB
esrj-100518	144	120	area	area	NOUN
esrj-100518	144	121	.	.	PUNCT
esrj-100518	145	1	in	in	ADP
esrj-100518	145	2	2d	2d	NUM
esrj-100518	145	3	position	position	NOUN
esrj-100518	145	4	,	,	PUNCT
esrj-100518	145	5	satellite	satellite	NOUN
esrj-100518	145	6	-	-	PUNCT
esrj-100518	145	7	based	base	VERB
esrj-100518	145	8	ppk/	ppk/	NOUN
esrj-100518	145	9	gps	gps	NOUN
esrj-100518	145	10	,	,	PUNCT
esrj-100518	145	11	ppk	ppk	NOUN
esrj-100518	145	12	/	/	SYM
esrj-100518	145	13	gnss	gnss	NOUN
esrj-100518	145	14	,	,	PUNCT
esrj-100518	145	15	ppp	ppp	NOUN
esrj-100518	145	16	/	/	SYM
esrj-100518	145	17	gps	gps	PROPN
esrj-100518	145	18	,	,	PUNCT
esrj-100518	145	19	and	and	CCONJ
esrj-100518	145	20	ppp	ppp	PROPN
esrj-100518	145	21	/	/	SYM
esrj-100518	145	22	gnss	gnss	NOUN
esrj-100518	145	23	solutions	solution	NOUN
esrj-100518	145	24	provide	provide	VERB
esrj-100518	145	25	0.21	0.21	NUM
esrj-100518	145	26	,	,	PUNCT
esrj-100518	145	27	0.20	0.20	NUM
esrj-100518	145	28	,	,	PUNCT
esrj-100518	145	29	0.21	0.21	NUM
esrj-100518	145	30	,	,	PUNCT
esrj-100518	145	31	and	and	CCONJ
esrj-100518	145	32	0.16	0.16	NUM
esrj-100518	145	33	meter	meter	NOUN
esrj-100518	145	34	errors	error	NOUN
esrj-100518	145	35	in	in	ADP
esrj-100518	145	36	maximum	maximum	ADJ
esrj-100518	145	37	and	and	CCONJ
esrj-100518	145	38	0.04	0.04	NUM
esrj-100518	145	39	,	,	PUNCT
esrj-100518	145	40	0.03	0.03	NUM
esrj-100518	145	41	,	,	PUNCT
esrj-100518	145	42	0.06	0.06	NUM
esrj-100518	145	43	and	and	CCONJ
esrj-100518	145	44	0.04	0.04	NUM
esrj-100518	145	45	meter	meter	NOUN
esrj-100518	145	46	errors	error	NOUN
esrj-100518	145	47	on	on	ADP
esrj-100518	145	48	average	average	ADJ
esrj-100518	145	49	,	,	PUNCT
esrj-100518	145	50	respectively	respectively	ADV
esrj-100518	145	51	.	.	PUNCT
esrj-100518	146	1	rmse	rmse	ADJ
esrj-100518	146	2	values	value	NOUN
esrj-100518	146	3	of	of	ADP
esrj-100518	146	4	ppk	ppk	NOUN
esrj-100518	146	5	and	and	CCONJ
esrj-100518	146	6	ppp	ppp	NOUN
esrj-100518	146	7	methods	method	NOUN
esrj-100518	146	8	reveal	reveal	VERB
esrj-100518	146	9	that	that	SCONJ
esrj-100518	146	10	the	the	DET
esrj-100518	146	11	gnss	gnss	NOUN
esrj-100518	146	12	-	-	PUNCT
esrj-100518	146	13	based	base	VERB
esrj-100518	146	14	solutions	solution	NOUN
esrj-100518	146	15	slightly	slightly	ADV
esrj-100518	146	16	improve	improve	VERB
esrj-100518	146	17	positioning	positioning	NOUN
esrj-100518	146	18	accuracy	accuracy	NOUN
esrj-100518	146	19	compared	compare	VERB
esrj-100518	146	20	to	to	ADP
esrj-100518	146	21	the	the	DET
esrj-100518	146	22	gps	gps	NOUN
esrj-100518	146	23	-	-	PUNCT
esrj-100518	146	24	based	base	VERB
esrj-100518	146	25	methods	method	NOUN
esrj-100518	146	26	.	.	PUNCT
esrj-100518	147	1	lc	lc	NOUN
esrj-100518	147	2	-	-	PUNCT
esrj-100518	147	3	based	base	VERB
esrj-100518	147	4	ppk	ppk	NOUN
esrj-100518	147	5	/	/	SYM
esrj-100518	147	6	gps	gps	PROPN
esrj-100518	147	7	-	-	PUNCT
esrj-100518	147	8	imu	imu	NOUN
esrj-100518	147	9	,	,	PUNCT
esrj-100518	147	10	ppk	ppk	NOUN
esrj-100518	147	11	/	/	SYM
esrj-100518	147	12	gnss	gnss	NOUN
esrj-100518	147	13	-	-	PUNCT
esrj-100518	147	14	imu	imu	NOUN
esrj-100518	147	15	,	,	PUNCT
esrj-100518	147	16	ppp	ppp	NOUN
esrj-100518	147	17	/	/	SYM
esrj-100518	147	18	gps	gps	PROPN
esrj-100518	147	19	-	-	PUNCT
esrj-100518	147	20	imu	imu	NOUN
esrj-100518	147	21	,	,	PUNCT
esrj-100518	147	22	and	and	CCONJ
esrj-100518	147	23	ppp	ppp	PROPN
esrj-100518	147	24	/	/	SYM
esrj-100518	147	25	gnss	gnss	NOUN
esrj-100518	147	26	-	-	PUNCT
esrj-100518	147	27	imu	imu	NOUN
esrj-100518	147	28	position	position	NOUN
esrj-100518	147	29	solutions	solution	NOUN
esrj-100518	147	30	provide	provide	VERB
esrj-100518	147	31	0.17	0.17	NUM
esrj-100518	147	32	,	,	PUNCT
esrj-100518	147	33	0.10	0.10	NUM
esrj-100518	147	34	,	,	PUNCT
esrj-100518	147	35	0.18	0.18	NUM
esrj-100518	147	36	,	,	PUNCT
esrj-100518	147	37	and	and	CCONJ
esrj-100518	147	38	0.12	0.12	NUM
esrj-100518	147	39	meter	meter	NOUN
esrj-100518	147	40	errors	error	NOUN
esrj-100518	147	41	in	in	ADP
esrj-100518	147	42	maximum	maximum	ADJ
esrj-100518	147	43	and	and	CCONJ
esrj-100518	147	44	0.04	0.04	NUM
esrj-100518	147	45	,	,	PUNCT
esrj-100518	147	46	0.03	0.03	NUM
esrj-100518	147	47	,	,	PUNCT
esrj-100518	147	48	0.05	0.05	NUM
esrj-100518	147	49	and	and	CCONJ
esrj-100518	147	50	0.03	0.03	NUM
esrj-100518	147	51	-	-	PUNCT
esrj-100518	147	52	meters	meter	NOUN
esrj-100518	147	53	errors	error	NOUN
esrj-100518	147	54	on	on	ADP
esrj-100518	147	55	average	average	ADJ
esrj-100518	147	56	,	,	PUNCT
esrj-100518	147	57	respectively	respectively	ADV
esrj-100518	147	58	.	.	PUNCT
esrj-100518	147	59	comparing	compare	VERB
esrj-100518	147	60	the	the	DET
esrj-100518	147	61	satellite	satellite	NOUN
esrj-100518	147	62	-	-	PUNCT
esrj-100518	147	63	based	base	VERB
esrj-100518	147	64	and	and	CCONJ
esrj-100518	147	65	lc	lc	NOUN
esrj-100518	147	66	-	-	PUNCT
esrj-100518	147	67	based	base	VERB
esrj-100518	147	68	solutions	solution	NOUN
esrj-100518	147	69	reveals	reveal	VERB
esrj-100518	147	70	that	that	SCONJ
esrj-100518	147	71	lc	lc	PROPN
esrj-100518	147	72	integration	integration	NOUN
esrj-100518	147	73	provides	provide	VERB
esrj-100518	147	74	a	a	DET
esrj-100518	147	75	remarkable	remarkable	ADJ
esrj-100518	147	76	improvement	improvement	NOUN
esrj-100518	147	77	only	only	ADV
esrj-100518	147	78	in	in	ADP
esrj-100518	147	79	the	the	DET
esrj-100518	147	80	maximum	maximum	ADJ
esrj-100518	147	81	errors	error	NOUN
esrj-100518	147	82	.	.	PUNCT
esrj-100518	148	1	in	in	ADP
esrj-100518	148	2	contrast	contrast	NOUN
esrj-100518	148	3	,	,	PUNCT
esrj-100518	148	4	average	average	ADJ
esrj-100518	148	5	and	and	CCONJ
esrj-100518	148	6	rmse	rmse	ADJ
esrj-100518	148	7	values	value	NOUN
esrj-100518	148	8	of	of	ADP
esrj-100518	148	9	lc	lc	NOUN
esrj-100518	148	10	-	-	PUNCT
esrj-100518	148	11	based	base	VERB
esrj-100518	148	12	methods	method	NOUN
esrj-100518	148	13	provide	provide	VERB
esrj-100518	148	14	a	a	DET
esrj-100518	148	15	very	very	ADV
esrj-100518	148	16	slight	slight	ADJ
esrj-100518	148	17	improvement	improvement	NOUN
esrj-100518	148	18	.	.	PUNCT
esrj-100518	149	1	table	table	NOUN
esrj-100518	149	2	4	4	NUM
esrj-100518	149	3	.	.	X
esrj-100518	149	4	error	error	NOUN
esrj-100518	149	5	statistics	statistic	NOUN
esrj-100518	149	6	of	of	ADP
esrj-100518	149	7	height	height	NOUN
esrj-100518	149	8	for	for	ADP
esrj-100518	149	9	wooded	woode	VERB
esrj-100518	149	10	-	-	PUNCT
esrj-100518	149	11	area	area	NOUN
esrj-100518	149	12	height	height	NOUN
esrj-100518	149	13	(	(	PUNCT
esrj-100518	149	14	m	m	NOUN
esrj-100518	149	15	)	)	PUNCT
esrj-100518	149	16	satellite	satellite	NOUN
esrj-100518	149	17	-	-	PUNCT
esrj-100518	149	18	based	base	VERB
esrj-100518	149	19	lc	lc	NOUN
esrj-100518	149	20	-	-	PUNCT
esrj-100518	149	21	based	base	VERB
esrj-100518	149	22	ppk	ppk	NOUN
esrj-100518	149	23	ppp	ppp	PROPN
esrj-100518	149	24	ppk	ppk	NOUN
esrj-100518	149	25	ppp	ppp	PROPN
esrj-100518	149	26	gnss	gnss	PROPN
esrj-100518	149	27	gps	gps	PROPN
esrj-100518	149	28	gnss	gnss	NOUN
esrj-100518	149	29	gps	gps	PROPN
esrj-100518	149	30	gnss	gnss	NOUN
esrj-100518	149	31	gps	gps	PROPN
esrj-100518	149	32	gnss	gnss	NOUN
esrj-100518	149	33	gps	gps	PROPN
esrj-100518	149	34	max	max	PROPN
esrj-100518	149	35	0.30	0.30	NUM
esrj-100518	149	36	0.41	0.41	NUM
esrj-100518	149	37	0.43	0.43	NUM
esrj-100518	149	38	0.48	0.48	NUM
esrj-100518	149	39	0.09	0.09	NUM
esrj-100518	149	40	0.27	0.27	NUM
esrj-100518	149	41	0.17	0.17	NUM
esrj-100518	149	42	0.23	0.23	NUM
esrj-100518	149	43	average	average	ADJ
esrj-100518	149	44	0.08	0.08	NUM
esrj-100518	149	45	0.10	0.10	NUM
esrj-100518	149	46	0.10	0.10	NUM
esrj-100518	149	47	0.12	0.12	NUM
esrj-100518	149	48	0.02	0.02	NUM
esrj-100518	149	49	0.04	0.04	NUM
esrj-100518	149	50	0.03	0.03	NUM
esrj-100518	149	51	0.05	0.05	NUM
esrj-100518	149	52	rmse	rmse	NOUN
esrj-100518	149	53	0.10	0.10	NUM
esrj-100518	149	54	0.12	0.12	NUM
esrj-100518	149	55	0.11	0.11	NUM
esrj-100518	149	56	0.13	0.13	NUM
esrj-100518	149	57	0.03	0.03	NUM
esrj-100518	149	58	0.06	0.06	NUM
esrj-100518	149	59	0.04	0.04	NUM
esrj-100518	149	60	0.06	0.06	NUM
esrj-100518	149	61	the	the	DET
esrj-100518	149	62	error	error	NOUN
esrj-100518	149	63	statistics	statistic	NOUN
esrj-100518	149	64	of	of	ADP
esrj-100518	149	65	the	the	DET
esrj-100518	149	66	height	height	NOUN
esrj-100518	149	67	component	component	NOUN
esrj-100518	149	68	for	for	ADP
esrj-100518	149	69	satellite	satellite	NOUN
esrj-100518	149	70	-	-	PUNCT
esrj-100518	149	71	based	base	VERB
esrj-100518	149	72	and	and	CCONJ
esrj-100518	149	73	lcbased	lcbase	VERB
esrj-100518	149	74	solutions	solution	NOUN
esrj-100518	149	75	are	be	AUX
esrj-100518	149	76	given	give	VERB
esrj-100518	149	77	in	in	ADP
esrj-100518	149	78	table	table	NOUN
esrj-100518	149	79	4	4	NUM
esrj-100518	149	80	.	.	PUNCT
esrj-100518	149	81	height	height	NOUN
esrj-100518	149	82	errors	error	NOUN
esrj-100518	149	83	of	of	ADP
esrj-100518	149	84	satellite	satellite	NOUN
esrj-100518	149	85	-	-	PUNCT
esrj-100518	149	86	based	base	VERB
esrj-100518	149	87	ppk	ppk	NOUN
esrj-100518	149	88	/	/	SYM
esrj-100518	149	89	gps	gps	PROPN
esrj-100518	149	90	,	,	PUNCT
esrj-100518	149	91	ppk	ppk	NOUN
esrj-100518	149	92	/	/	SYM
esrj-100518	149	93	gnss	gnss	NOUN
esrj-100518	149	94	,	,	PUNCT
esrj-100518	149	95	ppp	ppp	NOUN
esrj-100518	149	96	/	/	SYM
esrj-100518	149	97	gps	gps	PROPN
esrj-100518	149	98	,	,	PUNCT
esrj-100518	149	99	and	and	CCONJ
esrj-100518	149	100	ppp	ppp	PROPN
esrj-100518	149	101	/	/	SYM
esrj-100518	149	102	gnss	gnss	NOUN
esrj-100518	149	103	solutions	solution	NOUN
esrj-100518	149	104	provide	provide	VERB
esrj-100518	149	105	0.41	0.41	NUM
esrj-100518	149	106	,	,	PUNCT
esrj-100518	149	107	0.30	0.30	NUM
esrj-100518	149	108	,	,	PUNCT
esrj-100518	149	109	0.48	0.48	NUM
esrj-100518	149	110	,	,	PUNCT
esrj-100518	149	111	and	and	CCONJ
esrj-100518	149	112	0.43	0.43	NUM
esrj-100518	149	113	meters	meter	NOUN
esrj-100518	149	114	in	in	ADP
esrj-100518	149	115	maximum	maximum	ADJ
esrj-100518	149	116	and	and	CCONJ
esrj-100518	149	117	0.10	0.10	NUM
esrj-100518	149	118	,	,	PUNCT
esrj-100518	149	119	0.08	0.08	NUM
esrj-100518	149	120	,	,	PUNCT
esrj-100518	149	121	0.12	0.12	NUM
esrj-100518	149	122	and	and	CCONJ
esrj-100518	149	123	0.10	0.10	NUM
esrj-100518	149	124	meters	meter	NOUN
esrj-100518	149	125	on	on	ADP
esrj-100518	149	126	average	average	ADJ
esrj-100518	149	127	,	,	PUNCT
esrj-100518	149	128	respectively	respectively	ADV
esrj-100518	149	129	.	.	PUNCT
esrj-100518	150	1	comparing	compare	VERB
esrj-100518	150	2	the	the	DET
esrj-100518	150	3	satellite	satellite	NOUN
esrj-100518	150	4	-	-	PUNCT
esrj-100518	150	5	based	base	VERB
esrj-100518	150	6	ppk	ppk	NOUN
esrj-100518	150	7	and	and	CCONJ
esrj-100518	150	8	ppp	ppp	NOUN
esrj-100518	150	9	methods	method	NOUN
esrj-100518	150	10	reveals	reveal	VERB
esrj-100518	150	11	that	that	SCONJ
esrj-100518	150	12	the	the	DET
esrj-100518	150	13	ppk	ppk	NOUN
esrj-100518	150	14	-	-	PUNCT
esrj-100518	150	15	based	base	VERB
esrj-100518	150	16	errors	error	NOUN
esrj-100518	150	17	in	in	ADP
esrj-100518	150	18	maximum	maximum	ADJ
esrj-100518	150	19	,	,	PUNCT
esrj-100518	150	20	average	average	ADJ
esrj-100518	150	21	,	,	PUNCT
esrj-100518	150	22	and	and	CCONJ
esrj-100518	150	23	rmse	rmse	PROPN
esrj-100518	150	24	statistics	statistic	NOUN
esrj-100518	150	25	are	be	AUX
esrj-100518	150	26	less	less	ADJ
esrj-100518	150	27	than	than	ADP
esrj-100518	150	28	ppp	ppp	NOUN
esrj-100518	150	29	-	-	PUNCT
esrj-100518	150	30	based	base	VERB
esrj-100518	150	31	errors	error	NOUN
esrj-100518	150	32	.	.	PUNCT
esrj-100518	151	1	the	the	DET
esrj-100518	151	2	comparison	comparison	NOUN
esrj-100518	151	3	of	of	ADP
esrj-100518	151	4	the	the	DET
esrj-100518	151	5	gps	gps	PROPN
esrj-100518	151	6	and	and	CCONJ
esrj-100518	151	7	gnss	gnss	NOUN
esrj-100518	151	8	solutions	solution	NOUN
esrj-100518	151	9	reveals	reveal	VERB
esrj-100518	151	10	that	that	SCONJ
esrj-100518	151	11	the	the	DET
esrj-100518	151	12	gnss	gnss	NOUN
esrj-100518	151	13	solutions	solution	NOUN
esrj-100518	151	14	are	be	AUX
esrj-100518	151	15	better	well	ADJ
esrj-100518	151	16	than	than	ADP
esrj-100518	151	17	that	that	PRON
esrj-100518	151	18	of	of	ADP
esrj-100518	151	19	gps	gps	PROPN
esrj-100518	151	20	solutions	solution	NOUN
esrj-100518	151	21	.	.	PUNCT
esrj-100518	152	1	lc	lc	NOUN
esrj-100518	152	2	-	-	PUNCT
esrj-100518	152	3	based	base	VERB
esrj-100518	152	4	ppk	ppk	NOUN
esrj-100518	152	5	/	/	SYM
esrj-100518	152	6	gps	gps	PROPN
esrj-100518	152	7	-	-	PUNCT
esrj-100518	152	8	imu	imu	NOUN
esrj-100518	152	9	,	,	PUNCT
esrj-100518	152	10	ppk	ppk	NOUN
esrj-100518	152	11	/	/	SYM
esrj-100518	152	12	gnss	gnss	NOUN
esrj-100518	152	13	-	-	PUNCT
esrj-100518	152	14	imu	imu	NOUN
esrj-100518	152	15	,	,	PUNCT
esrj-100518	152	16	ppp	ppp	NOUN
esrj-100518	152	17	/	/	SYM
esrj-100518	152	18	gps	gps	PROPN
esrj-100518	152	19	-	-	PUNCT
esrj-100518	152	20	imu	imu	NOUN
esrj-100518	152	21	,	,	PUNCT
esrj-100518	152	22	and	and	CCONJ
esrj-100518	152	23	ppp/	ppp/	ADJ
esrj-100518	152	24	gnss	gnss	NOUN
esrj-100518	152	25	-	-	PUNCT
esrj-100518	152	26	imu	imu	NOUN
esrj-100518	152	27	solutions	solution	NOUN
esrj-100518	152	28	of	of	ADP
esrj-100518	152	29	height	height	NOUN
esrj-100518	152	30	component	component	NOUN
esrj-100518	152	31	provide	provide	VERB
esrj-100518	152	32	0.27	0.27	NUM
esrj-100518	152	33	,	,	PUNCT
esrj-100518	152	34	0.09	0.09	NUM
esrj-100518	152	35	,	,	PUNCT
esrj-100518	152	36	0.23	0.23	NUM
esrj-100518	152	37	,	,	PUNCT
esrj-100518	152	38	and	and	CCONJ
esrj-100518	152	39	0.17	0.17	NUM
esrj-100518	152	40	meters	meter	NOUN
esrj-100518	152	41	in	in	ADP
esrj-100518	152	42	maximum	maximum	ADJ
esrj-100518	152	43	and	and	CCONJ
esrj-100518	152	44	0.04	0.04	NUM
esrj-100518	152	45	,	,	PUNCT
esrj-100518	152	46	0.02	0.02	NUM
esrj-100518	152	47	,	,	PUNCT
esrj-100518	152	48	0.05	0.05	NUM
esrj-100518	152	49	and	and	CCONJ
esrj-100518	152	50	0.03	0.03	NUM
esrj-100518	152	51	meters	meter	NOUN
esrj-100518	152	52	errors	error	NOUN
esrj-100518	152	53	on	on	ADP
esrj-100518	152	54	average	average	ADJ
esrj-100518	152	55	,	,	PUNCT
esrj-100518	152	56	respectively	respectively	ADV
esrj-100518	152	57	.	.	PUNCT
esrj-100518	153	1	the	the	DET
esrj-100518	153	2	maximum	maximum	ADJ
esrj-100518	153	3	errors	error	NOUN
esrj-100518	153	4	of	of	ADP
esrj-100518	153	5	all	all	DET
esrj-100518	153	6	lc	lc	NOUN
esrj-100518	153	7	-	-	PUNCT
esrj-100518	153	8	height	height	NOUN
esrj-100518	153	9	solutions	solution	NOUN
esrj-100518	153	10	are	be	AUX
esrj-100518	153	11	in	in	ADP
esrj-100518	153	12	the	the	DET
esrj-100518	153	13	1	1	NUM
esrj-100518	153	14	-	-	SYM
esrj-100518	153	15	2	2	NUM
esrj-100518	153	16	dm	dm	NOUN
esrj-100518	153	17	level	level	NOUN
esrj-100518	153	18	.	.	PUNCT
esrj-100518	154	1	comparing	compare	VERB
esrj-100518	154	2	the	the	DET
esrj-100518	154	3	satellite	satellite	NOUN
esrj-100518	154	4	-	-	PUNCT
esrj-100518	154	5	based	base	VERB
esrj-100518	154	6	and	and	CCONJ
esrj-100518	154	7	lc	lc	NOUN
esrj-100518	154	8	-	-	PUNCT
esrj-100518	154	9	based	base	VERB
esrj-100518	154	10	results	result	NOUN
esrj-100518	154	11	in	in	ADP
esrj-100518	154	12	the	the	DET
esrj-100518	154	13	height	height	NOUN
esrj-100518	154	14	component	component	NOUN
esrj-100518	154	15	reveals	reveal	VERB
esrj-100518	154	16	that	that	SCONJ
esrj-100518	154	17	lc	lc	PROPN
esrj-100518	154	18	integration	integration	NOUN
esrj-100518	154	19	significantly	significantly	ADV
esrj-100518	154	20	improves	improve	VERB
esrj-100518	154	21	ppk	ppk	NOUN
esrj-100518	154	22	/	/	SYM
esrj-100518	154	23	gps	gps	PROPN
esrj-100518	154	24	,	,	PUNCT
esrj-100518	154	25	ppk/	ppk/	NOUN
esrj-100518	154	26	gnss	gnss	NOUN
esrj-100518	154	27	,	,	PUNCT
esrj-100518	154	28	ppp	ppp	PROPN
esrj-100518	154	29	/	/	SYM
esrj-100518	154	30	gps	gps	PROPN
esrj-100518	154	31	and	and	CCONJ
esrj-100518	154	32	ppp	ppp	PROPN
esrj-100518	154	33	/	/	SYM
esrj-100518	154	34	gnss	gnss	NOUN
esrj-100518	154	35	maximum	maximum	ADJ
esrj-100518	154	36	,	,	PUNCT
esrj-100518	154	37	average	average	ADJ
esrj-100518	154	38	rmse	rmse	NOUN
esrj-100518	154	39	statistics	statistic	NOUN
esrj-100518	154	40	.	.	PUNCT
esrj-100518	155	1	6.2	6.2	NUM
esrj-100518	155	2	.	.	PUNCT
esrj-100518	156	1	urban	urban	ADJ
esrj-100518	156	2	-	-	PUNCT
esrj-100518	156	3	area	area	NOUN
esrj-100518	156	4	test	test	NOUN
esrj-100518	156	5	:	:	PUNCT
esrj-100518	156	6	figure	figure	NOUN
esrj-100518	156	7	7	7	NUM
esrj-100518	156	8	shows	show	VERB
esrj-100518	156	9	the	the	DET
esrj-100518	156	10	satellite	satellite	NOUN
esrj-100518	156	11	-	-	PUNCT
esrj-100518	156	12	based	base	VERB
esrj-100518	156	13	solutions	solution	NOUN
esrj-100518	156	14	in	in	ADP
esrj-100518	156	15	the	the	DET
esrj-100518	156	16	urban	urban	ADJ
esrj-100518	156	17	area	area	NOUN
esrj-100518	156	18	.	.	PUNCT
esrj-100518	157	1	this	this	DET
esrj-100518	157	2	trajectory	trajectory	NOUN
esrj-100518	157	3	has	have	VERB
esrj-100518	157	4	five	five	NUM
esrj-100518	157	5	bridges	bridge	NOUN
esrj-100518	157	6	for	for	ADP
esrj-100518	157	7	pedestrians	pedestrian	NOUN
esrj-100518	157	8	from	from	ADP
esrj-100518	157	9	building	build	VERB
esrj-100518	157	10	to	to	ADP
esrj-100518	157	11	building	building	NOUN
esrj-100518	157	12	that	that	PRON
esrj-100518	157	13	causes	cause	VERB
esrj-100518	157	14	satellite	satellite	NOUN
esrj-100518	157	15	signal	signal	NOUN
esrj-100518	157	16	blockage	blockage	NOUN
esrj-100518	157	17	.	.	PUNCT
esrj-100518	158	1	under	under	ADP
esrj-100518	158	2	or	or	CCONJ
esrj-100518	158	3	nearby	nearby	ADV
esrj-100518	158	4	these	these	DET
esrj-100518	158	5	bridges	bridge	NOUN
esrj-100518	158	6	,	,	PUNCT
esrj-100518	158	7	satellite	satellite	NOUN
esrj-100518	158	8	-	-	PUNCT
esrj-100518	158	9	based	base	VERB
esrj-100518	158	10	four	four	NUM
esrj-100518	158	11	solutions	solution	NOUN
esrj-100518	158	12	either	either	CCONJ
esrj-100518	158	13	do	do	AUX
esrj-100518	158	14	not	not	PART
esrj-100518	158	15	give	give	VERB
esrj-100518	158	16	any	any	DET
esrj-100518	158	17	results	result	NOUN
esrj-100518	158	18	or	or	CCONJ
esrj-100518	158	19	give	give	VERB
esrj-100518	158	20	very	very	ADV
esrj-100518	158	21	erroneous	erroneous	ADJ
esrj-100518	158	22	results	result	NOUN
esrj-100518	158	23	.	.	PUNCT
esrj-100518	159	1	ppk/	ppk/	NOUN
esrj-100518	159	2	gnss	gnss	NOUN
esrj-100518	159	3	,	,	PUNCT
esrj-100518	159	4	ppk	ppk	NOUN
esrj-100518	159	5	/	/	SYM
esrj-100518	159	6	gps	gps	PROPN
esrj-100518	159	7	,	,	PUNCT
esrj-100518	159	8	ppp	ppp	NOUN
esrj-100518	159	9	/	/	SYM
esrj-100518	159	10	gnss	gnss	NOUN
esrj-100518	159	11	,	,	PUNCT
esrj-100518	159	12	and	and	CCONJ
esrj-100518	159	13	ppp	ppp	PROPN
esrj-100518	159	14	/	/	SYM
esrj-100518	159	15	gps	gps	PROPN
esrj-100518	159	16	solutions	solution	NOUN
esrj-100518	159	17	have	have	VERB
esrj-100518	159	18	22	22	NUM
esrj-100518	159	19	%	%	NOUN
esrj-100518	159	20	,	,	PUNCT
esrj-100518	159	21	36	36	NUM
esrj-100518	159	22	%	%	NOUN
esrj-100518	159	23	,	,	PUNCT
esrj-100518	159	24	25	25	NUM
esrj-100518	159	25	%	%	NOUN
esrj-100518	159	26	and	and	CCONJ
esrj-100518	159	27	31	31	NUM
esrj-100518	159	28	%	%	NOUN
esrj-100518	159	29	missing	miss	VERB
esrj-100518	159	30	gaps	gap	NOUN
esrj-100518	159	31	,	,	PUNCT
esrj-100518	159	32	respectively	respectively	ADV
esrj-100518	159	33	,	,	PUNCT
esrj-100518	159	34	through	through	ADP
esrj-100518	159	35	the	the	DET
esrj-100518	159	36	trajectory	trajectory	NOUN
esrj-100518	159	37	.	.	PUNCT
esrj-100518	160	1	although	although	SCONJ
esrj-100518	160	2	gnssbased	gnssbased	ADJ
esrj-100518	160	3	methods	method	NOUN
esrj-100518	160	4	provide	provide	VERB
esrj-100518	160	5	fewer	few	ADJ
esrj-100518	160	6	gaps	gap	NOUN
esrj-100518	160	7	than	than	ADP
esrj-100518	160	8	gps	gps	NOUN
esrj-100518	160	9	-	-	PUNCT
esrj-100518	160	10	based	base	VERB
esrj-100518	160	11	methods	method	NOUN
esrj-100518	160	12	,	,	PUNCT
esrj-100518	160	13	the	the	DET
esrj-100518	160	14	produced	produce	VERB
esrj-100518	160	15	solutions	solution	NOUN
esrj-100518	160	16	of	of	ADP
esrj-100518	160	17	the	the	DET
esrj-100518	160	18	gnss	gnss	NOUN
esrj-100518	160	19	-	-	PUNCT
esrj-100518	160	20	based	base	VERB
esrj-100518	160	21	methods	method	NOUN
esrj-100518	160	22	are	be	AUX
esrj-100518	160	23	mostly	mostly	ADV
esrj-100518	160	24	unsatisfactory	unsatisfactory	ADJ
esrj-100518	160	25	under	under	ADP
esrj-100518	160	26	or	or	CCONJ
esrj-100518	160	27	nearby	nearby	ADV
esrj-100518	160	28	the	the	DET
esrj-100518	160	29	bridges	bridge	NOUN
esrj-100518	160	30	like	like	ADP
esrj-100518	160	31	gps	gps	NOUN
esrj-100518	160	32	-	-	PUNCT
esrj-100518	160	33	based	base	VERB
esrj-100518	160	34	methods	method	NOUN
esrj-100518	160	35	.	.	PUNCT
esrj-100518	161	1	moreover	moreover	ADV
esrj-100518	161	2	,	,	PUNCT
esrj-100518	161	3	ppp	ppp	NOUN
esrj-100518	161	4	/	/	SYM
esrj-100518	161	5	gnss	gnss	NOUN
esrj-100518	161	6	and	and	CCONJ
esrj-100518	161	7	ppp/	ppp/	ADJ
esrj-100518	161	8	gps	gps	NOUN
esrj-100518	161	9	trajectories	trajectory	NOUN
esrj-100518	161	10	dramatically	dramatically	ADV
esrj-100518	161	11	leave	leave	VERB
esrj-100518	161	12	the	the	DET
esrj-100518	161	13	reference	reference	NOUN
esrj-100518	161	14	trajectory	trajectory	NOUN
esrj-100518	161	15	in	in	ADP
esrj-100518	161	16	some	some	DET
esrj-100518	161	17	route	route	NOUN
esrj-100518	161	18	parts	part	NOUN
esrj-100518	161	19	.	.	PUNCT
esrj-100518	162	1	figure	figure	NOUN
esrj-100518	162	2	8	8	NUM
esrj-100518	162	3	shows	show	VERB
esrj-100518	162	4	the	the	DET
esrj-100518	162	5	lc	lc	NOUN
esrj-100518	162	6	-	-	PUNCT
esrj-100518	162	7	based	base	VERB
esrj-100518	162	8	solutions	solution	NOUN
esrj-100518	162	9	in	in	ADP
esrj-100518	162	10	the	the	DET
esrj-100518	162	11	urban	urban	ADJ
esrj-100518	162	12	area	area	NOUN
esrj-100518	162	13	.	.	PUNCT
esrj-100518	163	1	there	there	PRON
esrj-100518	163	2	are	be	VERB
esrj-100518	163	3	no	no	DET
esrj-100518	163	4	missing	miss	VERB
esrj-100518	163	5	epochs	epoch	NOUN
esrj-100518	163	6	in	in	ADP
esrj-100518	163	7	all	all	DET
esrj-100518	163	8	lc	lc	NOUN
esrj-100518	163	9	-	-	PUNCT
esrj-100518	163	10	based	base	VERB
esrj-100518	163	11	solutions	solution	NOUN
esrj-100518	163	12	.	.	PUNCT
esrj-100518	164	1	gnss	gnss	NOUN
esrj-100518	164	2	/	/	SYM
esrj-100518	164	3	imu	imu	NOUN
esrj-100518	164	4	integrated	integrate	VERB
esrj-100518	164	5	lcbased	lcbase	VERB
esrj-100518	164	6	solutions	solution	NOUN
esrj-100518	164	7	bridge	bridge	NOUN
esrj-100518	164	8	the	the	DET
esrj-100518	164	9	gaps	gap	NOUN
esrj-100518	164	10	of	of	ADP
esrj-100518	164	11	the	the	DET
esrj-100518	164	12	satellite	satellite	NOUN
esrj-100518	164	13	-	-	PUNCT
esrj-100518	164	14	based	base	VERB
esrj-100518	164	15	solutions	solution	NOUN
esrj-100518	164	16	in	in	ADP
esrj-100518	164	17	all	all	DET
esrj-100518	164	18	these	these	DET
esrj-100518	164	19	methodologies	methodology	NOUN
esrj-100518	164	20	,	,	PUNCT
esrj-100518	164	21	providing	provide	VERB
esrj-100518	164	22	continuous	continuous	ADJ
esrj-100518	164	23	trajectories	trajectory	NOUN
esrj-100518	164	24	.	.	PUNCT
esrj-100518	165	1	although	although	SCONJ
esrj-100518	165	2	ppp	ppp	NOUN
esrj-100518	165	3	-	-	PUNCT
esrj-100518	165	4	based	base	VERB
esrj-100518	165	5	methods	method	NOUN
esrj-100518	165	6	provide	provide	VERB
esrj-100518	165	7	uninterrupted	uninterrupted	ADJ
esrj-100518	165	8	solutions	solution	NOUN
esrj-100518	165	9	,	,	PUNCT
esrj-100518	165	10	they	they	PRON
esrj-100518	165	11	are	be	AUX
esrj-100518	165	12	significantly	significantly	ADV
esrj-100518	165	13	separated	separate	VERB
esrj-100518	165	14	from	from	ADP
esrj-100518	165	15	the	the	DET
esrj-100518	165	16	reference	reference	NOUN
esrj-100518	165	17	route	route	NOUN
esrj-100518	165	18	in	in	ADP
esrj-100518	165	19	some	some	DET
esrj-100518	165	20	regions	region	NOUN
esrj-100518	165	21	along	along	ADP
esrj-100518	165	22	the	the	DET
esrj-100518	165	23	course	course	NOUN
esrj-100518	165	24	.	.	PUNCT
esrj-100518	166	1	figure	figure	NOUN
esrj-100518	166	2	9	9	NUM
esrj-100518	166	3	shows	show	VERB
esrj-100518	166	4	the	the	DET
esrj-100518	166	5	2d	2d	NUM
esrj-100518	166	6	position	position	NOUN
esrj-100518	166	7	errors	error	NOUN
esrj-100518	166	8	of	of	ADP
esrj-100518	166	9	the	the	DET
esrj-100518	166	10	satellite	satellite	NOUN
esrj-100518	166	11	-	-	PUNCT
esrj-100518	166	12	based	base	VERB
esrj-100518	166	13	(	(	PUNCT
esrj-100518	166	14	top	top	ADJ
esrj-100518	166	15	)	)	PUNCT
esrj-100518	166	16	and	and	CCONJ
esrj-100518	166	17	lc	lc	NOUN
esrj-100518	166	18	-	-	PUNCT
esrj-100518	166	19	based	base	VERB
esrj-100518	166	20	integrated	integrated	ADJ
esrj-100518	166	21	solutions	solution	NOUN
esrj-100518	166	22	(	(	PUNCT
esrj-100518	166	23	middle	middle	NOUN
esrj-100518	166	24	)	)	PUNCT
esrj-100518	166	25	and	and	CCONJ
esrj-100518	166	26	the	the	DET
esrj-100518	166	27	nvs	nvs	PROPN
esrj-100518	166	28	during	during	ADP
esrj-100518	166	29	the	the	DET
esrj-100518	166	30	observations	observation	NOUN
esrj-100518	166	31	(	(	PUNCT
esrj-100518	166	32	bottom	bottom	NOUN
esrj-100518	166	33	)	)	PUNCT
esrj-100518	166	34	.	.	PUNCT
esrj-100518	167	1	the	the	DET
esrj-100518	167	2	negative	negative	ADJ
esrj-100518	167	3	effect	effect	NOUN
esrj-100518	167	4	of	of	ADP
esrj-100518	167	5	the	the	DET
esrj-100518	167	6	five	five	NUM
esrj-100518	167	7	bridges	bridge	NOUN
esrj-100518	167	8	is	be	AUX
esrj-100518	167	9	seen	see	VERB
esrj-100518	167	10	as	as	ADP
esrj-100518	167	11	the	the	DET
esrj-100518	167	12	five	five	NUM
esrj-100518	167	13	gaps	gap	NOUN
esrj-100518	167	14	in	in	ADP
esrj-100518	167	15	this	this	DET
esrj-100518	167	16	figure	figure	NOUN
esrj-100518	167	17	,	,	PUNCT
esrj-100518	167	18	and	and	CCONJ
esrj-100518	167	19	the	the	DET
esrj-100518	167	20	error	error	NOUN
esrj-100518	167	21	values	value	NOUN
esrj-100518	167	22	reach	reach	VERB
esrj-100518	167	23	the	the	DET
esrj-100518	167	24	highest	high	ADJ
esrj-100518	167	25	values	value	NOUN
esrj-100518	167	26	near	near	ADP
esrj-100518	167	27	these	these	DET
esrj-100518	167	28	epochs	epoch	NOUN
esrj-100518	167	29	.	.	PUNCT
esrj-100518	168	1	also	also	ADV
esrj-100518	168	2	,	,	PUNCT
esrj-100518	168	3	it	it	PRON
esrj-100518	168	4	can	can	AUX
esrj-100518	168	5	be	be	AUX
esrj-100518	168	6	seen	see	VERB
esrj-100518	168	7	that	that	SCONJ
esrj-100518	168	8	the	the	DET
esrj-100518	168	9	maximum	maximum	ADJ
esrj-100518	168	10	errors	error	NOUN
esrj-100518	168	11	obtained	obtain	VERB
esrj-100518	168	12	from	from	ADP
esrj-100518	168	13	these	these	DET
esrj-100518	168	14	processes	process	NOUN
esrj-100518	168	15	occur	occur	VERB
esrj-100518	168	16	before	before	ADV
esrj-100518	168	17	and	and	CCONJ
esrj-100518	168	18	after	after	ADP
esrj-100518	168	19	these	these	DET
esrj-100518	168	20	gaps	gap	NOUN
esrj-100518	168	21	.	.	PUNCT
esrj-100518	169	1	figure	figure	NOUN
esrj-100518	169	2	9	9	NUM
esrj-100518	169	3	also	also	ADV
esrj-100518	169	4	visualize	visualize	VERB
esrj-100518	169	5	that	that	SCONJ
esrj-100518	169	6	the	the	DET
esrj-100518	169	7	maximum	maximum	ADJ
esrj-100518	169	8	errors	error	NOUN
esrj-100518	169	9	of	of	ADP
esrj-100518	169	10	ppp	ppp	NOUN
esrj-100518	169	11	-	-	PUNCT
esrj-100518	169	12	based	base	VERB
esrj-100518	169	13	solutions	solution	NOUN
esrj-100518	169	14	reach	reach	VERB
esrj-100518	169	15	up	up	ADP
esrj-100518	169	16	to	to	PART
esrj-100518	169	17	3	3	NUM
esrj-100518	169	18	meters	meter	NOUN
esrj-100518	169	19	between	between	ADP
esrj-100518	169	20	the	the	DET
esrj-100518	169	21	1500	1500	NUM
esrj-100518	169	22	to	to	PART
esrj-100518	169	23	2000	2000	NUM
esrj-100518	169	24	epochs	epoch	NOUN
esrj-100518	169	25	.	.	PUNCT
esrj-100518	170	1	the	the	DET
esrj-100518	170	2	middle	middle	ADJ
esrj-100518	170	3	part	part	NOUN
esrj-100518	170	4	of	of	ADP
esrj-100518	170	5	this	this	DET
esrj-100518	170	6	figure	figure	NOUN
esrj-100518	170	7	indicates	indicate	VERB
esrj-100518	170	8	that	that	SCONJ
esrj-100518	170	9	the	the	DET
esrj-100518	170	10	gnss	gnss	NOUN
esrj-100518	170	11	/	/	SYM
esrj-100518	170	12	imu	imu	NOUN
esrj-100518	170	13	integrated	integrate	VERB
esrj-100518	170	14	lc	lc	NOUN
esrj-100518	170	15	-	-	PUNCT
esrj-100518	170	16	based	base	VERB
esrj-100518	170	17	solutions	solution	NOUN
esrj-100518	170	18	bridge	bridge	VERB
esrj-100518	170	19	the	the	DET
esrj-100518	170	20	gnss	gnss	NOUN
esrj-100518	170	21	solution	solution	NOUN
esrj-100518	170	22	’s	’s	PART
esrj-100518	170	23	gaps	gap	NOUN
esrj-100518	170	24	in	in	ADP
esrj-100518	170	25	all	all	DET
esrj-100518	170	26	four	four	NUM
esrj-100518	170	27	methods	method	NOUN
esrj-100518	170	28	.	.	PUNCT
esrj-100518	171	1	but	but	CCONJ
esrj-100518	171	2	,	,	PUNCT
esrj-100518	171	3	especially	especially	ADV
esrj-100518	171	4	ppp	ppp	NOUN
esrj-100518	171	5	-	-	PUNCT
esrj-100518	171	6	based	base	VERB
esrj-100518	171	7	solutions	solution	NOUN
esrj-100518	171	8	can	can	AUX
esrj-100518	171	9	not	not	PART
esrj-100518	171	10	provide	provide	VERB
esrj-100518	171	11	satisfactory	satisfactory	ADJ
esrj-100518	171	12	improvement	improvement	NOUN
esrj-100518	171	13	in	in	ADP
esrj-100518	171	14	some	some	DET
esrj-100518	171	15	parts	part	NOUN
esrj-100518	171	16	of	of	ADP
esrj-100518	171	17	the	the	DET
esrj-100518	171	18	trajectory	trajectory	NOUN
esrj-100518	171	19	.	.	PUNCT
esrj-100518	172	1	figure	figure	NOUN
esrj-100518	172	2	5	5	NUM
esrj-100518	172	3	.	.	PUNCT
esrj-100518	172	4	2d	2d	NUM
esrj-100518	172	5	position	position	NOUN
esrj-100518	172	6	errors	error	NOUN
esrj-100518	172	7	in	in	ADP
esrj-100518	172	8	wooded	woode	VERB
esrj-100518	172	9	-	-	PUNCT
esrj-100518	172	10	area	area	NOUN
esrj-100518	172	11	(	(	PUNCT
esrj-100518	172	12	top	top	ADJ
esrj-100518	172	13	:	:	PUNCT
esrj-100518	173	1	satellite	satellite	NOUN
esrj-100518	173	2	-	-	PUNCT
esrj-100518	173	3	based	base	VERB
esrj-100518	173	4	;	;	PUNCT
esrj-100518	173	5	middle	middle	ADJ
esrj-100518	173	6	:	:	PUNCT
esrj-100518	173	7	lcbased	lcbase	VERB
esrj-100518	173	8	)	)	PUNCT
esrj-100518	173	9	,	,	PUNCT
esrj-100518	173	10	and	and	CCONJ
esrj-100518	173	11	the	the	DET
esrj-100518	173	12	nvs	nvs	PROPN
esrj-100518	173	13	during	during	ADP
esrj-100518	173	14	the	the	DET
esrj-100518	173	15	wooded	woode	VERB
esrj-100518	173	16	-	-	PUNCT
esrj-100518	173	17	area	area	NOUN
esrj-100518	173	18	test	test	NOUN
esrj-100518	173	19	(	(	PUNCT
esrj-100518	173	20	bottom	bottom	ADJ
esrj-100518	173	21	)	)	PUNCT
esrj-100518	173	22	217the	217the	NUM
esrj-100518	173	23	performance	performance	NOUN
esrj-100518	173	24	evaluation	evaluation	NOUN
esrj-100518	173	25	of	of	ADP
esrj-100518	173	26	ppk	ppk	NOUN
esrj-100518	173	27	and	and	CCONJ
esrj-100518	173	28	ppp	ppp	NOUN
esrj-100518	173	29	-	-	PUNCT
esrj-100518	173	30	based	base	VERB
esrj-100518	173	31	loosely	loosely	ADV
esrj-100518	173	32	coupled	couple	VERB
esrj-100518	173	33	integration	integration	NOUN
esrj-100518	173	34	in	in	ADP
esrj-100518	173	35	wooded	woode	VERB
esrj-100518	173	36	and	and	CCONJ
esrj-100518	173	37	urban	urban	ADJ
esrj-100518	173	38	areas	area	NOUN
esrj-100518	173	39	figure	figure	VERB
esrj-100518	173	40	7	7	NUM
esrj-100518	173	41	.	.	PUNCT
esrj-100518	174	1	trajectories	trajectory	NOUN
esrj-100518	174	2	of	of	ADP
esrj-100518	174	3	satellite	satellite	NOUN
esrj-100518	174	4	-	-	PUNCT
esrj-100518	174	5	based	base	VERB
esrj-100518	174	6	solutions	solution	NOUN
esrj-100518	174	7	in	in	ADP
esrj-100518	174	8	the	the	DET
esrj-100518	174	9	urban	urban	ADJ
esrj-100518	174	10	-	-	PUNCT
esrj-100518	174	11	area	area	NOUN
esrj-100518	174	12	figure	figure	NOUN
esrj-100518	174	13	8	8	NUM
esrj-100518	174	14	.	.	PUNCT
esrj-100518	175	1	trajectories	trajectory	NOUN
esrj-100518	175	2	of	of	ADP
esrj-100518	175	3	lc	lc	NOUN
esrj-100518	175	4	-	-	PUNCT
esrj-100518	175	5	based	base	VERB
esrj-100518	175	6	solutions	solution	NOUN
esrj-100518	175	7	in	in	ADP
esrj-100518	175	8	the	the	DET
esrj-100518	175	9	urban	urban	ADJ
esrj-100518	175	10	-	-	PUNCT
esrj-100518	175	11	area	area	NOUN
esrj-100518	175	12	218	218	NUM
esrj-100518	175	13	mert	mert	NOUN
esrj-100518	175	14	gürtürk	gürtürk	NOUN
esrj-100518	175	15	,	,	PUNCT
esrj-100518	175	16	veli	veli	PROPN
esrj-100518	175	17	i̇lçi	i̇lçi	PROPN
esrj-100518	175	18	,	,	PUNCT
esrj-100518	175	19	figure	figure	NOUN
esrj-100518	175	20	10	10	NUM
esrj-100518	175	21	gives	give	VERB
esrj-100518	175	22	the	the	DET
esrj-100518	175	23	height	height	NOUN
esrj-100518	175	24	errors	error	NOUN
esrj-100518	175	25	of	of	ADP
esrj-100518	175	26	the	the	DET
esrj-100518	175	27	satellite	satellite	NOUN
esrj-100518	175	28	-	-	PUNCT
esrj-100518	175	29	based	base	VERB
esrj-100518	175	30	(	(	PUNCT
esrj-100518	175	31	top	top	ADJ
esrj-100518	175	32	)	)	PUNCT
esrj-100518	175	33	and	and	CCONJ
esrj-100518	175	34	lc	lc	NOUN
esrj-100518	175	35	-	-	PUNCT
esrj-100518	175	36	based	base	VERB
esrj-100518	175	37	(	(	PUNCT
esrj-100518	175	38	middle	middle	ADJ
esrj-100518	175	39	)	)	PUNCT
esrj-100518	175	40	solutions	solution	NOUN
esrj-100518	175	41	and	and	CCONJ
esrj-100518	175	42	the	the	DET
esrj-100518	175	43	nvs	nvs	PROPN
esrj-100518	175	44	during	during	ADP
esrj-100518	175	45	the	the	DET
esrj-100518	175	46	observations	observation	NOUN
esrj-100518	175	47	(	(	PUNCT
esrj-100518	175	48	bottom	bottom	NOUN
esrj-100518	175	49	)	)	PUNCT
esrj-100518	175	50	.	.	PUNCT
esrj-100518	176	1	similar	similar	ADJ
esrj-100518	176	2	to	to	ADP
esrj-100518	176	3	the	the	DET
esrj-100518	176	4	2d	2d	NUM
esrj-100518	176	5	position	position	NOUN
esrj-100518	176	6	errors	error	NOUN
esrj-100518	176	7	,	,	PUNCT
esrj-100518	176	8	five	five	NUM
esrj-100518	176	9	gaps	gap	NOUN
esrj-100518	176	10	are	be	AUX
esrj-100518	176	11	seen	see	VERB
esrj-100518	176	12	in	in	ADP
esrj-100518	176	13	the	the	DET
esrj-100518	176	14	height	height	NOUN
esrj-100518	176	15	component	component	NOUN
esrj-100518	176	16	in	in	ADP
esrj-100518	176	17	the	the	DET
esrj-100518	176	18	top	top	ADJ
esrj-100518	176	19	part	part	NOUN
esrj-100518	176	20	of	of	ADP
esrj-100518	176	21	the	the	DET
esrj-100518	176	22	figure	figure	NOUN
esrj-100518	176	23	.	.	PUNCT
esrj-100518	177	1	all	all	DET
esrj-100518	177	2	method	method	NOUN
esrj-100518	177	3	’s	’s	PART
esrj-100518	177	4	errors	error	NOUN
esrj-100518	177	5	reach	reach	VERB
esrj-100518	177	6	meter	meter	NOUN
esrj-100518	177	7	-	-	PUNCT
esrj-100518	177	8	level	level	NOUN
esrj-100518	177	9	,	,	PUNCT
esrj-100518	177	10	but	but	CCONJ
esrj-100518	177	11	ppk	ppk	NOUN
esrj-100518	177	12	-	-	PUNCT
esrj-100518	177	13	based	base	VERB
esrj-100518	177	14	solutions	solution	NOUN
esrj-100518	177	15	are	be	AUX
esrj-100518	177	16	better	well	ADJ
esrj-100518	177	17	than	than	ADP
esrj-100518	177	18	ppp	ppp	NOUN
esrj-100518	177	19	-	-	PUNCT
esrj-100518	177	20	based	base	VERB
esrj-100518	177	21	ones	one	NOUN
esrj-100518	177	22	.	.	PUNCT
esrj-100518	178	1	the	the	DET
esrj-100518	178	2	middle	middle	ADJ
esrj-100518	178	3	part	part	NOUN
esrj-100518	178	4	of	of	ADP
esrj-100518	178	5	the	the	DET
esrj-100518	178	6	figure	figure	NOUN
esrj-100518	178	7	shows	show	VERB
esrj-100518	178	8	that	that	SCONJ
esrj-100518	178	9	the	the	DET
esrj-100518	178	10	imu	imu	NOUN
esrj-100518	178	11	integration	integration	NOUN
esrj-100518	178	12	fills	fill	VERB
esrj-100518	178	13	the	the	DET
esrj-100518	178	14	gaps	gap	NOUN
esrj-100518	178	15	in	in	ADP
esrj-100518	178	16	all	all	DET
esrj-100518	178	17	methods	method	NOUN
esrj-100518	178	18	and	and	CCONJ
esrj-100518	178	19	improves	improve	VERB
esrj-100518	178	20	height	height	NOUN
esrj-100518	178	21	accuracy	accuracy	NOUN
esrj-100518	178	22	.	.	PUNCT
esrj-100518	179	1	figure	figure	NOUN
esrj-100518	179	2	10	10	NUM
esrj-100518	179	3	.	.	PUNCT
esrj-100518	180	1	height	height	NOUN
esrj-100518	180	2	errors	error	NOUN
esrj-100518	180	3	in	in	ADP
esrj-100518	180	4	urban	urban	ADJ
esrj-100518	180	5	-	-	PUNCT
esrj-100518	180	6	area	area	NOUN
esrj-100518	180	7	(	(	PUNCT
esrj-100518	180	8	top	top	ADJ
esrj-100518	180	9	:	:	PUNCT
esrj-100518	180	10	satellite	satellite	NOUN
esrj-100518	180	11	-	-	PUNCT
esrj-100518	180	12	based	base	VERB
esrj-100518	180	13	;	;	PUNCT
esrj-100518	180	14	middle	middle	ADJ
esrj-100518	180	15	:	:	PUNCT
esrj-100518	180	16	lc	lc	NOUN
esrj-100518	180	17	-	-	PUNCT
esrj-100518	180	18	based	base	VERB
esrj-100518	180	19	)	)	PUNCT
esrj-100518	180	20	and	and	CCONJ
esrj-100518	180	21	the	the	DET
esrj-100518	180	22	nvs	nvs	PROPN
esrj-100518	180	23	during	during	ADP
esrj-100518	180	24	the	the	DET
esrj-100518	180	25	observations	observation	NOUN
esrj-100518	180	26	(	(	PUNCT
esrj-100518	180	27	bottom	bottom	ADJ
esrj-100518	180	28	)	)	PUNCT
esrj-100518	180	29	table	table	NOUN
esrj-100518	180	30	5	5	NUM
esrj-100518	180	31	gives	give	VERB
esrj-100518	180	32	the	the	DET
esrj-100518	180	33	error	error	NOUN
esrj-100518	180	34	statistics	statistic	NOUN
esrj-100518	180	35	of	of	ADP
esrj-100518	180	36	the	the	DET
esrj-100518	180	37	2d	2d	NUM
esrj-100518	180	38	position	position	NOUN
esrj-100518	180	39	for	for	ADP
esrj-100518	180	40	satellite	satellite	NOUN
esrj-100518	180	41	-	-	PUNCT
esrj-100518	180	42	based	base	VERB
esrj-100518	180	43	and	and	CCONJ
esrj-100518	180	44	lc	lc	NOUN
esrj-100518	180	45	-	-	PUNCT
esrj-100518	180	46	based	base	VERB
esrj-100518	180	47	solutions	solution	NOUN
esrj-100518	180	48	in	in	ADP
esrj-100518	180	49	the	the	DET
esrj-100518	180	50	urban	urban	ADJ
esrj-100518	180	51	area	area	NOUN
esrj-100518	180	52	.	.	PUNCT
esrj-100518	181	1	the	the	DET
esrj-100518	181	2	satellite	satellite	NOUN
esrj-100518	181	3	-	-	PUNCT
esrj-100518	181	4	based	base	VERB
esrj-100518	181	5	ppk	ppk	NOUN
esrj-100518	181	6	/	/	SYM
esrj-100518	181	7	gps	gps	PROPN
esrj-100518	181	8	,	,	PUNCT
esrj-100518	181	9	ppk	ppk	NOUN
esrj-100518	181	10	/	/	SYM
esrj-100518	181	11	gnss	gnss	NOUN
esrj-100518	181	12	,	,	PUNCT
esrj-100518	181	13	ppp	ppp	NOUN
esrj-100518	181	14	/	/	SYM
esrj-100518	181	15	gps	gps	PROPN
esrj-100518	181	16	,	,	PUNCT
esrj-100518	181	17	and	and	CCONJ
esrj-100518	181	18	ppp	ppp	PROPN
esrj-100518	181	19	/	/	SYM
esrj-100518	181	20	gnss	gnss	NOUN
esrj-100518	181	21	solution	solution	NOUN
esrj-100518	181	22	errors	error	NOUN
esrj-100518	181	23	are	be	AUX
esrj-100518	181	24	2.10	2.10	NUM
esrj-100518	181	25	,	,	PUNCT
esrj-100518	181	26	0.99	0.99	NUM
esrj-100518	181	27	,	,	PUNCT
esrj-100518	181	28	3.03	3.03	NUM
esrj-100518	181	29	,	,	PUNCT
esrj-100518	181	30	and	and	CCONJ
esrj-100518	181	31	2.96	2.96	NUM
esrj-100518	181	32	meters	meter	NOUN
esrj-100518	181	33	in	in	ADP
esrj-100518	181	34	maximum	maximum	ADJ
esrj-100518	181	35	and	and	CCONJ
esrj-100518	181	36	0.11	0.11	NUM
esrj-100518	181	37	,	,	PUNCT
esrj-100518	181	38	0.06	0.06	NUM
esrj-100518	181	39	,	,	PUNCT
esrj-100518	181	40	0.61	0.61	NUM
esrj-100518	181	41	and	and	CCONJ
esrj-100518	181	42	0.55	0.55	NUM
esrj-100518	181	43	meters	meter	NOUN
esrj-100518	181	44	on	on	ADP
esrj-100518	181	45	average	average	ADJ
esrj-100518	181	46	,	,	PUNCT
esrj-100518	181	47	respectively	respectively	ADV
esrj-100518	181	48	.	.	PUNCT
esrj-100518	182	1	the	the	DET
esrj-100518	182	2	satellite	satellite	NOUN
esrj-100518	182	3	-	-	PUNCT
esrj-100518	182	4	based	base	VERB
esrj-100518	182	5	ppk	ppk	NOUN
esrj-100518	182	6	methods	method	NOUN
esrj-100518	182	7	outperform	outperform	VERB
esrj-100518	182	8	the	the	DET
esrj-100518	182	9	ppp	ppp	NOUN
esrj-100518	182	10	methods	method	NOUN
esrj-100518	182	11	in	in	ADP
esrj-100518	182	12	maximum	maximum	ADJ
esrj-100518	182	13	,	,	PUNCT
esrj-100518	182	14	average	average	ADJ
esrj-100518	182	15	,	,	PUNCT
esrj-100518	182	16	and	and	CCONJ
esrj-100518	182	17	rmse	rmse	ADJ
esrj-100518	182	18	statistics	statistic	NOUN
esrj-100518	182	19	in	in	ADP
esrj-100518	182	20	the	the	DET
esrj-100518	182	21	gnss	gnss	NOUN
esrj-100518	182	22	challenging	challenge	VERB
esrj-100518	182	23	environment	environment	NOUN
esrj-100518	182	24	.	.	PUNCT
esrj-100518	183	1	gnssbased	gnssbase	VERB
esrj-100518	183	2	methods	method	NOUN
esrj-100518	183	3	are	be	AUX
esrj-100518	183	4	significantly	significantly	ADV
esrj-100518	183	5	better	well	ADJ
esrj-100518	183	6	than	than	ADP
esrj-100518	183	7	gps	gps	NOUN
esrj-100518	183	8	-	-	PUNCT
esrj-100518	183	9	based	base	VERB
esrj-100518	183	10	solutions	solution	NOUN
esrj-100518	183	11	in	in	ADP
esrj-100518	183	12	ppk	ppk	NOUN
esrj-100518	183	13	-	-	PUNCT
esrj-100518	183	14	based	base	VERB
esrj-100518	183	15	solutions	solution	NOUN
esrj-100518	183	16	,	,	PUNCT
esrj-100518	183	17	while	while	SCONJ
esrj-100518	183	18	in	in	ADP
esrj-100518	183	19	the	the	DET
esrj-100518	183	20	ppp	ppp	NOUN
esrj-100518	183	21	-	-	PUNCT
esrj-100518	183	22	based	base	VERB
esrj-100518	183	23	solutions	solution	NOUN
esrj-100518	183	24	,	,	PUNCT
esrj-100518	183	25	this	this	DET
esrj-100518	183	26	improvement	improvement	NOUN
esrj-100518	183	27	is	be	AUX
esrj-100518	183	28	very	very	ADV
esrj-100518	183	29	slight	slight	ADJ
esrj-100518	183	30	.	.	PUNCT
esrj-100518	184	1	lc	lc	NOUN
esrj-100518	184	2	-	-	PUNCT
esrj-100518	184	3	based	base	VERB
esrj-100518	184	4	ppk	ppk	NOUN
esrj-100518	184	5	/	/	SYM
esrj-100518	184	6	gps	gps	PROPN
esrj-100518	184	7	-	-	PUNCT
esrj-100518	184	8	imu	imu	NOUN
esrj-100518	184	9	,	,	PUNCT
esrj-100518	184	10	ppk	ppk	NOUN
esrj-100518	184	11	/	/	SYM
esrj-100518	184	12	gnss	gnss	NOUN
esrj-100518	184	13	-	-	PUNCT
esrj-100518	184	14	imu	imu	NOUN
esrj-100518	184	15	,	,	PUNCT
esrj-100518	184	16	ppp	ppp	NOUN
esrj-100518	184	17	/	/	SYM
esrj-100518	184	18	gps	gps	PROPN
esrj-100518	184	19	-	-	PUNCT
esrj-100518	184	20	imu	imu	NOUN
esrj-100518	184	21	,	,	PUNCT
esrj-100518	184	22	and	and	CCONJ
esrj-100518	184	23	ppp/	ppp/	ADJ
esrj-100518	184	24	gnss	gnss	NOUN
esrj-100518	184	25	-	-	PUNCT
esrj-100518	184	26	imu	imu	NOUN
esrj-100518	184	27	solutions	solution	NOUN
esrj-100518	184	28	provide	provide	VERB
esrj-100518	184	29	0.36	0.36	NUM
esrj-100518	184	30	,	,	PUNCT
esrj-100518	184	31	0.20	0.20	NUM
esrj-100518	184	32	,	,	PUNCT
esrj-100518	184	33	2.70	2.70	NUM
esrj-100518	184	34	,	,	PUNCT
esrj-100518	184	35	and	and	CCONJ
esrj-100518	184	36	2.59	2.59	NUM
esrj-100518	184	37	meters	meter	NOUN
esrj-100518	184	38	in	in	ADP
esrj-100518	184	39	maximum	maximum	ADJ
esrj-100518	184	40	and	and	CCONJ
esrj-100518	184	41	0.09	0.09	NUM
esrj-100518	184	42	,	,	PUNCT
esrj-100518	184	43	0.06	0.06	NUM
esrj-100518	184	44	,	,	PUNCT
esrj-100518	184	45	0.57	0.57	NUM
esrj-100518	184	46	and	and	CCONJ
esrj-100518	184	47	0.49	0.49	NUM
esrj-100518	184	48	-	-	PUNCT
esrj-100518	184	49	meter	meter	NOUN
esrj-100518	184	50	errors	error	NOUN
esrj-100518	184	51	on	on	ADP
esrj-100518	184	52	average	average	ADJ
esrj-100518	184	53	,	,	PUNCT
esrj-100518	184	54	respectively	respectively	ADV
esrj-100518	184	55	.	.	PUNCT
esrj-100518	185	1	similar	similar	ADJ
esrj-100518	185	2	to	to	ADP
esrj-100518	185	3	the	the	DET
esrj-100518	185	4	satellite	satellite	NOUN
esrj-100518	185	5	-	-	PUNCT
esrj-100518	185	6	based	base	VERB
esrj-100518	185	7	solutions	solution	NOUN
esrj-100518	185	8	,	,	PUNCT
esrj-100518	185	9	the	the	DET
esrj-100518	185	10	provided	provide	VERB
esrj-100518	185	11	accuracies	accuracy	NOUN
esrj-100518	185	12	of	of	ADP
esrj-100518	185	13	the	the	DET
esrj-100518	185	14	ppk	ppk	NOUN
esrj-100518	185	15	-	-	PUNCT
esrj-100518	185	16	based	base	VERB
esrj-100518	185	17	methods	method	NOUN
esrj-100518	185	18	are	be	AUX
esrj-100518	185	19	significantly	significantly	ADV
esrj-100518	185	20	better	well	ADJ
esrj-100518	185	21	than	than	ADP
esrj-100518	185	22	that	that	PRON
esrj-100518	185	23	of	of	ADP
esrj-100518	185	24	ppp	ppp	NOUN
esrj-100518	185	25	-	-	PUNCT
esrj-100518	185	26	based	base	VERB
esrj-100518	185	27	methods	method	NOUN
esrj-100518	185	28	in	in	ADP
esrj-100518	185	29	the	the	DET
esrj-100518	185	30	lcbased	lcbase	VERB
esrj-100518	185	31	solutions	solution	NOUN
esrj-100518	185	32	,	,	PUNCT
esrj-100518	185	33	and	and	CCONJ
esrj-100518	185	34	gnss	gnss	NOUN
esrj-100518	185	35	-	-	PUNCT
esrj-100518	185	36	based	base	VERB
esrj-100518	185	37	methods	method	NOUN
esrj-100518	185	38	better	well	ADV
esrj-100518	185	39	perform	perform	VERB
esrj-100518	185	40	than	than	ADP
esrj-100518	185	41	the	the	DET
esrj-100518	185	42	gps	gps	NOUN
esrj-100518	185	43	-	-	PUNCT
esrj-100518	185	44	based	base	VERB
esrj-100518	185	45	methods	method	NOUN
esrj-100518	185	46	.	.	PUNCT
esrj-100518	186	1	although	although	SCONJ
esrj-100518	186	2	the	the	DET
esrj-100518	186	3	lc	lc	NOUN
esrj-100518	186	4	-	-	PUNCT
esrj-100518	186	5	based	base	VERB
esrj-100518	186	6	methods	method	NOUN
esrj-100518	186	7	can	can	AUX
esrj-100518	186	8	not	not	PART
esrj-100518	186	9	improve	improve	VERB
esrj-100518	186	10	the	the	DET
esrj-100518	186	11	average	average	ADJ
esrj-100518	186	12	values	value	NOUN
esrj-100518	186	13	substantially	substantially	ADV
esrj-100518	186	14	compared	compare	VERB
esrj-100518	186	15	to	to	ADP
esrj-100518	186	16	the	the	DET
esrj-100518	186	17	satellite	satellite	NOUN
esrj-100518	186	18	-	-	PUNCT
esrj-100518	186	19	based	base	VERB
esrj-100518	186	20	methods	method	NOUN
esrj-100518	186	21	,	,	PUNCT
esrj-100518	186	22	lc	lc	NOUN
esrj-100518	186	23	-	-	PUNCT
esrj-100518	186	24	based	base	VERB
esrj-100518	186	25	methods	method	NOUN
esrj-100518	186	26	fill	fill	VERB
esrj-100518	186	27	the	the	DET
esrj-100518	186	28	gaps	gap	NOUN
esrj-100518	186	29	through	through	ADP
esrj-100518	186	30	the	the	DET
esrj-100518	186	31	trajectory	trajectory	NOUN
esrj-100518	186	32	(	(	PUNCT
esrj-100518	186	33	nearly	nearly	ADV
esrj-100518	186	34	%	%	NOUN
esrj-100518	186	35	30	30	NUM
esrj-100518	186	36	of	of	ADP
esrj-100518	186	37	the	the	DET
esrj-100518	186	38	trajectory	trajectory	NOUN
esrj-100518	186	39	)	)	PUNCT
esrj-100518	186	40	,	,	PUNCT
esrj-100518	186	41	provide	provide	VERB
esrj-100518	186	42	lower	low	ADJ
esrj-100518	186	43	maximum	maximum	ADJ
esrj-100518	186	44	errors	error	NOUN
esrj-100518	186	45	,	,	PUNCT
esrj-100518	186	46	and	and	CCONJ
esrj-100518	186	47	less	less	ADJ
esrj-100518	186	48	fluctuation	fluctuation	NOUN
esrj-100518	186	49	in	in	ADP
esrj-100518	186	50	the	the	DET
esrj-100518	186	51	error	error	NOUN
esrj-100518	186	52	values	value	NOUN
esrj-100518	186	53	.	.	PUNCT
esrj-100518	187	1	figure	figure	NOUN
esrj-100518	187	2	9	9	NUM
esrj-100518	187	3	.	.	PUNCT
esrj-100518	188	1	2d	2d	NUM
esrj-100518	188	2	position	position	NOUN
esrj-100518	188	3	errors	error	NOUN
esrj-100518	188	4	in	in	ADP
esrj-100518	188	5	urban	urban	ADJ
esrj-100518	188	6	-	-	PUNCT
esrj-100518	188	7	area	area	NOUN
esrj-100518	188	8	(	(	PUNCT
esrj-100518	188	9	top	top	ADJ
esrj-100518	188	10	:	:	PUNCT
esrj-100518	188	11	satellite	satellite	NOUN
esrj-100518	188	12	-	-	PUNCT
esrj-100518	188	13	based	base	VERB
esrj-100518	188	14	;	;	PUNCT
esrj-100518	188	15	middle	middle	ADJ
esrj-100518	188	16	:	:	PUNCT
esrj-100518	188	17	lc	lc	NOUN
esrj-100518	188	18	-	-	PUNCT
esrj-100518	188	19	based	base	VERB
esrj-100518	188	20	)	)	PUNCT
esrj-100518	188	21	and	and	CCONJ
esrj-100518	188	22	the	the	DET
esrj-100518	188	23	nvs	nvs	PROPN
esrj-100518	188	24	during	during	ADP
esrj-100518	188	25	the	the	DET
esrj-100518	188	26	observations	observation	NOUN
esrj-100518	188	27	(	(	PUNCT
esrj-100518	188	28	bottom	bottom	ADJ
esrj-100518	188	29	)	)	PUNCT
esrj-100518	188	30	table	table	NOUN
esrj-100518	188	31	5	5	NUM
esrj-100518	188	32	.	.	PUNCT
esrj-100518	188	33	error	error	NOUN
esrj-100518	188	34	statistics	statistic	NOUN
esrj-100518	188	35	of	of	ADP
esrj-100518	188	36	2d	2d	PROPN
esrj-100518	188	37	position	position	NOUN
esrj-100518	188	38	for	for	ADP
esrj-100518	188	39	urban	urban	ADJ
esrj-100518	188	40	-	-	PUNCT
esrj-100518	188	41	area	area	NOUN
esrj-100518	188	42	2d	2d	NUM
esrj-100518	188	43	position	position	NOUN
esrj-100518	188	44	(	(	PUNCT
esrj-100518	188	45	m	m	NOUN
esrj-100518	188	46	)	)	PUNCT
esrj-100518	188	47	satellite	satellite	NOUN
esrj-100518	188	48	-	-	PUNCT
esrj-100518	188	49	based	base	VERB
esrj-100518	188	50	lc	lc	NOUN
esrj-100518	188	51	-	-	PUNCT
esrj-100518	188	52	based	base	VERB
esrj-100518	188	53	ppk	ppk	NOUN
esrj-100518	188	54	ppp	ppp	PROPN
esrj-100518	188	55	ppk	ppk	NOUN
esrj-100518	188	56	ppp	ppp	PROPN
esrj-100518	188	57	gnss	gnss	PROPN
esrj-100518	188	58	gps	gps	PROPN
esrj-100518	188	59	gnss	gnss	NOUN
esrj-100518	188	60	gps	gps	PROPN
esrj-100518	188	61	gnss	gnss	NOUN
esrj-100518	188	62	gps	gps	PROPN
esrj-100518	188	63	gnss	gnss	NOUN
esrj-100518	188	64	gps	gps	PROPN
esrj-100518	188	65	max	max	PROPN
esrj-100518	188	66	0.99	0.99	NUM
esrj-100518	188	67	2.10	2.10	NUM
esrj-100518	188	68	2.96	2.96	NUM
esrj-100518	188	69	3.03	3.03	NUM
esrj-100518	188	70	0.20	0.20	NUM
esrj-100518	188	71	0.36	0.36	NUM
esrj-100518	188	72	2.59	2.59	NUM
esrj-100518	188	73	2.70	2.70	NUM
esrj-100518	188	74	average	average	NOUN
esrj-100518	188	75	0.06	0.06	NUM
esrj-100518	189	1	0.11	0.11	NUM
esrj-100518	189	2	0.55	0.55	NUM
esrj-100518	189	3	0.61	0.61	NUM
esrj-100518	189	4	0.06	0.06	NUM
esrj-100518	189	5	0.09	0.09	NUM
esrj-100518	189	6	0.49	0.49	NUM
esrj-100518	189	7	0.57	0.57	NUM
esrj-100518	189	8	rmse	rmse	NOUN
esrj-100518	189	9	0.09	0.09	NUM
esrj-100518	189	10	0.25	0.25	NUM
esrj-100518	189	11	0.95	0.95	NUM
esrj-100518	189	12	1.09	1.09	NUM
esrj-100518	189	13	0.08	0.08	NUM
esrj-100518	189	14	0.12	0.12	NUM
esrj-100518	189	15	0.80	0.80	NUM
esrj-100518	189	16	0.95	0.95	NUM
esrj-100518	189	17	table	table	NOUN
esrj-100518	189	18	6	6	NUM
esrj-100518	189	19	.	.	PUNCT
esrj-100518	189	20	error	error	NOUN
esrj-100518	189	21	statistics	statistic	NOUN
esrj-100518	189	22	of	of	ADP
esrj-100518	189	23	height	height	NOUN
esrj-100518	189	24	for	for	ADP
esrj-100518	189	25	urban	urban	ADJ
esrj-100518	189	26	-	-	PUNCT
esrj-100518	189	27	area	area	NOUN
esrj-100518	189	28	height	height	NOUN
esrj-100518	189	29	(	(	PUNCT
esrj-100518	189	30	m	m	NOUN
esrj-100518	189	31	)	)	PUNCT
esrj-100518	189	32	satellite	satellite	NOUN
esrj-100518	189	33	-	-	PUNCT
esrj-100518	189	34	based	base	VERB
esrj-100518	189	35	lc	lc	NOUN
esrj-100518	189	36	-	-	PUNCT
esrj-100518	189	37	based	base	VERB
esrj-100518	189	38	ppk	ppk	NOUN
esrj-100518	189	39	ppp	ppp	PROPN
esrj-100518	189	40	ppk	ppk	NOUN
esrj-100518	189	41	ppp	ppp	PROPN
esrj-100518	189	42	gnss	gnss	PROPN
esrj-100518	189	43	gps	gps	PROPN
esrj-100518	189	44	gnss	gnss	NOUN
esrj-100518	189	45	gps	gps	PROPN
esrj-100518	189	46	gnss	gnss	NOUN
esrj-100518	189	47	gps	gps	PROPN
esrj-100518	189	48	gnss	gnss	NOUN
esrj-100518	189	49	gps	gps	PROPN
esrj-100518	189	50	max	max	PROPN
esrj-100518	189	51	6.43	6.43	NUM
esrj-100518	189	52	10.86	10.86	NUM
esrj-100518	189	53	8.73	8.73	NUM
esrj-100518	189	54	12.95	12.95	NUM
esrj-100518	189	55	1.49	1.49	NUM
esrj-100518	189	56	1.64	1.64	NUM
esrj-100518	189	57	4.45	4.45	NUM
esrj-100518	189	58	4.74	4.74	NUM
esrj-100518	189	59	average	average	NOUN
esrj-100518	189	60	0.24	0.24	NUM
esrj-100518	189	61	0.38	0.38	NUM
esrj-100518	189	62	1.75	1.75	NUM
esrj-100518	189	63	1.90	1.90	NUM
esrj-100518	189	64	0.16	0.16	NUM
esrj-100518	189	65	0.34	0.34	NUM
esrj-100518	189	66	1.31	1.31	NUM
esrj-100518	189	67	1.67	1.67	NUM
esrj-100518	189	68	rmse	rmse	NOUN
esrj-100518	189	69	0.52	0.52	NUM
esrj-100518	189	70	1.06	1.06	NUM
esrj-100518	189	71	2.72	2.72	NUM
esrj-100518	189	72	2.76	2.76	NUM
esrj-100518	189	73	0.32	0.32	NUM
esrj-100518	189	74	0.57	0.57	NUM
esrj-100518	189	75	1.80	1.80	NUM
esrj-100518	189	76	2.18	2.18	NUM
esrj-100518	189	77	the	the	DET
esrj-100518	189	78	error	error	NOUN
esrj-100518	189	79	statistics	statistic	NOUN
esrj-100518	189	80	of	of	ADP
esrj-100518	189	81	the	the	DET
esrj-100518	189	82	height	height	NOUN
esrj-100518	189	83	component	component	NOUN
esrj-100518	189	84	for	for	ADP
esrj-100518	189	85	satellite	satellite	NOUN
esrj-100518	189	86	-	-	PUNCT
esrj-100518	189	87	based	base	VERB
esrj-100518	189	88	and	and	CCONJ
esrj-100518	189	89	lcbased	lcbase	VERB
esrj-100518	189	90	solutions	solution	NOUN
esrj-100518	189	91	are	be	AUX
esrj-100518	189	92	given	give	VERB
esrj-100518	189	93	in	in	ADP
esrj-100518	189	94	table	table	NOUN
esrj-100518	189	95	6	6	NUM
esrj-100518	189	96	.	.	PUNCT
esrj-100518	189	97	height	height	NOUN
esrj-100518	189	98	errors	error	NOUN
esrj-100518	189	99	of	of	ADP
esrj-100518	189	100	satellite	satellite	NOUN
esrj-100518	189	101	-	-	PUNCT
esrj-100518	189	102	based	base	VERB
esrj-100518	189	103	ppk	ppk	NOUN
esrj-100518	189	104	/	/	SYM
esrj-100518	189	105	gps	gps	PROPN
esrj-100518	189	106	,	,	PUNCT
esrj-100518	189	107	ppk	ppk	NOUN
esrj-100518	189	108	/	/	SYM
esrj-100518	189	109	gnss	gnss	NOUN
esrj-100518	189	110	,	,	PUNCT
esrj-100518	189	111	ppp	ppp	NOUN
esrj-100518	189	112	/	/	SYM
esrj-100518	189	113	gps	gps	PROPN
esrj-100518	189	114	,	,	PUNCT
esrj-100518	189	115	and	and	CCONJ
esrj-100518	189	116	ppp	ppp	PROPN
esrj-100518	189	117	/	/	SYM
esrj-100518	189	118	gnss	gnss	NOUN
esrj-100518	189	119	solutions	solution	NOUN
esrj-100518	189	120	are	be	AUX
esrj-100518	189	121	10.86	10.86	NUM
esrj-100518	189	122	,	,	PUNCT
esrj-100518	189	123	6.43	6.43	NUM
esrj-100518	189	124	,	,	PUNCT
esrj-100518	189	125	12.95	12.95	NUM
esrj-100518	189	126	and	and	CCONJ
esrj-100518	189	127	8.73	8.73	NUM
esrj-100518	189	128	meters	meter	NOUN
esrj-100518	189	129	in	in	ADP
esrj-100518	189	130	maximum	maximum	ADJ
esrj-100518	189	131	,	,	PUNCT
esrj-100518	189	132	and	and	CCONJ
esrj-100518	189	133	0.38	0.38	NUM
esrj-100518	189	134	,	,	PUNCT
esrj-100518	189	135	0.24	0.24	NUM
esrj-100518	189	136	,	,	PUNCT
esrj-100518	189	137	1.90	1.90	NUM
esrj-100518	189	138	and	and	CCONJ
esrj-100518	189	139	1.75	1.75	NUM
esrj-100518	189	140	meters	meter	NOUN
esrj-100518	189	141	on	on	ADP
esrj-100518	189	142	average	average	ADJ
esrj-100518	189	143	,	,	PUNCT
esrj-100518	189	144	respectively	respectively	ADV
esrj-100518	189	145	.	.	PUNCT
esrj-100518	190	1	these	these	DET
esrj-100518	190	2	results	result	NOUN
esrj-100518	190	3	reveal	reveal	VERB
esrj-100518	190	4	that	that	SCONJ
esrj-100518	190	5	the	the	DET
esrj-100518	190	6	ppk	ppk	NOUN
esrj-100518	190	7	methods	method	NOUN
esrj-100518	190	8	provide	provide	VERB
esrj-100518	190	9	a	a	DET
esrj-100518	190	10	better	well	ADJ
esrj-100518	190	11	solution	solution	NOUN
esrj-100518	190	12	than	than	ADP
esrj-100518	190	13	ppp	ppp	NOUN
esrj-100518	190	14	methods	method	NOUN
esrj-100518	190	15	in	in	ADP
esrj-100518	190	16	the	the	DET
esrj-100518	190	17	height	height	NOUN
esrj-100518	190	18	component	component	NOUN
esrj-100518	190	19	in	in	ADP
esrj-100518	190	20	the	the	DET
esrj-100518	190	21	urban	urban	ADJ
esrj-100518	190	22	area	area	NOUN
esrj-100518	190	23	and	and	CCONJ
esrj-100518	190	24	the	the	DET
esrj-100518	190	25	gnss	gnss	NOUN
esrj-100518	190	26	-	-	PUNCT
esrj-100518	190	27	based	base	VERB
esrj-100518	190	28	methods	method	NOUN
esrj-100518	190	29	outperform	outperform	VERB
esrj-100518	190	30	the	the	DET
esrj-100518	190	31	gps	gps	NOUN
esrj-100518	190	32	-	-	PUNCT
esrj-100518	190	33	based	base	VERB
esrj-100518	190	34	methods	method	NOUN
esrj-100518	190	35	.	.	PUNCT
esrj-100518	191	1	height	height	NOUN
esrj-100518	191	2	errors	error	NOUN
esrj-100518	191	3	of	of	ADP
esrj-100518	191	4	lc	lc	NOUN
esrj-100518	191	5	-	-	PUNCT
esrj-100518	191	6	based	base	VERB
esrj-100518	191	7	ppk	ppk	NOUN
esrj-100518	191	8	/	/	SYM
esrj-100518	191	9	gps	gps	PROPN
esrj-100518	191	10	,	,	PUNCT
esrj-100518	191	11	ppk	ppk	NOUN
esrj-100518	191	12	/	/	SYM
esrj-100518	191	13	gnss	gnss	NOUN
esrj-100518	191	14	,	,	PUNCT
esrj-100518	191	15	ppp	ppp	NOUN
esrj-100518	191	16	/	/	SYM
esrj-100518	191	17	gps	gps	PROPN
esrj-100518	191	18	,	,	PUNCT
esrj-100518	191	19	and	and	CCONJ
esrj-100518	191	20	ppp/	ppp/	ADJ
esrj-100518	191	21	gnss	gnss	NOUN
esrj-100518	191	22	solutions	solution	NOUN
esrj-100518	191	23	are	be	AUX
esrj-100518	191	24	1.64	1.64	NUM
esrj-100518	191	25	,	,	PUNCT
esrj-100518	191	26	1.49	1.49	NUM
esrj-100518	191	27	,	,	PUNCT
esrj-100518	191	28	4.74	4.74	NUM
esrj-100518	191	29	and	and	CCONJ
esrj-100518	191	30	4.45	4.45	NUM
esrj-100518	191	31	meters	meter	NOUN
esrj-100518	191	32	in	in	ADP
esrj-100518	191	33	maximum	maximum	ADJ
esrj-100518	191	34	,	,	PUNCT
esrj-100518	191	35	and	and	CCONJ
esrj-100518	191	36	0.34	0.34	NUM
esrj-100518	191	37	,	,	PUNCT
esrj-100518	191	38	0.16	0.16	NUM
esrj-100518	191	39	,	,	PUNCT
esrj-100518	191	40	1.67	1.67	NUM
esrj-100518	191	41	and	and	CCONJ
esrj-100518	191	42	1.31	1.31	NUM
esrj-100518	191	43	meters	meter	NOUN
esrj-100518	191	44	on	on	ADP
esrj-100518	191	45	average	average	ADJ
esrj-100518	191	46	,	,	PUNCT
esrj-100518	191	47	respectively	respectively	ADV
esrj-100518	191	48	.	.	PUNCT
esrj-100518	192	1	similar	similar	ADJ
esrj-100518	192	2	to	to	ADP
esrj-100518	192	3	the	the	DET
esrj-100518	192	4	satellitebased	satellitebased	ADJ
esrj-100518	192	5	methods	method	NOUN
esrj-100518	192	6	,	,	PUNCT
esrj-100518	192	7	lc	lc	NOUN
esrj-100518	192	8	-	-	PUNCT
esrj-100518	192	9	based	base	VERB
esrj-100518	192	10	results	result	NOUN
esrj-100518	192	11	reveal	reveal	VERB
esrj-100518	192	12	that	that	SCONJ
esrj-100518	192	13	the	the	DET
esrj-100518	192	14	ppk	ppk	NOUN
esrj-100518	192	15	-	-	PUNCT
esrj-100518	192	16	based	base	VERB
esrj-100518	192	17	and	and	CCONJ
esrj-100518	192	18	gnss	gnss	NOUN
esrj-100518	192	19	-	-	PUNCT
esrj-100518	192	20	based	base	VERB
esrj-100518	192	21	methods	method	NOUN
esrj-100518	192	22	provide	provide	VERB
esrj-100518	192	23	better	well	ADV
esrj-100518	192	24	than	than	ADP
esrj-100518	192	25	ppp	ppp	NOUN
esrj-100518	192	26	-	-	PUNCT
esrj-100518	192	27	based	base	VERB
esrj-100518	192	28	and	and	CCONJ
esrj-100518	192	29	gps	gps	PROPN
esrj-100518	192	30	-	-	PUNCT
esrj-100518	192	31	based	base	VERB
esrj-100518	192	32	solutions	solution	NOUN
esrj-100518	192	33	,	,	PUNCT
esrj-100518	192	34	respectively	respectively	ADV
esrj-100518	192	35	.	.	PUNCT
esrj-100518	193	1	the	the	DET
esrj-100518	193	2	lc	lc	NOUN
esrj-100518	193	3	-	-	PUNCT
esrj-100518	193	4	based	base	VERB
esrj-100518	193	5	solutions	solution	NOUN
esrj-100518	193	6	enhance	enhance	VERB
esrj-100518	193	7	the	the	DET
esrj-100518	193	8	maximum	maximum	ADJ
esrj-100518	193	9	height	height	NOUN
esrj-100518	193	10	accuracies	accuracy	NOUN
esrj-100518	193	11	for	for	ADP
esrj-100518	193	12	all	all	DET
esrj-100518	193	13	methods	method	NOUN
esrj-100518	193	14	.	.	PUNCT
esrj-100518	194	1	the	the	DET
esrj-100518	194	2	average	average	ADJ
esrj-100518	194	3	results	result	NOUN
esrj-100518	194	4	of	of	ADP
esrj-100518	194	5	gnss	gnss	NOUN
esrj-100518	194	6	-	-	PUNCT
esrj-100518	194	7	based	base	VERB
esrj-100518	194	8	solutions	solution	NOUN
esrj-100518	194	9	(	(	PUNCT
esrj-100518	194	10	ppk	ppk	NOUN
esrj-100518	194	11	-	-	PUNCT
esrj-100518	194	12	gnss	gnss	NOUN
esrj-100518	194	13	and	and	CCONJ
esrj-100518	194	14	ppp	ppp	NOUN
esrj-100518	194	15	-	-	PUNCT
esrj-100518	194	16	gnss	gnss	NOUN
esrj-100518	194	17	)	)	PUNCT
esrj-100518	194	18	indicate	indicate	VERB
esrj-100518	194	19	that	that	SCONJ
esrj-100518	194	20	lc	lc	NOUN
esrj-100518	194	21	-	-	PUNCT
esrj-100518	194	22	based	base	VERB
esrj-100518	194	23	solutions	solution	NOUN
esrj-100518	194	24	slightly	slightly	ADV
esrj-100518	194	25	improve	improve	VERB
esrj-100518	194	26	height	height	NOUN
esrj-100518	194	27	accuracy	accuracy	NOUN
esrj-100518	194	28	.	.	PUNCT
esrj-100518	195	1	however	however	ADV
esrj-100518	195	2	,	,	PUNCT
esrj-100518	195	3	on	on	ADP
esrj-100518	195	4	gps	gps	NOUN
esrj-100518	195	5	-	-	PUNCT
esrj-100518	195	6	based	base	VERB
esrj-100518	195	7	solutions	solution	NOUN
esrj-100518	195	8	(	(	PUNCT
esrj-100518	195	9	ppk	ppk	NOUN
esrj-100518	195	10	-	-	PUNCT
esrj-100518	195	11	gps	gps	PROPN
esrj-100518	195	12	and	and	CCONJ
esrj-100518	195	13	ppp	ppp	NOUN
esrj-100518	195	14	-	-	PUNCT
esrj-100518	195	15	gps	gps	PROPN
esrj-100518	195	16	methods	method	NOUN
esrj-100518	195	17	)	)	PUNCT
esrj-100518	195	18	,	,	PUNCT
esrj-100518	195	19	lc	lc	PROPN
esrj-100518	195	20	slightly	slightly	ADV
esrj-100518	195	21	deteriorates	deteriorate	VERB
esrj-100518	195	22	the	the	DET
esrj-100518	195	23	height	height	NOUN
esrj-100518	195	24	accuracies	accuracy	NOUN
esrj-100518	195	25	.	.	PUNCT
esrj-100518	196	1	7	7	X
esrj-100518	196	2	.	.	X
esrj-100518	196	3	conclusions	conclusion	NOUN
esrj-100518	196	4	gnss	gnss	NOUN
esrj-100518	196	5	has	have	AUX
esrj-100518	196	6	been	be	AUX
esrj-100518	196	7	the	the	DET
esrj-100518	196	8	playmaker	playmaker	NOUN
esrj-100518	196	9	of	of	ADP
esrj-100518	196	10	positioning	positioning	NOUN
esrj-100518	196	11	applications	application	NOUN
esrj-100518	196	12	for	for	ADP
esrj-100518	196	13	the	the	DET
esrj-100518	196	14	last	last	ADJ
esrj-100518	196	15	two	two	NUM
esrj-100518	196	16	decades	decade	NOUN
esrj-100518	196	17	,	,	PUNCT
esrj-100518	196	18	from	from	ADP
esrj-100518	196	19	low	low	ADJ
esrj-100518	196	20	-	-	PUNCT
esrj-100518	196	21	cost	cost	NOUN
esrj-100518	196	22	single	single	ADJ
esrj-100518	196	23	-	-	PUNCT
esrj-100518	196	24	frequency	frequency	NOUN
esrj-100518	196	25	receivers	receiver	NOUN
esrj-100518	196	26	to	to	ADP
esrj-100518	196	27	state	state	NOUN
esrj-100518	196	28	-	-	PUNCT
esrj-100518	196	29	of	of	ADP
esrj-100518	196	30	-	-	PUNCT
esrj-100518	196	31	the	the	DET
esrj-100518	196	32	-	-	PUNCT
esrj-100518	196	33	art	art	NOUN
esrj-100518	196	34	technologies	technology	NOUN
esrj-100518	196	35	.	.	PUNCT
esrj-100518	197	1	nevertheless	nevertheless	ADV
esrj-100518	197	2	,	,	PUNCT
esrj-100518	197	3	this	this	DET
esrj-100518	197	4	technology	technology	NOUN
esrj-100518	197	5	needs	need	VERB
esrj-100518	197	6	another	another	DET
esrj-100518	197	7	assistance	assistance	NOUN
esrj-100518	197	8	technology	technology	NOUN
esrj-100518	197	9	,	,	PUNCT
esrj-100518	197	10	such	such	ADJ
esrj-100518	197	11	as	as	ADP
esrj-100518	197	12	imu	imu	NOUN
esrj-100518	197	13	,	,	PUNCT
esrj-100518	197	14	in	in	ADP
esrj-100518	197	15	some	some	DET
esrj-100518	197	16	conditions	condition	NOUN
esrj-100518	197	17	where	where	SCONJ
esrj-100518	197	18	obstacles	obstacle	NOUN
esrj-100518	197	19	partially	partially	ADV
esrj-100518	197	20	or	or	CCONJ
esrj-100518	197	21	entirely	entirely	ADV
esrj-100518	197	22	block	block	VERB
esrj-100518	197	23	the	the	DET
esrj-100518	197	24	gnss	gnss	NOUN
esrj-100518	197	25	signals	signal	NOUN
esrj-100518	197	26	.	.	PUNCT
esrj-100518	198	1	this	this	DET
esrj-100518	198	2	study	study	NOUN
esrj-100518	198	3	aims	aim	VERB
esrj-100518	198	4	to	to	PART
esrj-100518	198	5	determine	determine	VERB
esrj-100518	198	6	the	the	DET
esrj-100518	198	7	positioning	positioning	NOUN
esrj-100518	198	8	performance	performance	NOUN
esrj-100518	198	9	of	of	ADP
esrj-100518	198	10	the	the	DET
esrj-100518	198	11	gnss	gnss	NOUN
esrj-100518	198	12	/	/	SYM
esrj-100518	198	13	imu	imu	NOUN
esrj-100518	198	14	integrated	integrate	VERB
esrj-100518	198	15	solution	solution	NOUN
esrj-100518	198	16	in	in	ADP
esrj-100518	198	17	the	the	DET
esrj-100518	198	18	two	two	NUM
esrj-100518	198	19	gnss	gnss	NOUN
esrj-100518	198	20	signal	signal	NOUN
esrj-100518	198	21	blockage	blockage	NOUN
esrj-100518	198	22	test	test	NOUN
esrj-100518	198	23	environments	environment	NOUN
esrj-100518	198	24	;	;	PUNCT
esrj-100518	198	25	a	a	DET
esrj-100518	198	26	wooded	woode	VERB
esrj-100518	198	27	area	area	NOUN
esrj-100518	198	28	and	and	CCONJ
esrj-100518	198	29	an	an	DET
esrj-100518	198	30	urban	urban	ADJ
esrj-100518	198	31	area	area	NOUN
esrj-100518	198	32	.	.	PUNCT
esrj-100518	199	1	using	use	VERB
esrj-100518	199	2	the	the	DET
esrj-100518	199	3	obtained	obtain	VERB
esrj-100518	199	4	results	result	NOUN
esrj-100518	199	5	,	,	PUNCT
esrj-100518	199	6	this	this	DET
esrj-100518	199	7	study	study	NOUN
esrj-100518	199	8	tests	test	NOUN
esrj-100518	199	9	and	and	CCONJ
esrj-100518	199	10	analyses	analyse	VERB
esrj-100518	199	11	three	three	NUM
esrj-100518	199	12	comparisons	comparison	NOUN
esrj-100518	199	13	,	,	PUNCT
esrj-100518	199	14	namely	namely	ADV
esrj-100518	199	15	satellite	satellite	NOUN
esrj-100518	199	16	-	-	PUNCT
esrj-100518	199	17	based	base	VERB
esrj-100518	199	18	and	and	CCONJ
esrj-100518	199	19	lcbased	lcbase	VERB
esrj-100518	199	20	solutions	solution	NOUN
esrj-100518	199	21	,	,	PUNCT
esrj-100518	199	22	gnss	gnss	NOUN
esrj-100518	199	23	-	-	PUNCT
esrj-100518	199	24	based	base	VERB
esrj-100518	199	25	and	and	CCONJ
esrj-100518	199	26	gps	gps	PROPN
esrj-100518	199	27	-	-	PUNCT
esrj-100518	199	28	based	base	VERB
esrj-100518	199	29	solutions	solution	NOUN
esrj-100518	199	30	,	,	PUNCT
esrj-100518	199	31	and	and	CCONJ
esrj-100518	199	32	ppk	ppk	NOUN
esrj-100518	199	33	-	-	PUNCT
esrj-100518	199	34	based	base	VERB
esrj-100518	199	35	and	and	CCONJ
esrj-100518	199	36	ppp	ppp	NOUN
esrj-100518	199	37	-	-	PUNCT
esrj-100518	199	38	based	base	VERB
esrj-100518	199	39	solutions	solution	NOUN
esrj-100518	199	40	.	.	PUNCT
esrj-100518	200	1	in	in	ADP
esrj-100518	200	2	the	the	DET
esrj-100518	200	3	wooded	woode	VERB
esrj-100518	200	4	area	area	NOUN
esrj-100518	200	5	test	test	NOUN
esrj-100518	200	6	,	,	PUNCT
esrj-100518	200	7	similar	similar	ADJ
esrj-100518	200	8	to	to	ADP
esrj-100518	200	9	the	the	DET
esrj-100518	200	10	lc	lc	NOUN
esrj-100518	200	11	-	-	PUNCT
esrj-100518	200	12	based	base	VERB
esrj-100518	200	13	methods	method	NOUN
esrj-100518	200	14	,	,	PUNCT
esrj-100518	200	15	the	the	DET
esrj-100518	200	16	satellitebased	satellitebase	VERB
esrj-100518	200	17	methods	method	NOUN
esrj-100518	200	18	provided	provide	VERB
esrj-100518	200	19	cm	cm	NOUN
esrj-100518	200	20	-	-	PUNCT
esrj-100518	200	21	level	level	NOUN
esrj-100518	200	22	accuracies	accuracy	NOUN
esrj-100518	200	23	through	through	ADP
esrj-100518	200	24	the	the	DET
esrj-100518	200	25	trajectory	trajectory	NOUN
esrj-100518	200	26	due	due	ADP
esrj-100518	200	27	to	to	ADP
esrj-100518	200	28	the	the	DET
esrj-100518	200	29	higher	high	ADJ
esrj-100518	200	30	nvs	nvs	PROPN
esrj-100518	200	31	.	.	PROPN
esrj-100518	200	32	lc	lc	PROPN
esrj-100518	200	33	-	-	PUNCT
esrj-100518	200	34	based	base	VERB
esrj-100518	200	35	methods	method	NOUN
esrj-100518	200	36	slightly	slightly	ADV
esrj-100518	200	37	improved	improve	VERB
esrj-100518	200	38	the	the	DET
esrj-100518	200	39	accuracy	accuracy	NOUN
esrj-100518	200	40	,	,	PUNCT
esrj-100518	200	41	reduced	reduce	VERB
esrj-100518	200	42	the	the	DET
esrj-100518	200	43	fluctuation	fluctuation	NOUN
esrj-100518	200	44	in	in	ADP
esrj-100518	200	45	the	the	DET
esrj-100518	200	46	errors	error	NOUN
esrj-100518	200	47	,	,	PUNCT
esrj-100518	200	48	and	and	CCONJ
esrj-100518	200	49	offered	offer	VERB
esrj-100518	200	50	more	more	ADJ
esrj-100518	200	51	reliable	reliable	ADJ
esrj-100518	200	52	solutions	solution	NOUN
esrj-100518	200	53	than	than	ADP
esrj-100518	200	54	the	the	DET
esrj-100518	200	55	satellite	satellite	NOUN
esrj-100518	200	56	-	-	PUNCT
esrj-100518	200	57	based	base	VERB
esrj-100518	200	58	method	method	NOUN
esrj-100518	200	59	.	.	PUNCT
esrj-100518	201	1	moreover	moreover	ADV
esrj-100518	201	2	,	,	PUNCT
esrj-100518	201	3	it	it	PRON
esrj-100518	201	4	can	can	AUX
esrj-100518	201	5	be	be	AUX
esrj-100518	201	6	concluded	conclude	VERB
esrj-100518	201	7	that	that	SCONJ
esrj-100518	201	8	the	the	DET
esrj-100518	201	9	gnss	gnss	NOUN
esrj-100518	201	10	-	-	PUNCT
esrj-100518	201	11	based	base	VERB
esrj-100518	201	12	methods	method	NOUN
esrj-100518	201	13	offered	offer	VERB
esrj-100518	201	14	a	a	DET
esrj-100518	201	15	slightly	slightly	ADV
esrj-100518	201	16	better	well	ADJ
esrj-100518	201	17	solution	solution	NOUN
esrj-100518	201	18	than	than	ADP
esrj-100518	201	19	gps	gps	NOUN
esrj-100518	201	20	-	-	PUNCT
esrj-100518	201	21	based	base	VERB
esrj-100518	201	22	methods	method	NOUN
esrj-100518	201	23	and	and	CCONJ
esrj-100518	201	24	ppkbased	ppkbase	VERB
esrj-100518	201	25	methods	method	NOUN
esrj-100518	201	26	provided	provide	VERB
esrj-100518	201	27	a	a	DET
esrj-100518	201	28	slight	slight	ADJ
esrj-100518	201	29	improvement	improvement	NOUN
esrj-100518	201	30	over	over	ADP
esrj-100518	201	31	the	the	DET
esrj-100518	201	32	ppp	ppp	NOUN
esrj-100518	201	33	-	-	PUNCT
esrj-100518	201	34	based	base	VERB
esrj-100518	201	35	methods	method	NOUN
esrj-100518	201	36	.	.	PUNCT
esrj-100518	202	1	219the	219the	DET
esrj-100518	202	2	performance	performance	NOUN
esrj-100518	202	3	evaluation	evaluation	NOUN
esrj-100518	202	4	of	of	ADP
esrj-100518	202	5	ppk	ppk	NOUN
esrj-100518	202	6	and	and	CCONJ
esrj-100518	202	7	ppp	ppp	NOUN
esrj-100518	202	8	-	-	PUNCT
esrj-100518	202	9	based	base	VERB
esrj-100518	202	10	loosely	loosely	ADV
esrj-100518	202	11	coupled	couple	VERB
esrj-100518	202	12	integration	integration	NOUN
esrj-100518	202	13	in	in	ADP
esrj-100518	202	14	wooded	woode	VERB
esrj-100518	202	15	and	and	CCONJ
esrj-100518	202	16	urban	urban	ADJ
esrj-100518	202	17	areas	area	NOUN
esrj-100518	202	18	in	in	ADP
esrj-100518	202	19	the	the	DET
esrj-100518	202	20	urban	urban	ADJ
esrj-100518	202	21	area	area	NOUN
esrj-100518	202	22	test	test	NOUN
esrj-100518	202	23	,	,	PUNCT
esrj-100518	202	24	the	the	DET
esrj-100518	202	25	satellite	satellite	NOUN
esrj-100518	202	26	-	-	PUNCT
esrj-100518	202	27	based	base	VERB
esrj-100518	202	28	methods	method	NOUN
esrj-100518	202	29	have	have	VERB
esrj-100518	202	30	very	very	ADV
esrj-100518	202	31	big	big	ADJ
esrj-100518	202	32	gaps	gap	NOUN
esrj-100518	202	33	in	in	ADP
esrj-100518	202	34	the	the	DET
esrj-100518	202	35	solutions	solution	NOUN
esrj-100518	202	36	.	.	PUNCT
esrj-100518	203	1	lc	lc	NOUN
esrj-100518	203	2	-	-	PUNCT
esrj-100518	203	3	based	base	VERB
esrj-100518	203	4	solutions	solution	NOUN
esrj-100518	203	5	filled	fill	VERB
esrj-100518	203	6	the	the	DET
esrj-100518	203	7	gaps	gap	NOUN
esrj-100518	203	8	,	,	PUNCT
esrj-100518	203	9	provided	provide	VERB
esrj-100518	203	10	uninterrupted	uninterrupted	ADJ
esrj-100518	203	11	solutions	solution	NOUN
esrj-100518	203	12	with	with	ADP
esrj-100518	203	13	a	a	DET
esrj-100518	203	14	slight	slight	ADJ
esrj-100518	203	15	positioning	positioning	NOUN
esrj-100518	203	16	improvement	improvement	NOUN
esrj-100518	203	17	,	,	PUNCT
esrj-100518	203	18	lower	low	ADJ
esrj-100518	203	19	fluctuations	fluctuation	NOUN
esrj-100518	203	20	in	in	ADP
esrj-100518	203	21	the	the	DET
esrj-100518	203	22	errors	error	NOUN
esrj-100518	203	23	and	and	CCONJ
esrj-100518	203	24	provided	provide	VERB
esrj-100518	203	25	more	more	ADV
esrj-100518	203	26	reliable	reliable	ADJ
esrj-100518	203	27	solutions	solution	NOUN
esrj-100518	203	28	than	than	ADP
esrj-100518	203	29	the	the	DET
esrj-100518	203	30	satellite	satellite	NOUN
esrj-100518	203	31	-	-	PUNCT
esrj-100518	203	32	based	base	VERB
esrj-100518	203	33	results	result	NOUN
esrj-100518	203	34	.	.	PUNCT
esrj-100518	204	1	moreover	moreover	ADV
esrj-100518	204	2	,	,	PUNCT
esrj-100518	204	3	ppk	ppk	NOUN
esrj-100518	204	4	-	-	PUNCT
esrj-100518	204	5	based	base	VERB
esrj-100518	204	6	solutions	solution	NOUN
esrj-100518	204	7	provided	provide	VERB
esrj-100518	204	8	significant	significant	ADJ
esrj-100518	204	9	progress	progress	NOUN
esrj-100518	204	10	compared	compare	VERB
esrj-100518	204	11	to	to	ADP
esrj-100518	204	12	the	the	DET
esrj-100518	204	13	ppp	ppp	NOUN
esrj-100518	204	14	-	-	PUNCT
esrj-100518	204	15	based	base	VERB
esrj-100518	204	16	methods	method	NOUN
esrj-100518	204	17	and	and	CCONJ
esrj-100518	204	18	gnss	gnss	NOUN
esrj-100518	204	19	-	-	PUNCT
esrj-100518	204	20	based	base	VERB
esrj-100518	204	21	methods	method	NOUN
esrj-100518	204	22	outperformed	outperform	VERB
esrj-100518	204	23	the	the	DET
esrj-100518	204	24	gps	gps	PROPN
esrj-100518	204	25	-	-	PUNCT
esrj-100518	204	26	based	base	VERB
esrj-100518	204	27	solutions	solution	NOUN
esrj-100518	204	28	.	.	PUNCT
esrj-100518	205	1	considering	consider	VERB
esrj-100518	205	2	the	the	DET
esrj-100518	205	3	abovementioned	abovementione	VERB
esrj-100518	205	4	results	result	NOUN
esrj-100518	205	5	,	,	PUNCT
esrj-100518	205	6	it	it	PRON
esrj-100518	205	7	can	can	AUX
esrj-100518	205	8	be	be	AUX
esrj-100518	205	9	concluded	conclude	VERB
esrj-100518	205	10	that	that	SCONJ
esrj-100518	205	11	the	the	DET
esrj-100518	205	12	gnss	gnss	NOUN
esrj-100518	205	13	/	/	SYM
esrj-100518	205	14	imu	imu	NOUN
esrj-100518	205	15	integration	integration	NOUN
esrj-100518	205	16	with	with	ADP
esrj-100518	205	17	ppk	ppk	NOUN
esrj-100518	205	18	methods	method	NOUN
esrj-100518	205	19	provides	provide	VERB
esrj-100518	205	20	a	a	DET
esrj-100518	205	21	reliable	reliable	ADJ
esrj-100518	205	22	and	and	CCONJ
esrj-100518	205	23	uninterrupted	uninterrupted	ADJ
esrj-100518	205	24	solution	solution	NOUN
esrj-100518	205	25	with	with	ADP
esrj-100518	205	26	the	the	DET
esrj-100518	205	27	best	good	ADJ
esrj-100518	205	28	positioning	positioning	NOUN
esrj-100518	205	29	performance	performance	NOUN
esrj-100518	205	30	in	in	ADP
esrj-100518	205	31	both	both	CCONJ
esrj-100518	205	32	the	the	DET
esrj-100518	205	33	highly	highly	ADV
esrj-100518	205	34	and	and	CCONJ
esrj-100518	205	35	partially	partially	ADV
esrj-100518	205	36	gnss	gnss	NOUN
esrj-100518	205	37	-	-	PUNCT
esrj-100518	205	38	denied	deny	VERB
esrj-100518	205	39	environments	environment	NOUN
esrj-100518	205	40	.	.	PUNCT
esrj-100518	206	1	references	reference	NOUN
esrj-100518	206	2	alkan	alkan	PROPN
esrj-100518	206	3	,	,	PUNCT
esrj-100518	206	4	r.	r.	PROPN
esrj-100518	206	5	m.	m.	PROPN
esrj-100518	206	6	,	,	PUNCT
esrj-100518	206	7	saka	saka	PROPN
esrj-100518	206	8	,	,	PUNCT
esrj-100518	206	9	m.	m.	PROPN
esrj-100518	206	10	h.	h.	PROPN
esrj-100518	206	11	,	,	PUNCT
esrj-100518	206	12	ozulu	ozulu	ADJ
esrj-100518	206	13	,	,	PUNCT
esrj-100518	206	14	m.	m.	NOUN
esrj-100518	206	15	,	,	PUNCT
esrj-100518	206	16	&	&	CCONJ
esrj-100518	206	17	i̇lçi	i̇lçi	PROPN
esrj-100518	206	18	,	,	PUNCT
esrj-100518	206	19	v.	v.	PROPN
esrj-100518	206	20	(	(	PUNCT
esrj-100518	206	21	2017	2017	NUM
esrj-100518	206	22	)	)	PUNCT
esrj-100518	206	23	.	.	PUNCT
esrj-100518	207	1	kinematic	kinematic	ADJ
esrj-100518	207	2	precise	precise	ADJ
esrj-100518	207	3	point	point	NOUN
esrj-100518	207	4	positioning	positioning	NOUN
esrj-100518	207	5	using	use	VERB
esrj-100518	207	6	gps	gps	PROPN
esrj-100518	207	7	and	and	CCONJ
esrj-100518	207	8	glonass	glonass	NOUN
esrj-100518	207	9	measurements	measurement	NOUN
esrj-100518	207	10	in	in	ADP
esrj-100518	207	11	marine	marine	ADJ
esrj-100518	207	12	environments	environment	NOUN
esrj-100518	207	13	.	.	PUNCT
esrj-100518	208	1	measurement	measurement	NOUN
esrj-100518	208	2	:	:	PUNCT
esrj-100518	208	3	journal	journal	NOUN
esrj-100518	208	4	of	of	ADP
esrj-100518	208	5	the	the	DET
esrj-100518	208	6	international	international	ADJ
esrj-100518	208	7	measurement	measurement	PROPN
esrj-100518	208	8	confederation	confederation	PROPN
esrj-100518	208	9	.	.	PUNCT
esrj-100518	209	1	https://doi.org/10.1016/j.measurement.2017.05.054	https://doi.org/10.1016/j.measurement.2017.05.054	PROPN
esrj-100518	209	2	angrisano	angrisano	PROPN
esrj-100518	209	3	,	,	PUNCT
esrj-100518	209	4	a.	a.	NOUN
esrj-100518	209	5	,	,	PUNCT
esrj-100518	209	6	petovello	petovello	NOUN
esrj-100518	209	7	,	,	PUNCT
esrj-100518	209	8	m.	m.	NOUN
esrj-100518	209	9	,	,	PUNCT
esrj-100518	209	10	&	&	CCONJ
esrj-100518	209	11	pugliano	pugliano	PROPN
esrj-100518	209	12	,	,	PUNCT
esrj-100518	209	13	g.	g.	PROPN
esrj-100518	209	14	(	(	PUNCT
esrj-100518	209	15	2012	2012	NUM
esrj-100518	209	16	)	)	PUNCT
esrj-100518	209	17	.	.	PUNCT
esrj-100518	210	1	benefits	benefit	NOUN
esrj-100518	210	2	of	of	ADP
esrj-100518	210	3	combined	combine	VERB
esrj-100518	210	4	gps/	gps/	NOUN
esrj-100518	210	5	glonass	glonass	NOUN
esrj-100518	210	6	with	with	ADP
esrj-100518	210	7	low	low	ADJ
esrj-100518	210	8	-	-	PUNCT
esrj-100518	210	9	cost	cost	NOUN
esrj-100518	210	10	mems	mem	NOUN
esrj-100518	210	11	imus	imus	PROPN
esrj-100518	210	12	for	for	ADP
esrj-100518	210	13	vehicular	vehicular	ADJ
esrj-100518	210	14	urban	urban	ADJ
esrj-100518	210	15	navigation	navigation	NOUN
esrj-100518	210	16	.	.	PUNCT
esrj-100518	211	1	sensors	sensor	NOUN
esrj-100518	211	2	,	,	PUNCT
esrj-100518	211	3	12	12	NUM
esrj-100518	211	4	,	,	PUNCT
esrj-100518	211	5	5134–5158	5134–5158	NUM
esrj-100518	211	6	.	.	PUNCT
esrj-100518	212	1	https://doi.org/10.3390/s120405134	https://doi.org/10.3390/s120405134	NUM
esrj-100518	212	2	atia	atia	PROPN
esrj-100518	212	3	,	,	PUNCT
esrj-100518	212	4	m.	m.	NOUN
esrj-100518	212	5	m.	m.	NOUN
esrj-100518	212	6	,	,	PUNCT
esrj-100518	212	7	&	&	CCONJ
esrj-100518	212	8	waslander	waslander	PROPN
esrj-100518	212	9	,	,	PUNCT
esrj-100518	212	10	s.	s.	PROPN
esrj-100518	212	11	l.	l.	PROPN
esrj-100518	212	12	(	(	PUNCT
esrj-100518	212	13	2019	2019	NUM
esrj-100518	212	14	)	)	PUNCT
esrj-100518	212	15	.	.	PUNCT
esrj-100518	213	1	map	map	NOUN
esrj-100518	213	2	-	-	PUNCT
esrj-100518	213	3	aided	aid	VERB
esrj-100518	213	4	adaptive	adaptive	ADJ
esrj-100518	213	5	gnss	gnss	NOUN
esrj-100518	213	6	/	/	SYM
esrj-100518	213	7	imu	imu	NOUN
esrj-100518	213	8	sensor	sensor	NOUN
esrj-100518	213	9	fusion	fusion	NOUN
esrj-100518	213	10	scheme	scheme	NOUN
esrj-100518	213	11	for	for	ADP
esrj-100518	213	12	robust	robust	ADJ
esrj-100518	213	13	urban	urban	ADJ
esrj-100518	213	14	navigation	navigation	NOUN
esrj-100518	213	15	.	.	PUNCT
esrj-100518	214	1	measurement	measurement	NOUN
esrj-100518	214	2	:	:	PUNCT
esrj-100518	214	3	journal	journal	NOUN
esrj-100518	214	4	of	of	ADP
esrj-100518	214	5	the	the	DET
esrj-100518	214	6	international	international	PROPN
esrj-100518	214	7	measurement	measurement	PROPN
esrj-100518	214	8	confederation	confederation	PROPN
esrj-100518	214	9	,	,	PUNCT
esrj-100518	214	10	131	131	NUM
esrj-100518	214	11	,	,	PUNCT
esrj-100518	214	12	615–627	615–627	NUM
esrj-100518	214	13	.	.	PUNCT
esrj-100518	215	1	https://doi.org/10.1016/j.measurement.2018.08.050	https://doi.org/10.1016/j.measurement.2018.08.050	PROPN
esrj-100518	215	2	bakuła	bakuła	NOUN
esrj-100518	215	3	,	,	PUNCT
esrj-100518	215	4	m.	m.	NOUN
esrj-100518	215	5	,	,	PUNCT
esrj-100518	215	6	przestrzelski	przestrzelski	NOUN
esrj-100518	215	7	,	,	PUNCT
esrj-100518	215	8	p.	p.	PROPN
esrj-100518	215	9	,	,	PUNCT
esrj-100518	215	10	&	&	CCONJ
esrj-100518	215	11	kaźmierczak	kaźmierczak	PROPN
esrj-100518	215	12	,	,	PUNCT
esrj-100518	215	13	r.	r.	PROPN
esrj-100518	215	14	(	(	PUNCT
esrj-100518	215	15	2015	2015	NUM
esrj-100518	215	16	)	)	PUNCT
esrj-100518	215	17	.	.	PUNCT
esrj-100518	216	1	reliable	reliable	ADJ
esrj-100518	216	2	technology	technology	NOUN
esrj-100518	216	3	of	of	ADP
esrj-100518	216	4	centimeter	centimeter	NOUN
esrj-100518	216	5	gps	gps	PROPN
esrj-100518	216	6	/	/	SYM
esrj-100518	216	7	glonass	glonass	NOUN
esrj-100518	216	8	surveying	surveying	NOUN
esrj-100518	216	9	in	in	ADP
esrj-100518	216	10	forest	forest	NOUN
esrj-100518	216	11	environments	environment	NOUN
esrj-100518	216	12	.	.	PUNCT
esrj-100518	217	1	ieee	ieee	NOUN
esrj-100518	217	2	transactions	transaction	NOUN
esrj-100518	217	3	on	on	ADP
esrj-100518	217	4	geoscience	geoscience	NOUN
esrj-100518	217	5	and	and	CCONJ
esrj-100518	217	6	remote	remote	ADJ
esrj-100518	217	7	sensing	sensing	NOUN
esrj-100518	217	8	,	,	PUNCT
esrj-100518	217	9	53(2	53(2	NUM
esrj-100518	217	10	)	)	PUNCT
esrj-100518	217	11	,	,	PUNCT
esrj-100518	217	12	1029–1038	1029–1038	NUM
esrj-100518	217	13	.	.	PUNCT
esrj-100518	218	1	https://doi.org/10.1109/tgrs.2014.2332372	https://doi.org/10.1109/tgrs.2014.2332372	PROPN
esrj-100518	218	2	bhatti	bhatti	PROPN
esrj-100518	218	3	,	,	PUNCT
esrj-100518	218	4	u.	u.	PROPN
esrj-100518	218	5	i.	i.	PROPN
esrj-100518	218	6	,	,	PUNCT
esrj-100518	218	7	ochieng	ochieng	PROPN
esrj-100518	218	8	,	,	PUNCT
esrj-100518	218	9	w.	w.	PROPN
esrj-100518	218	10	y.	y.	PROPN
esrj-100518	218	11	,	,	PUNCT
esrj-100518	218	12	&	&	CCONJ
esrj-100518	218	13	feng	feng	PROPN
esrj-100518	218	14	,	,	PUNCT
esrj-100518	218	15	s.	s.	PROPN
esrj-100518	218	16	(	(	PUNCT
esrj-100518	218	17	2007	2007	NUM
esrj-100518	218	18	)	)	PUNCT
esrj-100518	218	19	.	.	PUNCT
esrj-100518	219	1	integrity	integrity	NOUN
esrj-100518	219	2	of	of	ADP
esrj-100518	219	3	an	an	DET
esrj-100518	219	4	integrated	integrate	VERB
esrj-100518	219	5	gps	gps	NOUN
esrj-100518	219	6	/	/	SYM
esrj-100518	219	7	ins	in	NOUN
esrj-100518	219	8	system	system	NOUN
esrj-100518	219	9	in	in	ADP
esrj-100518	219	10	the	the	DET
esrj-100518	219	11	presence	presence	NOUN
esrj-100518	219	12	of	of	ADP
esrj-100518	219	13	slowly	slowly	ADV
esrj-100518	219	14	growing	grow	VERB
esrj-100518	219	15	errors	error	NOUN
esrj-100518	219	16	.	.	PUNCT
esrj-100518	220	1	part	part	NOUN
esrj-100518	221	1	i	i	NOUN
esrj-100518	221	2	:	:	PUNCT
esrj-100518	221	3	a	a	DET
esrj-100518	221	4	critical	critical	ADJ
esrj-100518	221	5	review	review	NOUN
esrj-100518	221	6	.	.	PUNCT
esrj-100518	222	1	gps	gps	PROPN
esrj-100518	222	2	solutions	solution	NOUN
esrj-100518	222	3	.	.	PUNCT
esrj-100518	223	1	https://doi.org/10.1007/s10291-006-0048-2	https://doi.org/10.1007/s10291-006-0048-2	NUM
esrj-100518	223	2	brovelli	brovelli	PROPN
esrj-100518	223	3	,	,	PUNCT
esrj-100518	223	4	m.	m.	NOUN
esrj-100518	223	5	a.	a.	PROPN
esrj-100518	223	6	,	,	PUNCT
esrj-100518	223	7	minghini	minghini	PROPN
esrj-100518	223	8	,	,	PUNCT
esrj-100518	223	9	m.	m.	NOUN
esrj-100518	223	10	,	,	PUNCT
esrj-100518	223	11	&	&	CCONJ
esrj-100518	223	12	zamboni	zamboni	PROPN
esrj-100518	223	13	,	,	PUNCT
esrj-100518	223	14	g.	g.	PROPN
esrj-100518	223	15	(	(	PUNCT
esrj-100518	223	16	2016	2016	NUM
esrj-100518	223	17	)	)	PUNCT
esrj-100518	223	18	.	.	PUNCT
esrj-100518	224	1	public	public	ADJ
esrj-100518	224	2	participation	participation	NOUN
esrj-100518	224	3	in	in	ADP
esrj-100518	224	4	gis	gis	NOUN
esrj-100518	224	5	via	via	ADP
esrj-100518	224	6	mobile	mobile	ADJ
esrj-100518	224	7	applications	application	NOUN
esrj-100518	224	8	.	.	PUNCT
esrj-100518	225	1	isprs	isprs	NOUN
esrj-100518	225	2	journal	journal	PROPN
esrj-100518	225	3	of	of	ADP
esrj-100518	225	4	photogrammetry	photogrammetry	NOUN
esrj-100518	225	5	and	and	CCONJ
esrj-100518	225	6	remote	remote	ADJ
esrj-100518	225	7	sensing	sensing	NOUN
esrj-100518	225	8	,	,	PUNCT
esrj-100518	225	9	114	114	NUM
esrj-100518	225	10	,	,	PUNCT
esrj-100518	225	11	306–315	306–315	NUM
esrj-100518	225	12	.	.	PUNCT
esrj-100518	226	1	https://doi.org/10.1016/j.isprsjprs.2015.04.002	https://doi.org/10.1016/j.isprsjprs.2015.04.002	PROPN
esrj-100518	226	2	chiang	chiang	PROPN
esrj-100518	226	3	,	,	PUNCT
esrj-100518	226	4	k.	k.	PROPN
esrj-100518	226	5	w.	w.	PROPN
esrj-100518	226	6	,	,	PUNCT
esrj-100518	226	7	duong	duong	PROPN
esrj-100518	226	8	,	,	PUNCT
esrj-100518	226	9	t.t	t.t	PROPN
esrj-100518	226	10	.	.	PROPN
esrj-100518	226	11	,	,	PUNCT
esrj-100518	226	12	liao	liao	PROPN
esrj-100518	226	13	,	,	PUNCT
esrj-100518	226	14	j.	j.	PROPN
esrj-100518	226	15	k.	k.	PROPN
esrj-100518	226	16	(	(	PUNCT
esrj-100518	226	17	2013	2013	NUM
esrj-100518	226	18	)	)	PUNCT
esrj-100518	226	19	.	.	PUNCT
esrj-100518	227	1	the	the	DET
esrj-100518	227	2	performance	performance	NOUN
esrj-100518	227	3	analysis	analysis	NOUN
esrj-100518	227	4	of	of	ADP
esrj-100518	227	5	a	a	DET
esrj-100518	227	6	real	real	ADJ
esrj-100518	227	7	-	-	PUNCT
esrj-100518	227	8	time	time	NOUN
esrj-100518	227	9	integrated	integrate	VERB
esrj-100518	227	10	ins	in	NOUN
esrj-100518	227	11	/	/	SYM
esrj-100518	227	12	gps	gps	PROPN
esrj-100518	227	13	vehicle	vehicle	NOUN
esrj-100518	227	14	navigation	navigation	NOUN
esrj-100518	227	15	system	system	NOUN
esrj-100518	227	16	with	with	ADP
esrj-100518	227	17	abnormal	abnormal	ADJ
esrj-100518	227	18	gps	gps	NOUN
esrj-100518	227	19	measurement	measurement	NOUN
esrj-100518	227	20	elimination	elimination	NOUN
esrj-100518	227	21	.	.	PUNCT
esrj-100518	227	22	 	 	SPACE
esrj-100518	228	1	sensors	sensor	NOUN
esrj-100518	228	2	,	,	PUNCT
esrj-100518	228	3	13	13	NUM
esrj-100518	228	4	,	,	PUNCT
esrj-100518	228	5	10599–10622	10599–10622	NUM
esrj-100518	228	6	.	.	PUNCT
esrj-100518	229	1	choy	choy	NOUN
esrj-100518	229	2	,	,	PUNCT
esrj-100518	229	3	s.	s.	PROPN
esrj-100518	229	4	,	,	PUNCT
esrj-100518	229	5	zhang	zhang	PROPN
esrj-100518	229	6	,	,	PUNCT
esrj-100518	229	7	s.	s.	PROPN
esrj-100518	229	8	,	,	PUNCT
esrj-100518	229	9	lahaye	lahaye	PROPN
esrj-100518	229	10	,	,	PUNCT
esrj-100518	229	11	f.	f.	PROPN
esrj-100518	229	12	,	,	PUNCT
esrj-100518	229	13	&	&	CCONJ
esrj-100518	229	14	héroux	héroux	VERB
esrj-100518	229	15	,	,	PUNCT
esrj-100518	229	16	p.	p.	NOUN
esrj-100518	229	17	(	(	PUNCT
esrj-100518	229	18	2013	2013	NUM
esrj-100518	229	19	)	)	PUNCT
esrj-100518	229	20	.	.	PUNCT
esrj-100518	230	1	a	a	DET
esrj-100518	230	2	comparison	comparison	NOUN
esrj-100518	230	3	between	between	ADP
esrj-100518	230	4	gps	gps	PROPN
esrj-100518	230	5	-	-	PUNCT
esrj-100518	230	6	only	only	ADV
esrj-100518	230	7	and	and	CCONJ
esrj-100518	230	8	combined	combined	ADJ
esrj-100518	230	9	gps+glonass	gps+glonass	NOUN
esrj-100518	230	10	precise	precise	ADJ
esrj-100518	230	11	point	point	NOUN
esrj-100518	230	12	positioning	positioning	NOUN
esrj-100518	230	13	.	.	PUNCT
esrj-100518	231	1	journal	journal	PROPN
esrj-100518	231	2	of	of	ADP
esrj-100518	231	3	spatial	spatial	ADJ
esrj-100518	231	4	science	science	NOUN
esrj-100518	231	5	,	,	PUNCT
esrj-100518	231	6	58(2	58(2	NUM
esrj-100518	231	7	)	)	PUNCT
esrj-100518	231	8	,	,	PUNCT
esrj-100518	231	9	169–190	169–190	NUM
esrj-100518	231	10	.	.	PUNCT
esrj-100518	232	1	https://doi.org/10.1080/144	https://doi.org/10.1080/144	PROPN
esrj-100518	232	2	98596.2013.808164	98596.2013.808164	PROPN
esrj-100518	232	3	el	el	PROPN
esrj-100518	232	4	-	-	PUNCT
esrj-100518	232	5	mowafy	mowafy	NOUN
esrj-100518	232	6	,	,	PUNCT
esrj-100518	232	7	a.	a.	NOUN
esrj-100518	232	8	(	(	PUNCT
esrj-100518	232	9	2011	2011	NUM
esrj-100518	232	10	)	)	PUNCT
esrj-100518	232	11	.	.	PUNCT
esrj-100518	233	1	analysis	analysis	NOUN
esrj-100518	233	2	of	of	ADP
esrj-100518	233	3	web	web	NOUN
esrj-100518	233	4	-	-	PUNCT
esrj-100518	233	5	based	base	VERB
esrj-100518	233	6	gnss	gnss	NOUN
esrj-100518	233	7	post	post	ADJ
esrj-100518	233	8	-	-	ADJ
esrj-100518	233	9	processing	processing	ADJ
esrj-100518	233	10	services	service	NOUN
esrj-100518	233	11	for	for	ADP
esrj-100518	233	12	static	static	ADJ
esrj-100518	233	13	and	and	CCONJ
esrj-100518	233	14	kinematic	kinematic	ADJ
esrj-100518	233	15	positioning	positioning	NOUN
esrj-100518	233	16	using	use	VERB
esrj-100518	233	17	short	short	ADJ
esrj-100518	233	18	data	datum	NOUN
esrj-100518	233	19	spans	span	NOUN
esrj-100518	233	20	.	.	PUNCT
esrj-100518	234	1	survey	survey	PROPN
esrj-100518	234	2	review	review	PROPN
esrj-100518	234	3	,	,	PUNCT
esrj-100518	234	4	43(322	43(322	NOUN
esrj-100518	234	5	)	)	PUNCT
esrj-100518	234	6	,	,	PUNCT
esrj-100518	234	7	535–549	535–549	NUM
esrj-100518	234	8	.	.	PUNCT
esrj-100518	235	1	https://doi.org/10.1179/00396261	https://doi.org/10.1179/00396261	PROPN
esrj-100518	235	2	1x13117748892074	1x13117748892074	PROPN
esrj-100518	235	3	eling	eling	PROPN
esrj-100518	235	4	,	,	PUNCT
esrj-100518	235	5	c.	c.	PROPN
esrj-100518	235	6	,	,	PUNCT
esrj-100518	235	7	wieland	wieland	PROPN
esrj-100518	235	8	,	,	PUNCT
esrj-100518	235	9	m.	m.	NOUN
esrj-100518	235	10	,	,	PUNCT
esrj-100518	235	11	hess	hess	PROPN
esrj-100518	235	12	,	,	PUNCT
esrj-100518	235	13	c.	c.	PROPN
esrj-100518	235	14	,	,	PUNCT
esrj-100518	235	15	klingbeil	klingbeil	PROPN
esrj-100518	235	16	,	,	PUNCT
esrj-100518	235	17	l.	l.	PROPN
esrj-100518	235	18	,	,	PUNCT
esrj-100518	235	19	&	&	CCONJ
esrj-100518	235	20	kuhlmann	kuhlmann	PROPN
esrj-100518	235	21	,	,	PUNCT
esrj-100518	235	22	h.	h.	PROPN
esrj-100518	235	23	(	(	PUNCT
esrj-100518	235	24	2015	2015	NUM
esrj-100518	235	25	)	)	PUNCT
esrj-100518	235	26	.	.	PUNCT
esrj-100518	236	1	development	development	NOUN
esrj-100518	236	2	and	and	CCONJ
esrj-100518	236	3	evaluation	evaluation	NOUN
esrj-100518	236	4	of	of	ADP
esrj-100518	236	5	a	a	DET
esrj-100518	236	6	uav	uav	PROPN
esrj-100518	236	7	based	base	VERB
esrj-100518	236	8	mapping	mapping	NOUN
esrj-100518	236	9	system	system	NOUN
esrj-100518	236	10	for	for	ADP
esrj-100518	236	11	remote	remote	ADJ
esrj-100518	236	12	sensing	sensing	NOUN
esrj-100518	236	13	and	and	CCONJ
esrj-100518	236	14	surveying	surveying	NOUN
esrj-100518	236	15	applications	application	NOUN
esrj-100518	236	16	.	.	PUNCT
esrj-100518	237	1	international	international	ADJ
esrj-100518	237	2	archives	archive	NOUN
esrj-100518	237	3	of	of	ADP
esrj-100518	237	4	the	the	DET
esrj-100518	237	5	photogrammetry	photogrammetry	NOUN
esrj-100518	237	6	,	,	PUNCT
esrj-100518	237	7	remote	remote	ADJ
esrj-100518	237	8	sensing	sensing	NOUN
esrj-100518	237	9	and	and	CCONJ
esrj-100518	237	10	spatial	spatial	ADJ
esrj-100518	237	11	information	information	NOUN
esrj-100518	237	12	sciences	science	NOUN
esrj-100518	237	13	isprs	isprs	PROPN
esrj-100518	237	14	archives	archive	NOUN
esrj-100518	237	15	,	,	PUNCT
esrj-100518	237	16	233–239	233–239	NUM
esrj-100518	237	17	.	.	PROPN
esrj-100518	237	18	https://doi.org/10.5194/isprsarchives-xl-1-w4-233-2015	https://doi.org/10.5194/isprsarchives-xl-1-w4-233-2015	PROPN
esrj-100518	237	19	elliott	elliott	PROPN
esrj-100518	237	20	,	,	PUNCT
esrj-100518	237	21	k.	k.	PROPN
esrj-100518	237	22	,	,	PUNCT
esrj-100518	237	23	&	&	CCONJ
esrj-100518	237	24	hegarty	hegarty	PROPN
esrj-100518	237	25	,	,	PUNCT
esrj-100518	237	26	c.	c.	PROPN
esrj-100518	237	27	(	(	PUNCT
esrj-100518	237	28	2017	2017	NUM
esrj-100518	237	29	)	)	PUNCT
esrj-100518	237	30	.	.	PUNCT
esrj-100518	238	1	understanding	understand	VERB
esrj-100518	238	2	gps	gps	PROPN
esrj-100518	238	3	/	/	SYM
esrj-100518	238	4	gnss	gnss	NOUN
esrj-100518	238	5	principles	principle	NOUN
esrj-100518	238	6	and	and	CCONJ
esrj-100518	238	7	applications	application	NOUN
esrj-100518	238	8	.	.	PUNCT
esrj-100518	239	1	norwood	norwood	PROPN
esrj-100518	239	2	,	,	PUNCT
esrj-100518	239	3	ma	ma	PROPN
esrj-100518	239	4	:	:	PUNCT
esrj-100518	239	5	artech	artech	PROPN
esrj-100518	239	6	house	house	PROPN
esrj-100518	239	7	.	.	PUNCT
esrj-100518	240	1	isbn-13	isbn-13	PROPN
esrj-100518	240	2	,	,	PUNCT
esrj-100518	240	3	971–978	971–978	NUM
esrj-100518	240	4	.	.	PUNCT
esrj-100518	241	1	erol	erol	NOUN
esrj-100518	241	2	,	,	PUNCT
esrj-100518	241	3	s.	s.	PROPN
esrj-100518	241	4	,	,	PUNCT
esrj-100518	241	5	alkan	alkan	PROPN
esrj-100518	241	6	,	,	PUNCT
esrj-100518	241	7	r.	r.	PROPN
esrj-100518	241	8	m.	m.	PROPN
esrj-100518	241	9	,	,	PUNCT
esrj-100518	241	10	ozulu	ozulu	ADJ
esrj-100518	241	11	,	,	PUNCT
esrj-100518	241	12	m.	m.	NOUN
esrj-100518	241	13	,	,	PUNCT
esrj-100518	241	14	&	&	CCONJ
esrj-100518	241	15	i̇lçi	i̇lçi	PROPN
esrj-100518	241	16	,	,	PUNCT
esrj-100518	241	17	v.	v.	CCONJ
esrj-100518	241	18	(	(	PUNCT
esrj-100518	241	19	2020	2020	NUM
esrj-100518	241	20	)	)	PUNCT
esrj-100518	241	21	.	.	PUNCT
esrj-100518	242	1	performance	performance	NOUN
esrj-100518	242	2	analysis	analysis	NOUN
esrj-100518	242	3	of	of	ADP
esrj-100518	242	4	real	real	ADJ
esrj-100518	242	5	-	-	PUNCT
esrj-100518	242	6	time	time	NOUN
esrj-100518	242	7	and	and	CCONJ
esrj-100518	242	8	post	post	ADJ
esrj-100518	242	9	-	-	ADJ
esrj-100518	242	10	mission	mission	ADJ
esrj-100518	242	11	kinematic	kinematic	ADJ
esrj-100518	242	12	precise	precise	ADJ
esrj-100518	242	13	point	point	NOUN
esrj-100518	242	14	positioning	positioning	NOUN
esrj-100518	242	15	in	in	ADP
esrj-100518	242	16	marine	marine	ADJ
esrj-100518	242	17	environments	environment	NOUN
esrj-100518	242	18	.	.	PUNCT
esrj-100518	243	1	geodesy	geodesy	NOUN
esrj-100518	243	2	and	and	CCONJ
esrj-100518	243	3	geodynamics	geodynamic	NOUN
esrj-100518	243	4	,	,	PUNCT
esrj-100518	243	5	11(6	11(6	NUM
esrj-100518	243	6	)	)	PUNCT
esrj-100518	243	7	,	,	PUNCT
esrj-100518	243	8	401–410	401–410	NUM
esrj-100518	243	9	.	.	PUNCT
esrj-100518	244	1	https://doi	https://doi	PROPN
esrj-100518	244	2	.	.	PUNCT
esrj-100518	244	3	org/10.1016	org/10.1016	PROPN
esrj-100518	244	4	/	/	SYM
esrj-100518	244	5	j.geog.2020.09.002	j.geog.2020.09.002	NOUN
esrj-100518	244	6	falco	falco	PROPN
esrj-100518	244	7	,	,	PUNCT
esrj-100518	244	8	g.	g.	PROPN
esrj-100518	244	9	,	,	PUNCT
esrj-100518	244	10	einicke	einicke	PROPN
esrj-100518	244	11	,	,	PUNCT
esrj-100518	244	12	g.	g.	PROPN
esrj-100518	244	13	a.	a.	PROPN
esrj-100518	244	14	,	,	PUNCT
esrj-100518	244	15	malos	malos	PROPN
esrj-100518	244	16	,	,	PUNCT
esrj-100518	244	17	j.	j.	PROPN
esrj-100518	244	18	t.	t.	PROPN
esrj-100518	244	19	,	,	PUNCT
esrj-100518	244	20	dovis	dovis	PROPN
esrj-100518	244	21	,	,	PUNCT
esrj-100518	244	22	f.	f.	PROPN
esrj-100518	244	23	(	(	PUNCT
esrj-100518	244	24	2012	2012	NUM
esrj-100518	244	25	)	)	PUNCT
esrj-100518	244	26	.	.	PUNCT
esrj-100518	245	1	performance	performance	NOUN
esrj-100518	245	2	analysis	analysis	NOUN
esrj-100518	245	3	of	of	ADP
esrj-100518	245	4	constrained	constrain	VERB
esrj-100518	245	5	loosely	loosely	ADV
esrj-100518	245	6	coupled	couple	VERB
esrj-100518	245	7	gps	gps	PROPN
esrj-100518	245	8	/	/	SYM
esrj-100518	245	9	ins	in	NOUN
esrj-100518	245	10	integration	integration	NOUN
esrj-100518	245	11	solutions	solution	NOUN
esrj-100518	245	12	.	.	PUNCT
esrj-100518	245	13	 	 	SPACE
esrj-100518	246	1	sensors	sensor	NOUN
esrj-100518	246	2	,	,	PUNCT
esrj-100518	246	3	 	 	SPACE
esrj-100518	246	4	12	12	NUM
esrj-100518	246	5	,	,	PUNCT
esrj-100518	246	6	15983–16007	15983–16007	NUM
esrj-100518	246	7	.	.	PUNCT
esrj-100518	247	1	falco	falco	PROPN
esrj-100518	247	2	,	,	PUNCT
esrj-100518	247	3	g.	g.	PROPN
esrj-100518	247	4	,	,	PUNCT
esrj-100518	247	5	pini	pini	PROPN
esrj-100518	247	6	,	,	PUNCT
esrj-100518	247	7	m.	m.	NOUN
esrj-100518	247	8	,	,	PUNCT
esrj-100518	247	9	&	&	CCONJ
esrj-100518	247	10	marucco	marucco	PROPN
esrj-100518	247	11	,	,	PUNCT
esrj-100518	247	12	g.	g.	PROPN
esrj-100518	247	13	(	(	PUNCT
esrj-100518	247	14	2017	2017	NUM
esrj-100518	247	15	)	)	PUNCT
esrj-100518	247	16	.	.	PUNCT
esrj-100518	248	1	loose	loose	ADJ
esrj-100518	248	2	and	and	CCONJ
esrj-100518	248	3	tight	tight	ADJ
esrj-100518	248	4	gnss	gnss	NOUN
esrj-100518	248	5	/	/	SYM
esrj-100518	248	6	ins	in	NOUN
esrj-100518	248	7	integrations	integration	NOUN
esrj-100518	248	8	:	:	PUNCT
esrj-100518	248	9	comparison	comparison	NOUN
esrj-100518	248	10	of	of	ADP
esrj-100518	248	11	performance	performance	NOUN
esrj-100518	248	12	assessed	assess	VERB
esrj-100518	248	13	in	in	ADP
esrj-100518	248	14	real	real	ADJ
esrj-100518	248	15	urban	urban	ADJ
esrj-100518	248	16	scenarios	scenario	NOUN
esrj-100518	248	17	.	.	PUNCT
esrj-100518	249	1	sensors	sensor	NOUN
esrj-100518	249	2	,	,	PUNCT
esrj-100518	249	3	17(2	17(2	NUM
esrj-100518	249	4	)	)	PUNCT
esrj-100518	249	5	,	,	PUNCT
esrj-100518	249	6	255	255	NUM
esrj-100518	249	7	.	.	PUNCT
esrj-100518	250	1	https://doi.org/10.3390/s17020255	https://doi.org/10.3390/s17020255	NUM
esrj-100518	250	2	furones	furone	NOUN
esrj-100518	250	3	,	,	PUNCT
esrj-100518	250	4	a.	a.	NOUN
esrj-100518	250	5	m.	m.	NOUN
esrj-100518	250	6	,	,	PUNCT
esrj-100518	250	7	julián	julián	PROPN
esrj-100518	250	8	,	,	PUNCT
esrj-100518	250	9	a.	a.	PROPN
esrj-100518	250	10	b.	b.	PROPN
esrj-100518	250	11	a.	a.	PROPN
esrj-100518	250	12	,	,	PUNCT
esrj-100518	250	13	valero	valero	PROPN
esrj-100518	250	14	,	,	PUNCT
esrj-100518	250	15	j.	j.	PROPN
esrj-100518	250	16	l.	l.	PROPN
esrj-100518	250	17	b.	b.	PROPN
esrj-100518	250	18	,	,	PUNCT
esrj-100518	250	19	&	&	CCONJ
esrj-100518	250	20	sanmartin	sanmartin	PROPN
esrj-100518	250	21	,	,	PUNCT
esrj-100518	250	22	m.	m.	NOUN
esrj-100518	250	23	(	(	PUNCT
esrj-100518	250	24	2012	2012	NUM
esrj-100518	250	25	)	)	PUNCT
esrj-100518	250	26	.	.	PUNCT
esrj-100518	251	1	kinematic	kinematic	ADJ
esrj-100518	251	2	gnss	gnss	NOUN
esrj-100518	251	3	-	-	PUNCT
esrj-100518	251	4	ppp	ppp	NOUN
esrj-100518	251	5	results	result	NOUN
esrj-100518	251	6	from	from	ADP
esrj-100518	251	7	various	various	ADJ
esrj-100518	251	8	software	software	NOUN
esrj-100518	251	9	packages	package	NOUN
esrj-100518	251	10	and	and	CCONJ
esrj-100518	251	11	raw	raw	ADJ
esrj-100518	251	12	data	datum	NOUN
esrj-100518	251	13	configurations	configuration	NOUN
esrj-100518	251	14	.	.	PUNCT
esrj-100518	252	1	scientific	scientific	ADJ
esrj-100518	252	2	research	research	NOUN
esrj-100518	252	3	and	and	CCONJ
esrj-100518	252	4	essays	essay	NOUN
esrj-100518	252	5	,	,	PUNCT
esrj-100518	252	6	7	7	NUM
esrj-100518	252	7	,	,	PUNCT
esrj-100518	252	8	419–431	419–431	NUM
esrj-100518	252	9	.	.	PUNCT
esrj-100518	253	1	gao	gao	PROPN
esrj-100518	253	2	,	,	PUNCT
esrj-100518	253	3	g.	g.	PROPN
esrj-100518	253	4	,	,	PUNCT
esrj-100518	253	5	&	&	CCONJ
esrj-100518	253	6	lachapelle	lachapelle	PROPN
esrj-100518	253	7	,	,	PUNCT
esrj-100518	253	8	g.	g.	PROPN
esrj-100518	253	9	(	(	PUNCT
esrj-100518	253	10	2008	2008	NUM
esrj-100518	253	11	)	)	PUNCT
esrj-100518	253	12	.	.	PUNCT
esrj-100518	254	1	a	a	DET
esrj-100518	254	2	novel	novel	ADJ
esrj-100518	254	3	architecture	architecture	NOUN
esrj-100518	254	4	for	for	ADP
esrj-100518	254	5	ultra	ultra	ADJ
esrj-100518	254	6	-	-	ADJ
esrj-100518	254	7	tight	tight	ADJ
esrj-100518	254	8	hsgps	hsgps	NOUN
esrj-100518	254	9	-	-	PUNCT
esrj-100518	254	10	ins	in	NOUN
esrj-100518	254	11	integration	integration	NOUN
esrj-100518	254	12	.	.	PUNCT
esrj-100518	255	1	journal	journal	PROPN
esrj-100518	255	2	of	of	ADP
esrj-100518	255	3	global	global	ADJ
esrj-100518	255	4	positioning	positioning	NOUN
esrj-100518	255	5	systems	system	NOUN
esrj-100518	255	6	,	,	PUNCT
esrj-100518	255	7	7(1	7(1	NUM
esrj-100518	255	8	)	)	PUNCT
esrj-100518	255	9	,	,	PUNCT
esrj-100518	255	10	46–61	46–61	NUM
esrj-100518	255	11	.	.	PUNCT
esrj-100518	256	1	https://doi.org/10.5081/jgps.7.1.46	https://doi.org/10.5081/jgps.7.1.46	PROPN
esrj-100518	256	2	godha	godha	PROPN
esrj-100518	256	3	,	,	PUNCT
esrj-100518	256	4	s.	s.	PROPN
esrj-100518	256	5	,	,	PUNCT
esrj-100518	256	6	&	&	CCONJ
esrj-100518	256	7	cannon	cannon	NOUN
esrj-100518	256	8	,	,	PUNCT
esrj-100518	256	9	m.	m.	PROPN
esrj-100518	256	10	e.	e.	PROPN
esrj-100518	256	11	(	(	PUNCT
esrj-100518	256	12	2007	2007	NUM
esrj-100518	256	13	)	)	PUNCT
esrj-100518	256	14	.	.	PUNCT
esrj-100518	257	1	gps	gps	PROPN
esrj-100518	257	2	/	/	SYM
esrj-100518	257	3	mems	mem	NOUN
esrj-100518	257	4	ins	in	NOUN
esrj-100518	257	5	integrated	integrate	VERB
esrj-100518	257	6	system	system	NOUN
esrj-100518	257	7	for	for	ADP
esrj-100518	257	8	navigation	navigation	NOUN
esrj-100518	257	9	in	in	ADP
esrj-100518	257	10	urban	urban	ADJ
esrj-100518	257	11	areas	area	NOUN
esrj-100518	257	12	.	.	PUNCT
esrj-100518	258	1	gps	gps	PROPN
esrj-100518	258	2	solutions	solution	NOUN
esrj-100518	258	3	,	,	PUNCT
esrj-100518	258	4	11	11	NUM
esrj-100518	258	5	,	,	PUNCT
esrj-100518	258	6	193–203	193–203	NUM
esrj-100518	258	7	.	.	PUNCT
esrj-100518	259	1	https://doi	https://doi	X
esrj-100518	259	2	.	.	PUNCT
esrj-100518	259	3	org/10.1007	org/10.1007	PROPN
esrj-100518	259	4	/	/	SYM
esrj-100518	259	5	s10291	s10291	NOUN
esrj-100518	259	6	-	-	PUNCT
esrj-100518	259	7	006	006	NUM
esrj-100518	259	8	-	-	PUNCT
esrj-100518	259	9	0050	0050	NUM
esrj-100518	259	10	-	-	PUNCT
esrj-100518	259	11	8	8	NUM
esrj-100518	259	12	hol	hol	NOUN
esrj-100518	259	13	,	,	PUNCT
esrj-100518	259	14	j.	j.	PROPN
esrj-100518	259	15	d.	d.	PROPN
esrj-100518	259	16	(	(	PUNCT
esrj-100518	259	17	2011	2011	NUM
esrj-100518	259	18	)	)	PUNCT
esrj-100518	259	19	.	.	PUNCT
esrj-100518	259	20	 	 	SPACE
esrj-100518	259	21	sensor	sensor	NOUN
esrj-100518	259	22	fusion	fusion	NOUN
esrj-100518	259	23	and	and	CCONJ
esrj-100518	259	24	calibration	calibration	NOUN
esrj-100518	259	25	of	of	ADP
esrj-100518	259	26	inertial	inertial	ADJ
esrj-100518	259	27	sensors	sensor	NOUN
esrj-100518	259	28	,	,	PUNCT
esrj-100518	259	29	vision	vision	NOUN
esrj-100518	259	30	,	,	PUNCT
esrj-100518	259	31	ultra	ultra	ADJ
esrj-100518	259	32	-	-	ADJ
esrj-100518	259	33	wideband	wideband	ADJ
esrj-100518	259	34	and	and	CCONJ
esrj-100518	259	35	gps	gps	PROPN
esrj-100518	259	36	.	.	PUNCT
esrj-100518	259	37	 	 	SPACE
esrj-100518	260	1	[	[	X
esrj-100518	260	2	doctoral	doctoral	ADJ
esrj-100518	260	3	dissertation	dissertation	NOUN
esrj-100518	260	4	,	,	PUNCT
esrj-100518	260	5	linköping	linköpe	VERB
esrj-100518	260	6	university	university	NOUN
esrj-100518	260	7	electronic	electronic	ADJ
esrj-100518	260	8	press	press	NOUN
esrj-100518	260	9	]	]	PUNCT
esrj-100518	260	10	.	.	PUNCT
esrj-100518	261	1	ilci	ilci	NOUN
esrj-100518	261	2	,	,	PUNCT
esrj-100518	261	3	v.	v.	PROPN
esrj-100518	261	4	,	,	PUNCT
esrj-100518	261	5	&	&	CCONJ
esrj-100518	261	6	toth	toth	PROPN
esrj-100518	261	7	,	,	PUNCT
esrj-100518	261	8	c.	c.	PROPN
esrj-100518	261	9	(	(	PUNCT
esrj-100518	261	10	2020	2020	NUM
esrj-100518	261	11	)	)	PUNCT
esrj-100518	261	12	.	.	PUNCT
esrj-100518	262	1	high	high	ADJ
esrj-100518	262	2	definition	definition	NOUN
esrj-100518	262	3	3d	3d	NOUN
esrj-100518	262	4	map	map	NOUN
esrj-100518	262	5	creation	creation	NOUN
esrj-100518	262	6	using	use	VERB
esrj-100518	262	7	gnss	gnss	NOUN
esrj-100518	262	8	/	/	SYM
esrj-100518	262	9	imu/	imu/	ADJ
esrj-100518	262	10	lidar	lidar	NOUN
esrj-100518	262	11	sensor	sensor	NOUN
esrj-100518	262	12	integration	integration	NOUN
esrj-100518	262	13	to	to	PART
esrj-100518	262	14	support	support	VERB
esrj-100518	262	15	autonomous	autonomous	ADJ
esrj-100518	262	16	vehicle	vehicle	NOUN
esrj-100518	262	17	navigation	navigation	NOUN
esrj-100518	262	18	.	.	PUNCT
esrj-100518	263	1	sensors	sensor	NOUN
esrj-100518	263	2	,	,	PUNCT
esrj-100518	263	3	20(3	20(3	NOUN
esrj-100518	263	4	)	)	PUNCT
esrj-100518	263	5	.	.	PUNCT
esrj-100518	264	1	https://doi.org/10.3390/s20030899	https://doi.org/10.3390/s20030899	NUM
esrj-100518	264	2	jiang	jiang	PROPN
esrj-100518	264	3	,	,	PUNCT
esrj-100518	264	4	w.	w.	PROPN
esrj-100518	264	5	,	,	PUNCT
esrj-100518	264	6	li	li	PROPN
esrj-100518	264	7	,	,	PUNCT
esrj-100518	264	8	y.	y.	PROPN
esrj-100518	264	9	,	,	PUNCT
esrj-100518	264	10	&	&	CCONJ
esrj-100518	264	11	rizos	rizos	PROPN
esrj-100518	264	12	,	,	PUNCT
esrj-100518	264	13	c.	c.	NOUN
esrj-100518	264	14	(	(	PUNCT
esrj-100518	264	15	2015	2015	NUM
esrj-100518	264	16	)	)	PUNCT
esrj-100518	264	17	.	.	PUNCT
esrj-100518	265	1	locata	locata	NOUN
esrj-100518	265	2	-	-	PUNCT
esrj-100518	265	3	based	base	VERB
esrj-100518	265	4	precise	precise	ADJ
esrj-100518	265	5	point	point	NOUN
esrj-100518	265	6	positioning	positioning	NOUN
esrj-100518	265	7	for	for	ADP
esrj-100518	265	8	kinematic	kinematic	ADJ
esrj-100518	265	9	maritime	maritime	ADJ
esrj-100518	265	10	applications	application	NOUN
esrj-100518	265	11	.	.	PUNCT
esrj-100518	266	1	gps	gps	PROPN
esrj-100518	266	2	solutions	solution	NOUN
esrj-100518	266	3	,	,	PUNCT
esrj-100518	266	4	19	19	NUM
esrj-100518	266	5	,	,	PUNCT
esrj-100518	266	6	117–128	117–128	NUM
esrj-100518	266	7	.	.	PUNCT
esrj-100518	267	1	https://	https://	PROPN
esrj-100518	267	2	doi.org/10.1007/s10291-014-0373-9	doi.org/10.1007/s10291-014-0373-9	PROPN
esrj-100518	267	3	jo	jo	PROPN
esrj-100518	267	4	,	,	PUNCT
esrj-100518	267	5	k.	k.	PROPN
esrj-100518	267	6	,	,	PUNCT
esrj-100518	267	7	&	&	CCONJ
esrj-100518	267	8	sunwoo	sunwoo	PROPN
esrj-100518	267	9	,	,	PUNCT
esrj-100518	267	10	m.	m.	NOUN
esrj-100518	267	11	(	(	PUNCT
esrj-100518	267	12	2014	2014	NUM
esrj-100518	267	13	)	)	PUNCT
esrj-100518	267	14	.	.	PUNCT
esrj-100518	268	1	generation	generation	NOUN
esrj-100518	268	2	of	of	ADP
esrj-100518	268	3	a	a	DET
esrj-100518	268	4	precise	precise	ADJ
esrj-100518	268	5	roadway	roadway	NOUN
esrj-100518	268	6	map	map	NOUN
esrj-100518	268	7	for	for	ADP
esrj-100518	268	8	autonomous	autonomous	ADJ
esrj-100518	268	9	cars	car	NOUN
esrj-100518	268	10	.	.	PUNCT
esrj-100518	269	1	ieee	ieee	NOUN
esrj-100518	269	2	transactions	transaction	NOUN
esrj-100518	269	3	on	on	ADP
esrj-100518	269	4	intelligent	intelligent	ADJ
esrj-100518	269	5	transportation	transportation	NOUN
esrj-100518	269	6	systems	system	NOUN
esrj-100518	269	7	,	,	PUNCT
esrj-100518	269	8	15(3	15(3	NUM
esrj-100518	269	9	)	)	PUNCT
esrj-100518	269	10	,	,	PUNCT
esrj-100518	269	11	925–937	925–937	NUM
esrj-100518	269	12	.	.	PUNCT
esrj-100518	270	1	https://doi.org/10.1109/tits.2013.2291395	https://doi.org/10.1109/tits.2013.2291395	PROPN
esrj-100518	270	2	kuutti	kuutti	PROPN
esrj-100518	270	3	,	,	PUNCT
esrj-100518	270	4	s.	s.	PROPN
esrj-100518	270	5	,	,	PUNCT
esrj-100518	270	6	fallah	fallah	PROPN
esrj-100518	270	7	,	,	PUNCT
esrj-100518	270	8	s.	s.	PROPN
esrj-100518	270	9	,	,	PUNCT
esrj-100518	270	10	katsaros	katsaros	PROPN
esrj-100518	270	11	,	,	PUNCT
esrj-100518	270	12	k.	k.	PROPN
esrj-100518	270	13	,	,	PUNCT
esrj-100518	270	14	dianati	dianati	PROPN
esrj-100518	270	15	,	,	PUNCT
esrj-100518	270	16	m.	m.	NOUN
esrj-100518	270	17	,	,	PUNCT
esrj-100518	270	18	mccullough	mccullough	PROPN
esrj-100518	270	19	,	,	PUNCT
esrj-100518	270	20	f.	f.	PROPN
esrj-100518	270	21	,	,	PUNCT
esrj-100518	270	22	&	&	CCONJ
esrj-100518	270	23	mouzakitis	mouzakitis	PROPN
esrj-100518	270	24	,	,	PUNCT
esrj-100518	270	25	a.	a.	NOUN
esrj-100518	270	26	(	(	PUNCT
esrj-100518	270	27	2018	2018	NUM
esrj-100518	270	28	)	)	PUNCT
esrj-100518	270	29	.	.	PUNCT
esrj-100518	271	1	a	a	DET
esrj-100518	271	2	survey	survey	NOUN
esrj-100518	271	3	of	of	ADP
esrj-100518	271	4	the	the	DET
esrj-100518	271	5	state	state	NOUN
esrj-100518	271	6	-	-	PUNCT
esrj-100518	271	7	of	of	ADP
esrj-100518	271	8	-	-	PUNCT
esrj-100518	271	9	the	the	DET
esrj-100518	271	10	-	-	PUNCT
esrj-100518	271	11	art	art	NOUN
esrj-100518	271	12	localization	localization	NOUN
esrj-100518	271	13	techniques	technique	NOUN
esrj-100518	271	14	and	and	CCONJ
esrj-100518	271	15	their	their	PRON
esrj-100518	271	16	potentials	potential	NOUN
esrj-100518	271	17	for	for	ADP
esrj-100518	271	18	autonomous	autonomous	ADJ
esrj-100518	271	19	vehicle	vehicle	NOUN
esrj-100518	271	20	applications	application	NOUN
esrj-100518	271	21	.	.	PUNCT
esrj-100518	272	1	ieee	ieee	PROPN
esrj-100518	272	2	internet	internet	NOUN
esrj-100518	272	3	of	of	ADP
esrj-100518	272	4	things	thing	NOUN
esrj-100518	272	5	journal	journal	NOUN
esrj-100518	272	6	,	,	PUNCT
esrj-100518	272	7	5(2	5(2	NUM
esrj-100518	272	8	)	)	PUNCT
esrj-100518	272	9	,	,	PUNCT
esrj-100518	272	10	829–846	829–846	NUM
esrj-100518	272	11	.	.	PUNCT
esrj-100518	273	1	https://doi.org/10.1109/	https://doi.org/10.1109/	PROPN
esrj-100518	273	2	jiot.2018.2812300	jiot.2018.2812300	PROPN
esrj-100518	273	3	li	li	PROPN
esrj-100518	273	4	,	,	PUNCT
esrj-100518	273	5	t.	t.	PROPN
esrj-100518	273	6	,	,	PUNCT
esrj-100518	273	7	zhang	zhang	PROPN
esrj-100518	273	8	,	,	PUNCT
esrj-100518	273	9	h.	h.	PROPN
esrj-100518	273	10	,	,	PUNCT
esrj-100518	273	11	gao	gao	PROPN
esrj-100518	273	12	,	,	PUNCT
esrj-100518	273	13	z.	z.	PROPN
esrj-100518	273	14	,	,	PUNCT
esrj-100518	273	15	chen	chen	PROPN
esrj-100518	273	16	,	,	PUNCT
esrj-100518	273	17	q.	q.	PROPN
esrj-100518	273	18	,	,	PUNCT
esrj-100518	273	19	&	&	CCONJ
esrj-100518	273	20	niu	niu	PROPN
esrj-100518	273	21	,	,	PUNCT
esrj-100518	273	22	x.	x.	NOUN
esrj-100518	273	23	(	(	PUNCT
esrj-100518	273	24	2018	2018	NUM
esrj-100518	273	25	)	)	PUNCT
esrj-100518	273	26	.	.	PUNCT
esrj-100518	274	1	high	high	ADJ
esrj-100518	274	2	-	-	PUNCT
esrj-100518	274	3	accuracy	accuracy	NOUN
esrj-100518	274	4	positioning	positioning	NOUN
esrj-100518	274	5	in	in	ADP
esrj-100518	274	6	urban	urban	ADJ
esrj-100518	274	7	environments	environment	NOUN
esrj-100518	274	8	using	use	VERB
esrj-100518	274	9	single	single	ADJ
esrj-100518	274	10	-	-	PUNCT
esrj-100518	274	11	frequency	frequency	NOUN
esrj-100518	274	12	multi	multi	ADJ
esrj-100518	274	13	-	-	ADJ
esrj-100518	274	14	gnss	gnss	NOUN
esrj-100518	274	15	rtk/	rtk/	ADJ
esrj-100518	274	16	memsimu	memsimu	NOUN
esrj-100518	274	17	integration	integration	NOUN
esrj-100518	274	18	.	.	PUNCT
esrj-100518	275	1	remote	remote	ADJ
esrj-100518	275	2	sensing	sensing	NOUN
esrj-100518	275	3	,	,	PUNCT
esrj-100518	275	4	10(205	10(205	NOUN
esrj-100518	275	5	)	)	PUNCT
esrj-100518	275	6	,	,	PUNCT
esrj-100518	275	7	1–21	1–21	PROPN
esrj-100518	275	8	.	.	PUNCT
esrj-100518	276	1	https://doi	https://doi	X
esrj-100518	276	2	.	.	PUNCT
esrj-100518	276	3	org/10.3390	org/10.3390	PROPN
esrj-100518	276	4	/	/	SYM
esrj-100518	276	5	rs10020205	rs10020205	PROPN
esrj-100518	276	6	li	li	PROPN
esrj-100518	276	7	,	,	PUNCT
esrj-100518	276	8	t.	t.	PROPN
esrj-100518	276	9	,	,	PUNCT
esrj-100518	276	10	zhang	zhang	PROPN
esrj-100518	276	11	,	,	PUNCT
esrj-100518	276	12	h.	h.	PROPN
esrj-100518	276	13	,	,	PUNCT
esrj-100518	276	14	gao	gao	PROPN
esrj-100518	276	15	,	,	PUNCT
esrj-100518	276	16	z.	z.	PROPN
esrj-100518	276	17	,	,	PUNCT
esrj-100518	276	18	niu	niu	PROPN
esrj-100518	276	19	,	,	PUNCT
esrj-100518	276	20	x.	x.	NOUN
esrj-100518	276	21	,	,	PUNCT
esrj-100518	276	22	&	&	CCONJ
esrj-100518	276	23	el	el	PROPN
esrj-100518	276	24	-	-	PUNCT
esrj-100518	276	25	sheimy	sheimy	PROPN
esrj-100518	276	26	,	,	PUNCT
esrj-100518	276	27	n.	n.	NOUN
esrj-100518	276	28	(	(	PUNCT
esrj-100518	276	29	2019	2019	NUM
esrj-100518	276	30	)	)	PUNCT
esrj-100518	276	31	.	.	PUNCT
esrj-100518	277	1	tight	tight	ADJ
esrj-100518	277	2	fusion	fusion	NOUN
esrj-100518	277	3	of	of	ADP
esrj-100518	277	4	a	a	DET
esrj-100518	277	5	monocular	monocular	ADJ
esrj-100518	277	6	camera	camera	NOUN
esrj-100518	277	7	,	,	PUNCT
esrj-100518	277	8	mems	mem	NOUN
esrj-100518	277	9	-	-	PUNCT
esrj-100518	277	10	imu	imu	NOUN
esrj-100518	277	11	,	,	PUNCT
esrj-100518	277	12	and	and	CCONJ
esrj-100518	277	13	single	single	ADJ
esrj-100518	277	14	-	-	PUNCT
esrj-100518	277	15	frequency	frequency	NOUN
esrj-100518	277	16	multi	multi	ADJ
esrj-100518	277	17	-	-	ADJ
esrj-100518	277	18	gnss	gnss	ADJ
esrj-100518	277	19	rtk	rtk	NOUN
esrj-100518	277	20	for	for	ADP
esrj-100518	277	21	precise	precise	ADJ
esrj-100518	277	22	navigation	navigation	NOUN
esrj-100518	277	23	in	in	ADP
esrj-100518	277	24	gnss	gnss	NOUN
esrj-100518	277	25	-	-	PUNCT
esrj-100518	277	26	challenged	challenge	VERB
esrj-100518	277	27	environments	environment	NOUN
esrj-100518	277	28	.	.	PUNCT
esrj-100518	278	1	remote	remote	ADJ
esrj-100518	278	2	sensing	sensing	NOUN
esrj-100518	278	3	,	,	PUNCT
esrj-100518	278	4	11(6	11(6	NUM
esrj-100518	278	5	)	)	PUNCT
esrj-100518	278	6	,	,	PUNCT
esrj-100518	278	7	610	610	NUM
esrj-100518	278	8	.	.	PUNCT
esrj-100518	279	1	https://doi.org/10.3390/rs11060610	https://doi.org/10.3390/rs11060610	PRON
esrj-100518	279	2	misra	misra	ADJ
esrj-100518	279	3	,	,	PUNCT
esrj-100518	279	4	p.	p.	NOUN
esrj-100518	279	5	,	,	PUNCT
esrj-100518	279	6	&	&	CCONJ
esrj-100518	279	7	enge	enge	PROPN
esrj-100518	279	8	,	,	PUNCT
esrj-100518	279	9	p.	p.	NOUN
esrj-100518	279	10	(	(	PUNCT
esrj-100518	279	11	2011	2011	NUM
esrj-100518	279	12	)	)	PUNCT
esrj-100518	279	13	.	.	PUNCT
esrj-100518	280	1	global	global	ADJ
esrj-100518	280	2	positioning	positioning	NOUN
esrj-100518	280	3	system	system	NOUN
esrj-100518	280	4	:	:	PUNCT
esrj-100518	280	5	signals	signal	NOUN
esrj-100518	280	6	,	,	PUNCT
esrj-100518	280	7	measurements	measurement	NOUN
esrj-100518	280	8	,	,	PUNCT
esrj-100518	280	9	and	and	CCONJ
esrj-100518	280	10	performance	performance	NOUN
esrj-100518	280	11	.	.	PUNCT
esrj-100518	281	1	ganga	ganga	PROPN
esrj-100518	281	2	-	-	PUNCT
esrj-100518	281	3	jamuna	jamuna	PROPN
esrj-100518	281	4	press	press	NOUN
esrj-100518	281	5	.	.	PUNCT
esrj-100518	282	1	nocerino	nocerino	PROPN
esrj-100518	282	2	,	,	PUNCT
esrj-100518	282	3	e.	e.	PROPN
esrj-100518	282	4	,	,	PUNCT
esrj-100518	282	5	menna	menna	PROPN
esrj-100518	282	6	,	,	PUNCT
esrj-100518	282	7	f.	f.	PROPN
esrj-100518	282	8	,	,	PUNCT
esrj-100518	282	9	remondino	remondino	PROPN
esrj-100518	282	10	,	,	PUNCT
esrj-100518	282	11	f.	f.	PROPN
esrj-100518	282	12	,	,	PUNCT
esrj-100518	282	13	toschi	toschi	PROPN
esrj-100518	282	14	,	,	PUNCT
esrj-100518	282	15	i.	i.	PROPN
esrj-100518	282	16	,	,	PUNCT
esrj-100518	282	17	&	&	CCONJ
esrj-100518	282	18	rodríguez	rodríguez	PROPN
esrj-100518	282	19	-	-	PUNCT
esrj-100518	282	20	gonzálvez	gonzálvez	NOUN
esrj-100518	282	21	,	,	PUNCT
esrj-100518	282	22	p.	p.	NOUN
esrj-100518	282	23	(	(	PUNCT
esrj-100518	282	24	2017	2017	NUM
esrj-100518	282	25	)	)	PUNCT
esrj-100518	282	26	.	.	PUNCT
esrj-100518	283	1	investigation	investigation	NOUN
esrj-100518	283	2	of	of	ADP
esrj-100518	283	3	indoor	indoor	ADJ
esrj-100518	283	4	and	and	CCONJ
esrj-100518	283	5	outdoor	outdoor	ADJ
esrj-100518	283	6	performance	performance	NOUN
esrj-100518	283	7	of	of	ADP
esrj-100518	283	8	two	two	NUM
esrj-100518	283	9	portable	portable	ADJ
esrj-100518	283	10	mobile	mobile	ADJ
esrj-100518	283	11	mapping	mapping	NOUN
esrj-100518	283	12	systems	system	NOUN
esrj-100518	283	13	.	.	PUNCT
esrj-100518	284	1	videometrics	videometric	NOUN
esrj-100518	284	2	,	,	PUNCT
esrj-100518	284	3	range	range	NOUN
esrj-100518	284	4	imaging	imaging	NOUN
esrj-100518	284	5	,	,	PUNCT
esrj-100518	284	6	and	and	CCONJ
esrj-100518	284	7	applications	application	NOUN
esrj-100518	284	8	xiv	xiv	PROPN
esrj-100518	284	9	,	,	PUNCT
esrj-100518	284	10	1–15	1–15	PROPN
esrj-100518	284	11	.	.	PUNCT
esrj-100518	285	1	https://doi.org/10.1117/12.2270761	https://doi.org/10.1117/12.2270761	PROPN
esrj-100518	285	2	ocalan	ocalan	NOUN
esrj-100518	285	3	,	,	PUNCT
esrj-100518	285	4	t.	t.	PROPN
esrj-100518	285	5	(	(	PUNCT
esrj-100518	285	6	2016	2016	NUM
esrj-100518	285	7	)	)	PUNCT
esrj-100518	285	8	.	.	PUNCT
esrj-100518	286	1	accuracy	accuracy	NOUN
esrj-100518	286	2	assessment	assessment	NOUN
esrj-100518	286	3	of	of	ADP
esrj-100518	286	4	gps	gps	PROPN
esrj-100518	286	5	precise	precise	ADJ
esrj-100518	286	6	point	point	NOUN
esrj-100518	286	7	positioning	positioning	NOUN
esrj-100518	286	8	(	(	PUNCT
esrj-100518	286	9	ppp	ppp	NOUN
esrj-100518	286	10	)	)	PUNCT
esrj-100518	286	11	technique	technique	NOUN
esrj-100518	286	12	using	use	VERB
esrj-100518	286	13	different	different	ADJ
esrj-100518	286	14	web	web	NOUN
esrj-100518	286	15	-	-	PUNCT
esrj-100518	286	16	based	base	VERB
esrj-100518	286	17	online	online	ADJ
esrj-100518	286	18	services	service	NOUN
esrj-100518	286	19	in	in	ADP
esrj-100518	286	20	a	a	DET
esrj-100518	286	21	forest	forest	NOUN
esrj-100518	286	22	environment	environment	NOUN
esrj-100518	286	23	.	.	PUNCT
esrj-100518	287	1	sumarski	sumarski	PROPN
esrj-100518	287	2	list	list	NOUN
esrj-100518	287	3	,	,	PUNCT
esrj-100518	287	4	7	7	NUM
esrj-100518	287	5	-	-	SYM
esrj-100518	287	6	8	8	NUM
esrj-100518	287	7	,	,	PUNCT
esrj-100518	287	8	357	357	NUM
esrj-100518	287	9	-	-	SYM
esrj-100518	287	10	368	368	NUM
esrj-100518	287	11	.	.	PUNCT
esrj-100518	288	1	https://doi.org/10.31298/sl.140.7-8.4	https://doi.org/10.31298/sl.140.7-8.4	X
esrj-100518	288	2	ocalan	ocalan	ADJ
esrj-100518	288	3	,	,	PUNCT
esrj-100518	288	4	t.	t.	PROPN
esrj-100518	288	5	,	,	PUNCT
esrj-100518	288	6	erdogan	erdogan	ADJ
esrj-100518	288	7	,	,	PUNCT
esrj-100518	288	8	b.	b.	PROPN
esrj-100518	288	9	,	,	PUNCT
esrj-100518	288	10	tunalioglu	tunalioglu	PROPN
esrj-100518	288	11	,	,	PUNCT
esrj-100518	288	12	n.	n.	NOUN
esrj-100518	288	13	,	,	PUNCT
esrj-100518	288	14	&	&	CCONJ
esrj-100518	288	15	durdag	durdag	PROPN
esrj-100518	288	16	,	,	PUNCT
esrj-100518	288	17	u.	u.	PROPN
esrj-100518	288	18	m.	m.	NOUN
esrj-100518	288	19	(	(	PUNCT
esrj-100518	288	20	2016	2016	NUM
esrj-100518	288	21	)	)	PUNCT
esrj-100518	288	22	.	.	PUNCT
esrj-100518	289	1	accuracy	accuracy	NOUN
esrj-100518	289	2	investigation	investigation	NOUN
esrj-100518	289	3	of	of	ADP
esrj-100518	289	4	ppp	ppp	PROPN
esrj-100518	289	5	method	method	NOUN
esrj-100518	289	6	versus	versus	ADP
esrj-100518	289	7	relative	relative	ADJ
esrj-100518	289	8	positioning	positioning	NOUN
esrj-100518	289	9	using	use	VERB
esrj-100518	289	10	different	different	ADJ
esrj-100518	289	11	satellite	satellite	NOUN
esrj-100518	289	12	ephemerides	ephemeris	NOUN
esrj-100518	289	13	products	product	NOUN
esrj-100518	289	14	near	near	ADP
esrj-100518	289	15	/	/	SYM
esrj-100518	289	16	under	under	ADP
esrj-100518	289	17	forest	forest	NOUN
esrj-100518	289	18	environment	environment	NOUN
esrj-100518	289	19	.	.	PUNCT
esrj-100518	290	1	earth	earth	PROPN
esrj-100518	290	2	sciences	sciences	PROPN
esrj-100518	290	3	research	research	PROPN
esrj-100518	290	4	journal	journal	PROPN
esrj-100518	290	5	,	,	PUNCT
esrj-100518	290	6	20(4	20(4	NOUN
esrj-100518	290	7	)	)	PUNCT
esrj-100518	290	8	,	,	PUNCT
esrj-100518	290	9	d1	d1	NOUN
esrj-100518	290	10	-	-	PUNCT
esrj-100518	290	11	d9	d9	PROPN
esrj-100518	290	12	.	.	PUNCT
esrj-100518	290	13	https://doi.org/10.15446/esrj	https://doi.org/10.15446/esrj	NOUN
esrj-100518	290	14	.	.	PUNCT
esrj-100518	291	1	v20n4.59496	v20n4.59496	NOUN
esrj-100518	291	2	)	)	PUNCT
esrj-100518	291	3	otegui	otegui	NOUN
esrj-100518	291	4	,	,	PUNCT
esrj-100518	291	5	j.	j.	PROPN
esrj-100518	291	6	,	,	PUNCT
esrj-100518	291	7	bahillo	bahillo	NOUN
esrj-100518	291	8	,	,	PUNCT
esrj-100518	291	9	a.	a.	NOUN
esrj-100518	291	10	,	,	PUNCT
esrj-100518	291	11	lopetegi	lopetegi	PROPN
esrj-100518	291	12	,	,	PUNCT
esrj-100518	291	13	i.	i.	PROPN
esrj-100518	291	14	,	,	PUNCT
esrj-100518	291	15	&	&	CCONJ
esrj-100518	291	16	díez	díez	PROPN
esrj-100518	291	17	,	,	PUNCT
esrj-100518	291	18	l.	l.	PROPN
esrj-100518	291	19	e.	e.	PROPN
esrj-100518	291	20	(	(	PUNCT
esrj-100518	291	21	2021	2021	NUM
esrj-100518	291	22	)	)	PUNCT
esrj-100518	291	23	.	.	PUNCT
esrj-100518	292	1	performance	performance	NOUN
esrj-100518	292	2	evaluation	evaluation	NOUN
esrj-100518	292	3	of	of	ADP
esrj-100518	292	4	different	different	ADJ
esrj-100518	292	5	grade	grade	NOUN
esrj-100518	292	6	imus	imus	PROPN
esrj-100518	292	7	for	for	ADP
esrj-100518	292	8	diagnosis	diagnosis	NOUN
esrj-100518	292	9	applications	application	NOUN
esrj-100518	292	10	in	in	ADP
esrj-100518	292	11	land	land	NOUN
esrj-100518	292	12	vehicular	vehicular	ADJ
esrj-100518	292	13	220	220	NUM
esrj-100518	292	14	mert	mert	NOUN
esrj-100518	292	15	gürtürk	gürtürk	NOUN
esrj-100518	292	16	,	,	PUNCT
esrj-100518	292	17	veli	veli	PROPN
esrj-100518	292	18	i̇lçi	i̇lçi	PROPN
esrj-100518	292	19	,	,	PUNCT
esrj-100518	292	20	multi	multi	ADJ
esrj-100518	292	21	-	-	ADJ
esrj-100518	292	22	sensor	sensor	ADJ
esrj-100518	292	23	architectures	architecture	NOUN
esrj-100518	292	24	.	.	PUNCT
esrj-100518	293	1	ieee	ieee	NOUN
esrj-100518	293	2	sensors	sensor	NOUN
esrj-100518	293	3	journal	journal	PROPN
esrj-100518	293	4	,	,	PUNCT
esrj-100518	293	5	21(3	21(3	NUM
esrj-100518	293	6	)	)	PUNCT
esrj-100518	293	7	,	,	PUNCT
esrj-100518	293	8	2658–2668	2658–2668	NUM
esrj-100518	293	9	.	.	PUNCT
esrj-100518	294	1	https://doi.org/10.1109/jsen.2020.3023427	https://doi.org/10.1109/jsen.2020.3023427	NOUN
esrj-100518	294	2	paziewski	paziewski	NOUN
esrj-100518	294	3	,	,	PUNCT
esrj-100518	294	4	j.	j.	PROPN
esrj-100518	294	5	,	,	PUNCT
esrj-100518	294	6	sieradzki	sieradzki	PROPN
esrj-100518	294	7	,	,	PUNCT
esrj-100518	294	8	r.	r.	PROPN
esrj-100518	294	9	,	,	PUNCT
esrj-100518	294	10	&	&	CCONJ
esrj-100518	294	11	baryla	baryla	PROPN
esrj-100518	294	12	,	,	PUNCT
esrj-100518	294	13	r.	r.	PROPN
esrj-100518	294	14	(	(	PUNCT
esrj-100518	294	15	2018	2018	NUM
esrj-100518	294	16	)	)	PUNCT
esrj-100518	294	17	.	.	PUNCT
esrj-100518	295	1	multi	multi	ADJ
esrj-100518	295	2	-	-	ADJ
esrj-100518	295	3	gnss	gnss	ADJ
esrj-100518	295	4	high	high	ADJ
esrj-100518	295	5	-	-	PUNCT
esrj-100518	295	6	rate	rate	NOUN
esrj-100518	295	7	rtk	rtk	PROPN
esrj-100518	295	8	,	,	PUNCT
esrj-100518	295	9	ppp	ppp	NOUN
esrj-100518	295	10	and	and	CCONJ
esrj-100518	295	11	novel	novel	ADJ
esrj-100518	295	12	direct	direct	ADJ
esrj-100518	295	13	phase	phase	NOUN
esrj-100518	295	14	observation	observation	NOUN
esrj-100518	295	15	processing	processing	NOUN
esrj-100518	295	16	method	method	NOUN
esrj-100518	295	17	:	:	PUNCT
esrj-100518	295	18	application	application	NOUN
esrj-100518	295	19	to	to	ADP
esrj-100518	295	20	precise	precise	ADJ
esrj-100518	295	21	dynamic	dynamic	ADJ
esrj-100518	295	22	displacement	displacement	ADJ
esrj-100518	295	23	detection	detection	NOUN
esrj-100518	295	24	.	.	PUNCT
esrj-100518	296	1	measurement	measurement	NOUN
esrj-100518	296	2	science	science	NOUN
esrj-100518	296	3	and	and	CCONJ
esrj-100518	296	4	technology	technology	NOUN
esrj-100518	296	5	,	,	PUNCT
esrj-100518	296	6	29(3	29(3	NUM
esrj-100518	296	7	)	)	PUNCT
esrj-100518	296	8	,	,	PUNCT
esrj-100518	296	9	35002	35002	NUM
esrj-100518	296	10	.	.	PUNCT
esrj-100518	297	1	https://doi.org/10.1088/1361-6501/aa9ec2	https://doi.org/10.1088/1361-6501/aa9ec2	PROPN
esrj-100518	297	2	petovello	petovello	PROPN
esrj-100518	297	3	,	,	PUNCT
esrj-100518	297	4	m.	m.	NOUN
esrj-100518	297	5	g.	g.	PROPN
esrj-100518	297	6	(	(	PUNCT
esrj-100518	297	7	2003	2003	NUM
esrj-100518	297	8	)	)	PUNCT
esrj-100518	297	9	.	.	PUNCT
esrj-100518	298	1	real	real	ADJ
esrj-100518	298	2	-	-	PUNCT
esrj-100518	298	3	time	time	NOUN
esrj-100518	298	4	integration	integration	NOUN
esrj-100518	298	5	of	of	ADP
esrj-100518	298	6	a	a	DET
esrj-100518	298	7	tactical	tactical	ADJ
esrj-100518	298	8	-	-	PUNCT
esrj-100518	298	9	grade	grade	NOUN
esrj-100518	298	10	imu	imu	NOUN
esrj-100518	298	11	and	and	CCONJ
esrj-100518	298	12	gps	gps	PROPN
esrj-100518	298	13	for	for	ADP
esrj-100518	298	14	high	high	ADJ
esrj-100518	298	15	-	-	PUNCT
esrj-100518	298	16	accuracy	accuracy	NOUN
esrj-100518	298	17	positioning	positioning	NOUN
esrj-100518	298	18	and	and	CCONJ
esrj-100518	298	19	navigation	navigation	NOUN
esrj-100518	298	20	(	(	PUNCT
esrj-100518	298	21	unpublished	unpublished	ADJ
esrj-100518	298	22	doctoral	doctoral	ADJ
esrj-100518	298	23	thesis	thesis	NOUN
esrj-100518	298	24	)	)	PUNCT
esrj-100518	298	25	.	.	PUNCT
esrj-100518	299	1	university	university	NOUN
esrj-100518	299	2	of	of	ADP
esrj-100518	299	3	calgary	calgary	PROPN
esrj-100518	299	4	,	,	PUNCT
esrj-100518	299	5	calgary	calgary	PROPN
esrj-100518	299	6	,	,	PUNCT
esrj-100518	299	7	ab	ab	PROPN
esrj-100518	299	8	.	.	PROPN
esrj-100518	299	9	doi:10.11575	doi:10.11575	PROPN
esrj-100518	299	10	/	/	SYM
esrj-100518	299	11	prism/23031	prism/23031	NOUN
esrj-100518	299	12	.	.	PUNCT
esrj-100518	300	1	qin	qin	PROPN
esrj-100518	300	2	,	,	PUNCT
esrj-100518	300	3	y.	y.	PROPN
esrj-100518	300	4	,	,	PUNCT
esrj-100518	300	5	zhang	zhang	PROPN
esrj-100518	300	6	,	,	PUNCT
esrj-100518	300	7	h.	h.	PROPN
esrj-100518	300	8	y.	y.	PROPN
esrj-100518	300	9	,	,	PUNCT
esrj-100518	300	10	&	&	CCONJ
esrj-100518	300	11	wang	wang	PROPN
esrj-100518	300	12	,	,	PUNCT
esrj-100518	300	13	s.	s.	PROPN
esrj-100518	300	14	h.	h.	PROPN
esrj-100518	300	15	(	(	PUNCT
esrj-100518	300	16	2015	2015	NUM
esrj-100518	300	17	)	)	PUNCT
esrj-100518	300	18	.	.	PUNCT
esrj-100518	301	1	principles	principle	NOUN
esrj-100518	301	2	of	of	ADP
esrj-100518	301	3	kalman	kalman	NOUN
esrj-100518	301	4	filter	filter	NOUN
esrj-100518	301	5	and	and	CCONJ
esrj-100518	301	6	integrated	integrate	VERB
esrj-100518	301	7	navigation	navigation	NOUN
esrj-100518	301	8	.	.	PUNCT
esrj-100518	302	1	xi’an	xi’an	PROPN
esrj-100518	302	2	,	,	PUNCT
esrj-100518	302	3	china	china	PROPN
esrj-100518	302	4	:	:	PUNCT
esrj-100518	302	5	northwestern	northwestern	PROPN
esrj-100518	302	6	polytechnical	polytechnical	PROPN
esrj-100518	302	7	univ	univ	PROPN
esrj-100518	302	8	.	.	PUNCT
esrj-100518	303	1	press	press	NOUN
esrj-100518	303	2	robustelli	robustelli	NOUN
esrj-100518	303	3	,	,	PUNCT
esrj-100518	303	4	u.	u.	PROPN
esrj-100518	303	5	,	,	PUNCT
esrj-100518	303	6	&	&	CCONJ
esrj-100518	303	7	pugliano	pugliano	PROPN
esrj-100518	303	8	,	,	PUNCT
esrj-100518	303	9	g.	g.	PROPN
esrj-100518	303	10	(	(	PUNCT
esrj-100518	303	11	2019	2019	NUM
esrj-100518	303	12	)	)	PUNCT
esrj-100518	303	13	.	.	PUNCT
esrj-100518	304	1	characterization	characterization	NOUN
esrj-100518	304	2	of	of	ADP
esrj-100518	304	3	dual	dual	ADJ
esrj-100518	304	4	frequency	frequency	NOUN
esrj-100518	304	5	gnss	gnss	NOUN
esrj-100518	304	6	observations	observation	NOUN
esrj-100518	304	7	from	from	ADP
esrj-100518	304	8	xiaomi	xiaomi	PROPN
esrj-100518	304	9	mi	mi	PROPN
esrj-100518	305	1	8	8	NUM
esrj-100518	305	2	smartphone	smartphone	NOUN
esrj-100518	305	3	in	in	ADP
esrj-100518	305	4	absence	absence	NOUN
esrj-100518	305	5	of	of	ADP
esrj-100518	305	6	duty	duty	NOUN
esrj-100518	305	7	cycle	cycle	NOUN
esrj-100518	305	8	.	.	PUNCT
esrj-100518	306	1	aip	aip	PROPN
esrj-100518	306	2	conference	conference	NOUN
esrj-100518	306	3	proceedings	proceeding	NOUN
esrj-100518	306	4	2116	2116	NUM
esrj-100518	306	5	,	,	PUNCT
esrj-100518	306	6	280005	280005	NUM
esrj-100518	306	7	.	.	PUNCT
esrj-100518	307	1	https://doi.org/https://doi	https://doi.org/https://doi	X
esrj-100518	307	2	.	.	NOUN
esrj-100518	307	3	org/10.1063/1.5114288	org/10.1063/1.5114288	ADJ
esrj-100518	307	4	salytcheva	salytcheva	PROPN
esrj-100518	307	5	,	,	PUNCT
esrj-100518	307	6	a.	a.	NOUN
esrj-100518	307	7	o.	o.	PROPN
esrj-100518	307	8	(	(	PUNCT
esrj-100518	307	9	2004	2004	NUM
esrj-100518	307	10	)	)	PUNCT
esrj-100518	307	11	.	.	PUNCT
esrj-100518	308	1	medium	medium	ADJ
esrj-100518	308	2	accuracy	accuracy	NOUN
esrj-100518	308	3	ins	in	NOUN
esrj-100518	308	4	/	/	SYM
esrj-100518	308	5	gps	gps	NOUN
esrj-100518	308	6	integration	integration	NOUN
esrj-100518	308	7	in	in	ADP
esrj-100518	308	8	various	various	ADJ
esrj-100518	308	9	gps	gps	NOUN
esrj-100518	308	10	environments	environment	NOUN
esrj-100518	308	11	.	.	PUNCT
esrj-100518	309	1	[	[	X
esrj-100518	309	2	ms	ms	NOUN
esrj-100518	309	3	thesis	thesis	NOUN
esrj-100518	309	4	,	,	PUNCT
esrj-100518	309	5	university	university	NOUN
esrj-100518	309	6	of	of	ADP
esrj-100518	309	7	calgary	calgary	PROPN
esrj-100518	309	8	,	,	PUNCT
esrj-100518	309	9	alberta	alberta	PROPN
esrj-100518	309	10	]	]	PUNCT
esrj-100518	309	11	.	.	PUNCT
esrj-100518	310	1	shen	shen	PROPN
esrj-100518	310	2	,	,	PUNCT
esrj-100518	310	3	n.	n.	PROPN
esrj-100518	310	4	,	,	PUNCT
esrj-100518	310	5	chen	chen	PROPN
esrj-100518	310	6	,	,	PUNCT
esrj-100518	310	7	l.	l.	PROPN
esrj-100518	310	8	,	,	PUNCT
esrj-100518	310	9	liu	liu	PROPN
esrj-100518	310	10	,	,	PUNCT
esrj-100518	310	11	j.	j.	PROPN
esrj-100518	310	12	,	,	PUNCT
esrj-100518	310	13	wang	wang	PROPN
esrj-100518	310	14	,	,	PUNCT
esrj-100518	310	15	l.	l.	PROPN
esrj-100518	310	16	,	,	PUNCT
esrj-100518	310	17	tao	tao	PROPN
esrj-100518	310	18	,	,	PUNCT
esrj-100518	310	19	t.	t.	PROPN
esrj-100518	310	20	,	,	PUNCT
esrj-100518	310	21	wu	wu	PROPN
esrj-100518	310	22	,	,	PUNCT
esrj-100518	310	23	d.	d.	PROPN
esrj-100518	310	24	,	,	PUNCT
esrj-100518	310	25	&	&	CCONJ
esrj-100518	310	26	chen	chen	PROPN
esrj-100518	310	27	,	,	PUNCT
esrj-100518	310	28	r.	r.	PROPN
esrj-100518	310	29	(	(	PUNCT
esrj-100518	310	30	2019	2019	NUM
esrj-100518	310	31	)	)	PUNCT
esrj-100518	310	32	.	.	PUNCT
esrj-100518	311	1	a	a	DET
esrj-100518	311	2	review	review	NOUN
esrj-100518	311	3	of	of	ADP
esrj-100518	311	4	global	global	ADJ
esrj-100518	311	5	navigation	navigation	NOUN
esrj-100518	311	6	satellite	satellite	NOUN
esrj-100518	311	7	system	system	NOUN
esrj-100518	311	8	(	(	PUNCT
esrj-100518	311	9	gnss)-based	gnss)-base	VERB
esrj-100518	311	10	dynamic	dynamic	ADJ
esrj-100518	311	11	monitoring	monitoring	NOUN
esrj-100518	311	12	technologies	technology	NOUN
esrj-100518	311	13	for	for	ADP
esrj-100518	311	14	structural	structural	ADJ
esrj-100518	311	15	health	health	NOUN
esrj-100518	311	16	monitoring	monitoring	NOUN
esrj-100518	311	17	.	.	PUNCT
esrj-100518	311	18	 	 	SPACE
esrj-100518	312	1	remote	remote	ADJ
esrj-100518	312	2	sensing	sensing	NOUN
esrj-100518	312	3	,	,	PUNCT
esrj-100518	312	4	 	 	SPACE
esrj-100518	312	5	11(9	11(9	NOUN
esrj-100518	312	6	)	)	PUNCT
esrj-100518	312	7	,	,	PUNCT
esrj-100518	312	8	1001	1001	NUM
esrj-100518	312	9	.	.	PUNCT
esrj-100518	313	1	solimeno	solimeno	PROPN
esrj-100518	313	2	,	,	PUNCT
esrj-100518	313	3	a.	a.	NOUN
esrj-100518	313	4	(	(	PUNCT
esrj-100518	313	5	2007	2007	NUM
esrj-100518	313	6	)	)	PUNCT
esrj-100518	313	7	.	.	PUNCT
esrj-100518	314	1	low	low	ADJ
esrj-100518	314	2	-	-	PUNCT
esrj-100518	314	3	cost	cost	NOUN
esrj-100518	314	4	ins	in	NOUN
esrj-100518	314	5	/	/	SYM
esrj-100518	314	6	gps	gps	PROPN
esrj-100518	314	7	data	data	NOUN
esrj-100518	314	8	fusion	fusion	NOUN
esrj-100518	314	9	with	with	ADP
esrj-100518	314	10	extended	extended	ADJ
esrj-100518	314	11	kalman	kalman	NOUN
esrj-100518	314	12	filter	filter	NOUN
esrj-100518	314	13	for	for	ADP
esrj-100518	314	14	airborne	airborne	ADJ
esrj-100518	314	15	applications	application	NOUN
esrj-100518	314	16	.	.	PUNCT
esrj-100518	315	1	[	[	X
esrj-100518	315	2	ms	ms	X
esrj-100518	315	3	.	.	PROPN
esrj-100518	315	4	thesis	thesis	PROPN
esrj-100518	315	5	,	,	PUNCT
esrj-100518	315	6	universidade	universidade	PROPN
esrj-100518	315	7	técnica	técnica	PROPN
esrj-100518	315	8	de	de	PROPN
esrj-100518	315	9	lisboa	lisboa	PROPN
esrj-100518	315	10	]	]	PUNCT
esrj-100518	315	11	specht	specht	PROPN
esrj-100518	315	12	,	,	PUNCT
esrj-100518	315	13	m.	m.	NOUN
esrj-100518	315	14	,	,	PUNCT
esrj-100518	315	15	specht	specht	PROPN
esrj-100518	315	16	,	,	PUNCT
esrj-100518	315	17	c.	c.	PROPN
esrj-100518	315	18	,	,	PUNCT
esrj-100518	315	19	dąbrowski	dąbrowski	PROPN
esrj-100518	315	20	,	,	PUNCT
esrj-100518	315	21	p.	p.	PROPN
esrj-100518	315	22	,	,	PUNCT
esrj-100518	315	23	czaplewski	czaplewski	PROPN
esrj-100518	315	24	,	,	PUNCT
esrj-100518	315	25	k.	k.	PROPN
esrj-100518	315	26	,	,	PUNCT
esrj-100518	315	27	smolarek	smolarek	PROPN
esrj-100518	315	28	,	,	PUNCT
esrj-100518	315	29	l.	l.	PROPN
esrj-100518	315	30	,	,	PUNCT
esrj-100518	315	31	&	&	CCONJ
esrj-100518	315	32	lewicka	lewicka	PROPN
esrj-100518	315	33	,	,	PUNCT
esrj-100518	315	34	o.	o.	PROPN
esrj-100518	315	35	(	(	PUNCT
esrj-100518	315	36	2020	2020	NUM
esrj-100518	315	37	)	)	PUNCT
esrj-100518	315	38	.	.	PUNCT
esrj-100518	316	1	road	road	NOUN
esrj-100518	316	2	tests	test	NOUN
esrj-100518	316	3	of	of	ADP
esrj-100518	316	4	the	the	DET
esrj-100518	316	5	positioning	positioning	NOUN
esrj-100518	316	6	accuracy	accuracy	NOUN
esrj-100518	316	7	of	of	ADP
esrj-100518	316	8	ins	in	NOUN
esrj-100518	316	9	/	/	SYM
esrj-100518	316	10	gnss	gnss	NOUN
esrj-100518	316	11	systems	system	NOUN
esrj-100518	316	12	based	base	VERB
esrj-100518	316	13	on	on	ADP
esrj-100518	316	14	mems	mems	ADJ
esrj-100518	316	15	technology	technology	NOUN
esrj-100518	316	16	for	for	ADP
esrj-100518	316	17	navigating	navigate	VERB
esrj-100518	316	18	railway	railway	NOUN
esrj-100518	316	19	vehicles	vehicle	NOUN
esrj-100518	316	20	.	.	PUNCT
esrj-100518	317	1	energies	energy	NOUN
esrj-100518	317	2	,	,	PUNCT
esrj-100518	317	3	13(17	13(17	PROPN
esrj-100518	317	4	)	)	PUNCT
esrj-100518	317	5	.	.	PUNCT
esrj-100518	318	1	https://doi.org/10.3390/en13174463	https://doi.org/10.3390/en13174463	X
esrj-100518	318	2	vana	vana	PROPN
esrj-100518	318	3	,	,	PUNCT
esrj-100518	318	4	s.	s.	PROPN
esrj-100518	318	5	,	,	PUNCT
esrj-100518	318	6	&	&	CCONJ
esrj-100518	318	7	bisnath	bisnath	PROPN
esrj-100518	318	8	,	,	PUNCT
esrj-100518	318	9	s.	s.	PROPN
esrj-100518	318	10	(	(	PUNCT
esrj-100518	318	11	2020	2020	NUM
esrj-100518	318	12	)	)	PUNCT
esrj-100518	318	13	.	.	PUNCT
esrj-100518	319	1	enhancing	enhance	VERB
esrj-100518	319	2	navigation	navigation	NOUN
esrj-100518	319	3	in	in	ADP
esrj-100518	319	4	difficult	difficult	ADJ
esrj-100518	319	5	environments	environment	NOUN
esrj-100518	319	6	with	with	ADP
esrj-100518	319	7	low	low	ADJ
esrj-100518	319	8	-	-	PUNCT
esrj-100518	319	9	cost	cost	NOUN
esrj-100518	319	10	,	,	PUNCT
esrj-100518	319	11	dual	dual	ADJ
esrj-100518	319	12	-	-	PUNCT
esrj-100518	319	13	frequency	frequency	NOUN
esrj-100518	319	14	gnss	gnss	NOUN
esrj-100518	319	15	ppp	ppp	PROPN
esrj-100518	319	16	and	and	CCONJ
esrj-100518	319	17	mems	mems	PROPN
esrj-100518	319	18	imu	imu	NOUN
esrj-100518	319	19	.	.	PUNCT
esrj-100518	320	1	in	in	ADP
esrj-100518	320	2	:	:	PUNCT
esrj-100518	320	3	international	international	ADJ
esrj-100518	320	4	association	association	NOUN
esrj-100518	320	5	of	of	ADP
esrj-100518	320	6	geodesy	geodesy	PROPN
esrj-100518	320	7	symposia	symposia	PROPN
esrj-100518	320	8	.	.	PUNCT
esrj-100518	321	1	springer	springer	PROPN
esrj-100518	321	2	,	,	PUNCT
esrj-100518	321	3	berlin	berlin	PROPN
esrj-100518	321	4	,	,	PUNCT
esrj-100518	321	5	heidelberg	heidelberg	PROPN
esrj-100518	321	6	.	.	PUNCT
esrj-100518	322	1	https://doi.org/10.1007/1345_2020_118	https://doi.org/10.1007/1345_2020_118	PROPN
esrj-100518	322	2	vu	vu	PROPN
esrj-100518	322	3	,	,	PUNCT
esrj-100518	322	4	a.	a.	PROPN
esrj-100518	322	5	,	,	PUNCT
esrj-100518	322	6	farrell	farrell	PROPN
esrj-100518	322	7	,	,	PUNCT
esrj-100518	322	8	j.	j.	PROPN
esrj-100518	322	9	a.	a.	PROPN
esrj-100518	322	10	,	,	PUNCT
esrj-100518	322	11	&	&	CCONJ
esrj-100518	322	12	barth	barth	PROPN
esrj-100518	322	13	,	,	PUNCT
esrj-100518	322	14	m.	m.	NOUN
esrj-100518	322	15	(	(	PUNCT
esrj-100518	322	16	2013	2013	NUM
esrj-100518	322	17	)	)	PUNCT
esrj-100518	322	18	.	.	PUNCT
esrj-100518	323	1	centimeter	centimeter	NOUN
esrj-100518	323	2	-	-	PUNCT
esrj-100518	323	3	accuracy	accuracy	NOUN
esrj-100518	323	4	smoothed	smooth	VERB
esrj-100518	323	5	vehicle	vehicle	NOUN
esrj-100518	323	6	trajectory	trajectory	NOUN
esrj-100518	323	7	estimation	estimation	NOUN
esrj-100518	323	8	.	.	PUNCT
esrj-100518	324	1	ieee	ieee	NOUN
esrj-100518	324	2	intelligent	intelligent	ADJ
esrj-100518	324	3	transportation	transportation	NOUN
esrj-100518	324	4	systems	system	NOUN
esrj-100518	324	5	magazine	magazine	NOUN
esrj-100518	324	6	,	,	PUNCT
esrj-100518	324	7	5(4	5(4	NUM
esrj-100518	324	8	)	)	PUNCT
esrj-100518	324	9	,	,	PUNCT
esrj-100518	324	10	121–136	121–136	NUM
esrj-100518	324	11	.	.	PUNCT
esrj-100518	325	1	https://doi.org/10.1109/mits.2013.2281009	https://doi.org/10.1109/mits.2013.2281009	PROPN
esrj-100518	325	2	xu	xu	PROPN
esrj-100518	325	3	,	,	PUNCT
esrj-100518	325	4	r.	r.	PROPN
esrj-100518	325	5	,	,	PUNCT
esrj-100518	325	6	ding	ding	NOUN
esrj-100518	325	7	,	,	PUNCT
esrj-100518	325	8	m.	m.	NOUN
esrj-100518	325	9	,	,	PUNCT
esrj-100518	325	10	qi	qi	PROPN
esrj-100518	325	11	,	,	PUNCT
esrj-100518	325	12	y.	y.	PROPN
esrj-100518	325	13	,	,	PUNCT
esrj-100518	325	14	yue	yue	PROPN
esrj-100518	325	15	,	,	PUNCT
esrj-100518	325	16	s.	s.	PROPN
esrj-100518	325	17	,	,	PUNCT
esrj-100518	325	18	&	&	CCONJ
esrj-100518	325	19	liu	liu	PROPN
esrj-100518	325	20	,	,	PUNCT
esrj-100518	325	21	j.	j.	PROPN
esrj-100518	325	22	(	(	PUNCT
esrj-100518	325	23	2018	2018	NUM
esrj-100518	325	24	)	)	PUNCT
esrj-100518	325	25	.	.	PUNCT
esrj-100518	326	1	performance	performance	NOUN
esrj-100518	326	2	analysis	analysis	NOUN
esrj-100518	326	3	of	of	ADP
esrj-100518	326	4	gnss/	gnss/	NUM
esrj-100518	326	5	ins	in	NOUN
esrj-100518	326	6	loosely	loosely	ADV
esrj-100518	326	7	coupled	couple	VERB
esrj-100518	326	8	integration	integration	NOUN
esrj-100518	326	9	systems	system	NOUN
esrj-100518	326	10	under	under	ADP
esrj-100518	326	11	spoofing	spoof	VERB
esrj-100518	326	12	attacks	attack	NOUN
esrj-100518	326	13	.	.	PUNCT
esrj-100518	327	1	sensors	sensor	NOUN
esrj-100518	327	2	,	,	PUNCT
esrj-100518	327	3	18(12	18(12	NUM
esrj-100518	327	4	)	)	PUNCT
esrj-100518	327	5	.	.	PUNCT
esrj-100518	328	1	https://doi.org/10.3390/s18124108	https://doi.org/10.3390/s18124108	NUM
esrj-100518	328	2	yigit	yigit	PROPN
esrj-100518	328	3	,	,	PUNCT
esrj-100518	328	4	c.	c.	PROPN
esrj-100518	328	5	o.	o.	PROPN
esrj-100518	328	6	,	,	PUNCT
esrj-100518	328	7	gikas	gikas	PROPN
esrj-100518	328	8	,	,	PUNCT
esrj-100518	328	9	v.	v.	ADV
esrj-100518	328	10	,	,	PUNCT
esrj-100518	328	11	alcay	alcay	NOUN
esrj-100518	328	12	,	,	PUNCT
esrj-100518	328	13	s.	s.	PROPN
esrj-100518	328	14	,	,	PUNCT
esrj-100518	328	15	&	&	CCONJ
esrj-100518	328	16	ceylan	ceylan	PROPN
esrj-100518	328	17	,	,	PUNCT
esrj-100518	328	18	a.	a.	NOUN
esrj-100518	328	19	(	(	PUNCT
esrj-100518	328	20	2014	2014	NUM
esrj-100518	328	21	)	)	PUNCT
esrj-100518	328	22	.	.	PUNCT
esrj-100518	329	1	performance	performance	NOUN
esrj-100518	329	2	evaluation	evaluation	NOUN
esrj-100518	329	3	of	of	ADP
esrj-100518	329	4	short	short	ADJ
esrj-100518	329	5	to	to	ADP
esrj-100518	329	6	long	long	ADJ
esrj-100518	329	7	term	term	NOUN
esrj-100518	329	8	gps	gps	PROPN
esrj-100518	329	9	,	,	PUNCT
esrj-100518	329	10	glonass	glonass	NOUN
esrj-100518	329	11	and	and	CCONJ
esrj-100518	329	12	gps	gps	PROPN
esrj-100518	329	13	/	/	SYM
esrj-100518	329	14	glonass	glonass	NOUN
esrj-100518	329	15	postprocessed	postprocesse	VERB
esrj-100518	329	16	ppp	ppp	NOUN
esrj-100518	329	17	.	.	PUNCT
esrj-100518	330	1	survey	survey	PROPN
esrj-100518	330	2	review	review	PROPN
esrj-100518	330	3	,	,	PUNCT
esrj-100518	330	4	46(336	46(336	NOUN
esrj-100518	330	5	)	)	PUNCT
esrj-100518	330	6	,	,	PUNCT
esrj-100518	330	7	155–166	155–166	NUM
esrj-100518	330	8	.	.	PUNCT
esrj-100518	331	1	https://doi.org/10.1179/1752270	https://doi.org/10.1179/1752270	PROPN
esrj-100518	332	1	613y.0000000068	613y.0000000068	NUM
esrj-100518	332	2	zhang	zhang	PROPN
esrj-100518	332	3	,	,	PUNCT
esrj-100518	332	4	q.	q.	PROPN
esrj-100518	332	5	,	,	PUNCT
esrj-100518	332	6	niu	niu	PROPN
esrj-100518	332	7	,	,	PUNCT
esrj-100518	332	8	x.	x.	NOUN
esrj-100518	332	9	,	,	PUNCT
esrj-100518	332	10	&	&	CCONJ
esrj-100518	332	11	shi	shi	PROPN
esrj-100518	332	12	,	,	PUNCT
esrj-100518	332	13	c.	c.	PROPN
esrj-100518	332	14	(	(	PUNCT
esrj-100518	332	15	2020	2020	NUM
esrj-100518	332	16	)	)	PUNCT
esrj-100518	332	17	.	.	PUNCT
esrj-100518	333	1	impact	impact	NOUN
esrj-100518	333	2	assessment	assessment	NOUN
esrj-100518	333	3	of	of	ADP
esrj-100518	333	4	various	various	ADJ
esrj-100518	333	5	imu	imu	NOUN
esrj-100518	333	6	error	error	NOUN
esrj-100518	333	7	sources	source	NOUN
esrj-100518	333	8	on	on	ADP
esrj-100518	333	9	the	the	DET
esrj-100518	333	10	relative	relative	ADJ
esrj-100518	333	11	accuracy	accuracy	NOUN
esrj-100518	333	12	of	of	ADP
esrj-100518	333	13	the	the	DET
esrj-100518	333	14	gnss	gnss	NOUN
esrj-100518	333	15	/	/	SYM
esrj-100518	333	16	ins	in	NOUN
esrj-100518	333	17	systems	system	NOUN
esrj-100518	333	18	.	.	PUNCT
esrj-100518	334	1	ieee	ieee	NOUN
esrj-100518	334	2	sensors	sensor	NOUN
esrj-100518	334	3	journal	journal	PROPN
esrj-100518	334	4	,	,	PUNCT
esrj-100518	334	5	20(9	20(9	NUM
esrj-100518	334	6	)	)	PUNCT
esrj-100518	334	7	,	,	PUNCT
esrj-100518	334	8	5026–5038	5026–5038	NUM
esrj-100518	334	9	.	.	PUNCT
esrj-100518	335	1	https://doi.org/10.1109/jsen.2020.2966379	https://doi.org/10.1109/jsen.2020.2966379	PROPN
esrj-100518	335	2	zhao	zhao	PROPN
esrj-100518	335	3	,	,	PUNCT
esrj-100518	335	4	l.	l.	PROPN
esrj-100518	335	5	,	,	PUNCT
esrj-100518	335	6	qiu	qiu	PROPN
esrj-100518	335	7	,	,	PUNCT
esrj-100518	335	8	h.	h.	PROPN
esrj-100518	335	9	,	,	PUNCT
esrj-100518	335	10	&	&	CCONJ
esrj-100518	335	11	feng	feng	PROPN
esrj-100518	335	12	,	,	PUNCT
esrj-100518	335	13	y.	y.	PROPN
esrj-100518	335	14	(	(	PUNCT
esrj-100518	335	15	2016	2016	NUM
esrj-100518	335	16	)	)	PUNCT
esrj-100518	335	17	.	.	PUNCT
esrj-100518	336	1	analysis	analysis	NOUN
esrj-100518	336	2	of	of	ADP
esrj-100518	336	3	a	a	DET
esrj-100518	336	4	robust	robust	ADJ
esrj-100518	336	5	kalman	kalman	NOUN
esrj-100518	336	6	filter	filter	NOUN
esrj-100518	336	7	in	in	ADP
esrj-100518	336	8	loosely	loosely	ADV
esrj-100518	336	9	coupled	couple	VERB
esrj-100518	336	10	gps	gps	PROPN
esrj-100518	336	11	/	/	SYM
esrj-100518	336	12	ins	ins	PROPN
esrj-100518	336	13	navigation	navigation	NOUN
esrj-100518	336	14	system	system	NOUN
esrj-100518	336	15	.	.	PUNCT
esrj-100518	337	1	measurement	measurement	NOUN
esrj-100518	337	2	:	:	PUNCT
esrj-100518	337	3	journal	journal	NOUN
esrj-100518	337	4	of	of	ADP
esrj-100518	337	5	the	the	DET
esrj-100518	337	6	international	international	PROPN
esrj-100518	337	7	measurement	measurement	PROPN
esrj-100518	337	8	confederation	confederation	PROPN
esrj-100518	337	9	,	,	PUNCT
esrj-100518	337	10	80	80	NUM
esrj-100518	337	11	,	,	PUNCT
esrj-100518	337	12	138–147	138–147	NUM
esrj-100518	337	13	.	.	PUNCT
esrj-100518	338	1	https://doi.org/10.1016/j.measurement.2015.11.008	https://doi.org/10.1016/j.measurement.2015.11.008	PROPN
esrj-100518	338	2	zhao	zhao	PROPN
esrj-100518	338	3	,	,	PUNCT
esrj-100518	338	4	s.	s.	PROPN
esrj-100518	338	5	,	,	PUNCT
esrj-100518	338	6	chen	chen	PROPN
esrj-100518	338	7	,	,	PUNCT
esrj-100518	338	8	y.	y.	PROPN
esrj-100518	338	9	,	,	PUNCT
esrj-100518	338	10	&	&	CCONJ
esrj-100518	338	11	farrell	farrell	PROPN
esrj-100518	338	12	,	,	PUNCT
esrj-100518	338	13	j.	j.	PROPN
esrj-100518	338	14	a.	a.	PROPN
esrj-100518	338	15	(	(	PUNCT
esrj-100518	338	16	2016	2016	NUM
esrj-100518	338	17	)	)	PUNCT
esrj-100518	338	18	.	.	PUNCT
esrj-100518	339	1	high	high	ADJ
esrj-100518	339	2	-	-	PUNCT
esrj-100518	339	3	precision	precision	NOUN
esrj-100518	339	4	vehicle	vehicle	NOUN
esrj-100518	339	5	navigation	navigation	NOUN
esrj-100518	339	6	in	in	ADP
esrj-100518	339	7	urban	urban	ADJ
esrj-100518	339	8	environments	environment	NOUN
esrj-100518	339	9	using	use	VERB
esrj-100518	339	10	an	an	DET
esrj-100518	339	11	mem	mem	ADJ
esrj-100518	339	12	’s	’s	PART
esrj-100518	339	13	imu	imu	NOUN
esrj-100518	339	14	and	and	CCONJ
esrj-100518	339	15	single	single	ADJ
esrj-100518	339	16	-	-	PUNCT
esrj-100518	339	17	frequency	frequency	NOUN
esrj-100518	339	18	gps	gps	NOUN
esrj-100518	339	19	receiver	receiver	NOUN
esrj-100518	339	20	.	.	PUNCT
esrj-100518	340	1	ieee	ieee	NOUN
esrj-100518	340	2	transactions	transaction	NOUN
esrj-100518	340	3	on	on	ADP
esrj-100518	340	4	intelligent	intelligent	ADJ
esrj-100518	340	5	transportation	transportation	NOUN
esrj-100518	340	6	systems	system	NOUN
esrj-100518	340	7	,	,	PUNCT
esrj-100518	340	8	17(10	17(10	NUM
esrj-100518	340	9	)	)	PUNCT
esrj-100518	340	10	,	,	PUNCT
esrj-100518	340	11	2854–2867	2854–2867	NUM
esrj-100518	340	12	.	.	PUNCT
esrj-100518	341	1	https://doi.org/10.1109/tits.2016.2529000	https://doi.org/10.1109/tits.2016.2529000	PROPN
esrj-100518	342	1	_	_	PUNCT
esrj-100518	342	2	hlk77445700	hlk77445700	VERB
esrj-100518	342	3	_	_	DET
esrj-100518	342	4	hlk77535678	hlk77535678	NOUN