id	sid	tid	token	lemma	pos
easat-1532	1	1	edelweiss	edelweiss	PROPN
easat-1532	1	2	applied	apply	VERB
easat-1532	1	3	science	science	NOUN
easat-1532	1	4	and	and	CCONJ
easat-1532	1	5	technology	technology	NOUN
easat-1532	1	6	issn	issn	PROPN
easat-1532	1	7	:	:	PUNCT
easat-1532	1	8	2576	2576	NUM
easat-1532	1	9	-	-	SYM
easat-1532	1	10	8484	8484	NUM
easat-1532	1	11	vol	vol	NOUN
easat-1532	1	12	.	.	PROPN
easat-1532	1	13	8	8	NUM
easat-1532	1	14	,	,	PUNCT
easat-1532	1	15	no	no	INTJ
easat-1532	1	16	.	.	NOUN
easat-1532	1	17	4	4	NUM
easat-1532	1	18	,	,	PUNCT
easat-1532	1	19	1617	1617	NUM
easat-1532	1	20	-	-	SYM
easat-1532	1	21	1629	1629	NUM
easat-1532	1	22	2024	2024	NUM
easat-1532	1	23	publisher	publisher	NOUN
easat-1532	1	24	:	:	PUNCT
easat-1532	1	25	learning	learn	VERB
easat-1532	1	26	gate	gate	NOUN
easat-1532	1	27	doi	doi	PROPN
easat-1532	1	28	:	:	PUNCT
easat-1532	1	29	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	1	30	©	©	PROPN
easat-1532	1	31	2024	2024	NUM
easat-1532	1	32	by	by	ADP
easat-1532	1	33	the	the	DET
easat-1532	1	34	authors	author	NOUN
easat-1532	1	35	;	;	PUNCT
easat-1532	1	36	licensee	licensee	PROPN
easat-1532	1	37	learning	learning	NOUN
easat-1532	1	38	gate	gate	NOUN
easat-1532	1	39	©	©	PROPN
easat-1532	1	40	2024	2024	NUM
easat-1532	1	41	by	by	ADP
easat-1532	1	42	the	the	DET
easat-1532	1	43	authors	author	NOUN
easat-1532	1	44	;	;	PUNCT
easat-1532	1	45	licensee	licensee	PROPN
easat-1532	1	46	learning	learn	VERB
easat-1532	1	47	gate	gate	NOUN
easat-1532	1	48	*	*	PUNCT
easat-1532	1	49	correspondence	correspondence	NOUN
easat-1532	1	50	:	:	PUNCT
easat-1532	1	51	renjj8001202408@126.com	renjj8001202408@126.com	X
easat-1532	1	52	logistics	logistic	NOUN
easat-1532	1	53	distribution	distribution	NOUN
easat-1532	1	54	model	model	NOUN
easat-1532	1	55	and	and	CCONJ
easat-1532	1	56	storage	storage	NOUN
easat-1532	1	57	planning	planning	NOUN
easat-1532	1	58	design	design	NOUN
easat-1532	1	59	based	base	VERB
easat-1532	1	60	on	on	ADP
easat-1532	1	61	multisource	multisource	ADJ
easat-1532	1	62	information	information	NOUN
easat-1532	1	63	positioning	positioning	NOUN
easat-1532	1	64	in	in	ADP
easat-1532	1	65	smart	smart	ADJ
easat-1532	1	66	city	city	NOUN
easat-1532	1	67	development	development	NOUN
easat-1532	1	68	juanjuan	juanjuan	PROPN
easat-1532	1	69	ren1,2	ren1,2	PROPN
easat-1532	1	70	*	*	PROPN
easat-1532	1	71	,	,	PUNCT
easat-1532	1	72	siti	siti	PROPN
easat-1532	1	73	salwa	salwa	PROPN
easat-1532	1	74	salleh1	salleh1	PUNCT
easat-1532	2	1	1malaysia	1malaysia	NUM
easat-1532	2	2	institute	institute	PROPN
easat-1532	2	3	of	of	ADP
easat-1532	2	4	transport	transport	NOUN
easat-1532	2	5	(	(	PUNCT
easat-1532	2	6	mitrans	mitran	NOUN
easat-1532	2	7	)	)	PUNCT
easat-1532	2	8	,	,	PUNCT
easat-1532	2	9	universiti	universiti	PROPN
easat-1532	2	10	teknologi	teknologi	PROPN
easat-1532	2	11	mara	mara	PROPN
easat-1532	2	12	,	,	PUNCT
easat-1532	2	13	seremban	seremban	PROPN
easat-1532	2	14	,	,	PUNCT
easat-1532	2	15	negeri	negeri	PROPN
easat-1532	2	16	sembilan	sembilan	PROPN
easat-1532	2	17	,	,	PUNCT
easat-1532	2	18	40450	40450	NUM
easat-1532	2	19	,	,	PUNCT
easat-1532	2	20	malaysia	malaysia	PROPN
easat-1532	2	21	2school	2school	NUM
easat-1532	2	22	trade	trade	NOUN
easat-1532	2	23	&	&	CCONJ
easat-1532	2	24	circulat	circulat	NOUN
easat-1532	2	25	,	,	PUNCT
easat-1532	2	26	shaanxi	shaanxi	PROPN
easat-1532	2	27	polytechnic	polytechnic	PROPN
easat-1532	2	28	institute	institute	PROPN
easat-1532	2	29	,	,	PUNCT
easat-1532	2	30	xianyang	xianyang	PROPN
easat-1532	2	31	,	,	PUNCT
easat-1532	2	32	712000	712000	NUM
easat-1532	2	33	,	,	PUNCT
easat-1532	2	34	china	china	PROPN
easat-1532	2	35	;	;	PUNCT
easat-1532	2	36	renjj8001202408@126.com	renjj8001202408@126.com	X
easat-1532	2	37	(	(	PUNCT
easat-1532	2	38	j.r	j.r	PROPN
easat-1532	2	39	.	.	PROPN
easat-1532	2	40	)	)	PUNCT
easat-1532	2	41	.	.	PUNCT
easat-1532	3	1	abstract	abstract	ADV
easat-1532	3	2	:	:	PUNCT
easat-1532	3	3	the	the	DET
easat-1532	3	4	research	research	NOUN
easat-1532	3	5	mainly	mainly	ADV
easat-1532	3	6	focuses	focus	VERB
easat-1532	3	7	on	on	ADP
easat-1532	3	8	the	the	DET
easat-1532	3	9	inefficient	inefficient	ADJ
easat-1532	3	10	planning	planning	NOUN
easat-1532	3	11	of	of	ADP
easat-1532	3	12	autonomous	autonomous	ADJ
easat-1532	3	13	distribution	distribution	NOUN
easat-1532	3	14	and	and	CCONJ
easat-1532	3	15	storage	storage	NOUN
easat-1532	3	16	modes	mode	NOUN
easat-1532	3	17	of	of	ADP
easat-1532	3	18	distribution	distribution	NOUN
easat-1532	3	19	vehicles	vehicle	NOUN
easat-1532	3	20	in	in	ADP
easat-1532	3	21	smart	smart	ADJ
easat-1532	3	22	city	city	NOUN
easat-1532	3	23	logistics	logistic	NOUN
easat-1532	3	24	and	and	CCONJ
easat-1532	3	25	distribution	distribution	NOUN
easat-1532	3	26	,	,	PUNCT
easat-1532	3	27	which	which	PRON
easat-1532	3	28	in	in	ADP
easat-1532	3	29	turn	turn	NOUN
easat-1532	3	30	leads	lead	VERB
easat-1532	3	31	to	to	ADP
easat-1532	3	32	poor	poor	ADJ
easat-1532	3	33	customer	customer	NOUN
easat-1532	3	34	experience	experience	NOUN
easat-1532	3	35	,	,	PUNCT
easat-1532	3	36	rising	rise	VERB
easat-1532	3	37	distribution	distribution	NOUN
easat-1532	3	38	costs	cost	NOUN
easat-1532	3	39	,	,	PUNCT
easat-1532	3	40	and	and	CCONJ
easat-1532	3	41	wasted	waste	VERB
easat-1532	3	42	distribution	distribution	NOUN
easat-1532	3	43	resources	resource	NOUN
easat-1532	3	44	.	.	PUNCT
easat-1532	4	1	from	from	ADP
easat-1532	4	2	the	the	DET
easat-1532	4	3	perspective	perspective	NOUN
easat-1532	4	4	of	of	ADP
easat-1532	4	5	information	information	NOUN
easat-1532	4	6	processing	processing	NOUN
easat-1532	4	7	in	in	ADP
easat-1532	4	8	the	the	DET
easat-1532	4	9	logistics	logistic	NOUN
easat-1532	4	10	distribution	distribution	NOUN
easat-1532	4	11	process	process	NOUN
easat-1532	4	12	,	,	PUNCT
easat-1532	4	13	the	the	DET
easat-1532	4	14	study	study	NOUN
easat-1532	4	15	takes	take	VERB
easat-1532	4	16	multi	multi	ADJ
easat-1532	4	17	-	-	NOUN
easat-1532	4	18	angle	angle	ADJ
easat-1532	4	19	and	and	CCONJ
easat-1532	4	20	multi	multi	ADJ
easat-1532	4	21	-	-	ADJ
easat-1532	4	22	source	source	ADJ
easat-1532	4	23	information	information	NOUN
easat-1532	4	24	collection	collection	NOUN
easat-1532	4	25	and	and	CCONJ
easat-1532	4	26	fusion	fusion	NOUN
easat-1532	4	27	processing	processing	NOUN
easat-1532	4	28	strategy	strategy	NOUN
easat-1532	4	29	as	as	ADP
easat-1532	4	30	the	the	DET
easat-1532	4	31	main	main	ADJ
easat-1532	4	32	basis	basis	NOUN
easat-1532	4	33	to	to	PART
easat-1532	4	34	help	help	VERB
easat-1532	4	35	smart	smart	ADJ
easat-1532	4	36	delivery	delivery	NOUN
easat-1532	4	37	robots	robot	NOUN
easat-1532	4	38	realize	realize	VERB
easat-1532	4	39	map	map	NOUN
easat-1532	4	40	construction	construction	NOUN
easat-1532	4	41	and	and	CCONJ
easat-1532	4	42	autonomous	autonomous	ADJ
easat-1532	4	43	positioning	positioning	NOUN
easat-1532	4	44	in	in	ADP
easat-1532	4	45	the	the	DET
easat-1532	4	46	distribution	distribution	NOUN
easat-1532	4	47	process	process	NOUN
easat-1532	4	48	,	,	PUNCT
easat-1532	4	49	and	and	CCONJ
easat-1532	4	50	then	then	ADV
easat-1532	4	51	facilitate	facilitate	VERB
easat-1532	4	52	real	real	ADJ
easat-1532	4	53	-	-	PUNCT
easat-1532	4	54	time	time	NOUN
easat-1532	4	55	logistics	logistic	NOUN
easat-1532	4	56	distribution	distribution	NOUN
easat-1532	4	57	and	and	CCONJ
easat-1532	4	58	storage	storage	NOUN
easat-1532	4	59	mode	mode	NOUN
easat-1532	4	60	planning	planning	NOUN
easat-1532	4	61	by	by	ADP
easat-1532	4	62	robots	robot	NOUN
easat-1532	4	63	in	in	ADP
easat-1532	4	64	combination	combination	NOUN
easat-1532	4	65	with	with	ADP
easat-1532	4	66	their	their	PRON
easat-1532	4	67	own	own	ADJ
easat-1532	4	68	states	state	NOUN
easat-1532	4	69	.	.	PUNCT
easat-1532	5	1	the	the	DET
easat-1532	5	2	research	research	NOUN
easat-1532	5	3	results	result	NOUN
easat-1532	5	4	show	show	VERB
easat-1532	5	5	that	that	SCONJ
easat-1532	5	6	the	the	DET
easat-1532	5	7	algorithm	algorithm	NOUN
easat-1532	5	8	accuracy	accuracy	NOUN
easat-1532	5	9	,	,	PUNCT
easat-1532	5	10	standard	standard	ADJ
easat-1532	5	11	error	error	NOUN
easat-1532	5	12	,	,	PUNCT
easat-1532	5	13	and	and	CCONJ
easat-1532	5	14	average	average	ADJ
easat-1532	5	15	running	running	NOUN
easat-1532	5	16	time	time	NOUN
easat-1532	5	17	of	of	ADP
easat-1532	5	18	the	the	DET
easat-1532	5	19	extended	extended	ADJ
easat-1532	5	20	kalman	kalman	NOUN
easat-1532	5	21	filter	filter	NOUN
easat-1532	5	22	localization	localization	NOUN
easat-1532	5	23	model	model	NOUN
easat-1532	5	24	designed	design	VERB
easat-1532	5	25	in	in	ADP
easat-1532	5	26	the	the	DET
easat-1532	5	27	study	study	NOUN
easat-1532	5	28	are	be	AUX
easat-1532	5	29	0.96	0.96	NUM
easat-1532	5	30	,	,	PUNCT
easat-1532	5	31	1.52	1.52	NUM
easat-1532	5	32	,	,	PUNCT
easat-1532	5	33	and	and	CCONJ
easat-1532	5	34	105s	105s	PROPN
easat-1532	5	35	,	,	PUNCT
easat-1532	5	36	respectively	respectively	ADV
easat-1532	5	37	,	,	PUNCT
easat-1532	5	38	with	with	ADP
easat-1532	5	39	the	the	DET
easat-1532	5	40	algorithm	algorithm	NOUN
easat-1532	5	41	accuracy	accuracy	NOUN
easat-1532	5	42	being	be	AUX
easat-1532	5	43	the	the	DET
easat-1532	5	44	highest	high	ADJ
easat-1532	5	45	and	and	CCONJ
easat-1532	5	46	the	the	DET
easat-1532	5	47	other	other	ADJ
easat-1532	5	48	two	two	NUM
easat-1532	5	49	values	value	NOUN
easat-1532	5	50	being	be	AUX
easat-1532	5	51	the	the	DET
easat-1532	5	52	lowest	low	ADJ
easat-1532	5	53	in	in	ADP
easat-1532	5	54	its	its	PRON
easat-1532	5	55	class	class	NOUN
easat-1532	5	56	.	.	PUNCT
easat-1532	6	1	meanwhile	meanwhile	ADV
easat-1532	6	2	,	,	PUNCT
easat-1532	6	3	in	in	ADP
easat-1532	6	4	the	the	DET
easat-1532	6	5	simulation	simulation	NOUN
easat-1532	6	6	logistics	logistic	NOUN
easat-1532	6	7	planning	planning	NOUN
easat-1532	6	8	,	,	PUNCT
easat-1532	6	9	the	the	DET
easat-1532	6	10	research	research	NOUN
easat-1532	6	11	-	-	PUNCT
easat-1532	6	12	designed	design	VERB
easat-1532	6	13	logistics	logistic	NOUN
easat-1532	6	14	planning	planning	NOUN
easat-1532	6	15	model	model	NOUN
easat-1532	6	16	has	have	VERB
easat-1532	6	17	the	the	DET
easat-1532	6	18	strongest	strong	ADJ
easat-1532	6	19	information	information	NOUN
easat-1532	6	20	capturing	capture	VERB
easat-1532	6	21	ability	ability	NOUN
easat-1532	6	22	,	,	PUNCT
easat-1532	6	23	and	and	CCONJ
easat-1532	6	24	the	the	DET
easat-1532	6	25	planning	planning	NOUN
easat-1532	6	26	of	of	ADP
easat-1532	6	27	distribution	distribution	NOUN
easat-1532	6	28	routes	route	NOUN
easat-1532	6	29	and	and	CCONJ
easat-1532	6	30	storage	storage	NOUN
easat-1532	6	31	modes	mode	NOUN
easat-1532	6	32	is	be	AUX
easat-1532	6	33	more	more	ADV
easat-1532	6	34	reasonable	reasonable	ADJ
easat-1532	6	35	,	,	PUNCT
easat-1532	6	36	which	which	PRON
easat-1532	6	37	can	can	AUX
easat-1532	6	38	provide	provide	VERB
easat-1532	6	39	more	more	ADV
easat-1532	6	40	efficient	efficient	ADJ
easat-1532	6	41	autonomous	autonomous	ADJ
easat-1532	6	42	planning	planning	NOUN
easat-1532	6	43	solutions	solution	NOUN
easat-1532	6	44	.	.	PUNCT
easat-1532	7	1	keywords	keyword	NOUN
easat-1532	7	2	:	:	PUNCT
easat-1532	7	3	distribution	distribution	NOUN
easat-1532	7	4	model	model	NOUN
easat-1532	7	5	;	;	PUNCT
easat-1532	7	6	logistics	logistic	NOUN
easat-1532	7	7	;	;	PUNCT
easat-1532	7	8	multi	multi	ADJ
easat-1532	7	9	-	-	ADJ
easat-1532	7	10	source	source	NOUN
easat-1532	7	11	information	information	NOUN
easat-1532	7	12	positioning	positioning	NOUN
easat-1532	7	13	;	;	PUNCT
easat-1532	7	14	smart	smart	ADJ
easat-1532	7	15	city	city	NOUN
easat-1532	7	16	;	;	PUNCT
easat-1532	7	17	warehousing	warehousing	NOUN
easat-1532	7	18	.	.	PUNCT
easat-1532	8	1	1	1	X
easat-1532	8	2	.	.	X
easat-1532	8	3	introduction	introduction	NOUN
easat-1532	8	4	with	with	ADP
easat-1532	8	5	the	the	DET
easat-1532	8	6	development	development	NOUN
easat-1532	8	7	of	of	ADP
easat-1532	8	8	information	information	NOUN
easat-1532	8	9	technology	technology	NOUN
easat-1532	8	10	and	and	CCONJ
easat-1532	8	11	the	the	DET
easat-1532	8	12	continuous	continuous	ADJ
easat-1532	8	13	promotion	promotion	NOUN
easat-1532	8	14	of	of	ADP
easat-1532	8	15	the	the	DET
easat-1532	8	16	smart	smart	ADJ
easat-1532	8	17	city	city	NOUN
easat-1532	8	18	process	process	NOUN
easat-1532	8	19	,	,	PUNCT
easat-1532	8	20	the	the	DET
easat-1532	8	21	logistics	logistic	NOUN
easat-1532	8	22	industry	industry	NOUN
easat-1532	8	23	,	,	PUNCT
easat-1532	8	24	as	as	ADP
easat-1532	8	25	an	an	DET
easat-1532	8	26	important	important	ADJ
easat-1532	8	27	part	part	NOUN
easat-1532	8	28	of	of	ADP
easat-1532	8	29	the	the	DET
easat-1532	8	30	green	green	ADJ
easat-1532	8	31	smart	smart	ADJ
easat-1532	8	32	city	city	NOUN
easat-1532	8	33	,	,	PUNCT
easat-1532	8	34	must	must	AUX
easat-1532	8	35	improve	improve	VERB
easat-1532	8	36	its	its	PRON
easat-1532	8	37	own	own	ADJ
easat-1532	8	38	service	service	NOUN
easat-1532	8	39	methods	method	NOUN
easat-1532	8	40	and	and	CCONJ
easat-1532	8	41	enhance	enhance	VERB
easat-1532	8	42	its	its	PRON
easat-1532	8	43	service	service	NOUN
easat-1532	8	44	level	level	NOUN
easat-1532	8	45	according	accord	VERB
easat-1532	8	46	to	to	ADP
easat-1532	8	47	the	the	DET
easat-1532	8	48	increasing	increase	VERB
easat-1532	8	49	service	service	NOUN
easat-1532	8	50	needs	need	NOUN
easat-1532	8	51	of	of	ADP
easat-1532	8	52	users	user	NOUN
easat-1532	8	53	,	,	PUNCT
easat-1532	8	54	and	and	CCONJ
easat-1532	8	55	improving	improve	VERB
easat-1532	8	56	the	the	DET
easat-1532	8	57	efficiency	efficiency	NOUN
easat-1532	8	58	of	of	ADP
easat-1532	8	59	logistics	logistic	NOUN
easat-1532	8	60	is	be	AUX
easat-1532	8	61	one	one	NUM
easat-1532	8	62	of	of	ADP
easat-1532	8	63	the	the	DET
easat-1532	8	64	important	important	ADJ
easat-1532	8	65	ways	way	NOUN
easat-1532	8	66	to	to	PART
easat-1532	8	67	improve	improve	VERB
easat-1532	8	68	the	the	DET
easat-1532	8	69	service	service	NOUN
easat-1532	8	70	level[1	level[1	NOUN
easat-1532	8	71	-	-	SYM
easat-1532	8	72	3].in	3].in	NUM
easat-1532	8	73	intelligent	intelligent	ADJ
easat-1532	8	74	logistics	logistic	NOUN
easat-1532	8	75	distribution	distribution	NOUN
easat-1532	8	76	,	,	PUNCT
easat-1532	8	77	the	the	DET
easat-1532	8	78	planning	planning	NOUN
easat-1532	8	79	of	of	ADP
easat-1532	8	80	intelligent	intelligent	ADJ
easat-1532	8	81	distribution	distribution	NOUN
easat-1532	8	82	and	and	CCONJ
easat-1532	8	83	intelligent	intelligent	ADJ
easat-1532	8	84	storage	storage	NOUN
easat-1532	8	85	is	be	AUX
easat-1532	8	86	the	the	DET
easat-1532	8	87	main	main	ADJ
easat-1532	8	88	link	link	NOUN
easat-1532	8	89	of	of	ADP
easat-1532	8	90	distribution	distribution	NOUN
easat-1532	8	91	.	.	PUNCT
easat-1532	9	1	the	the	DET
easat-1532	9	2	intelligent	intelligent	ADJ
easat-1532	9	3	distribution	distribution	NOUN
easat-1532	9	4	vehicle	vehicle	NOUN
easat-1532	9	5	needs	need	VERB
easat-1532	9	6	to	to	PART
easat-1532	9	7	continuously	continuously	ADV
easat-1532	9	8	collect	collect	VERB
easat-1532	9	9	external	external	ADJ
easat-1532	9	10	information	information	NOUN
easat-1532	9	11	during	during	ADP
easat-1532	9	12	the	the	DET
easat-1532	9	13	distribution	distribution	NOUN
easat-1532	9	14	process	process	NOUN
easat-1532	9	15	,	,	PUNCT
easat-1532	9	16	select	select	VERB
easat-1532	9	17	the	the	DET
easat-1532	9	18	distribution	distribution	NOUN
easat-1532	9	19	route	route	NOUN
easat-1532	9	20	according	accord	VERB
easat-1532	9	21	to	to	ADP
easat-1532	9	22	the	the	DET
easat-1532	9	23	external	external	ADJ
easat-1532	9	24	information	information	NOUN
easat-1532	9	25	,	,	PUNCT
easat-1532	9	26	and	and	CCONJ
easat-1532	9	27	formulate	formulate	VERB
easat-1532	9	28	the	the	DET
easat-1532	9	29	storage	storage	NOUN
easat-1532	9	30	plan	plan	NOUN
easat-1532	9	31	,	,	PUNCT
easat-1532	9	32	so	so	SCONJ
easat-1532	9	33	as	as	SCONJ
easat-1532	9	34	to	to	PART
easat-1532	9	35	achieve	achieve	VERB
easat-1532	9	36	a	a	DET
easat-1532	9	37	more	more	ADV
easat-1532	9	38	efficient	efficient	ADJ
easat-1532	9	39	distribution	distribution	NOUN
easat-1532	9	40	effect	effect	NOUN
easat-1532	9	41	with	with	ADP
easat-1532	9	42	less	less	ADJ
easat-1532	9	43	resources[4	resources[4	NOUN
easat-1532	9	44	-	-	PUNCT
easat-1532	9	45	6	6	NUM
easat-1532	9	46	]	]	PUNCT
easat-1532	9	47	.	.	PUNCT
easat-1532	10	1	in	in	ADP
easat-1532	10	2	this	this	DET
easat-1532	10	3	automated	automate	VERB
easat-1532	10	4	logistics	logistic	NOUN
easat-1532	10	5	and	and	CCONJ
easat-1532	10	6	warehousing	warehousing	NOUN
easat-1532	10	7	planning	planning	NOUN
easat-1532	10	8	,	,	PUNCT
easat-1532	10	9	the	the	DET
easat-1532	10	10	reliability	reliability	NOUN
easat-1532	10	11	of	of	ADP
easat-1532	10	12	external	external	ADJ
easat-1532	10	13	information	information	NOUN
easat-1532	10	14	collection	collection	NOUN
easat-1532	10	15	and	and	CCONJ
easat-1532	10	16	processing	processing	NOUN
easat-1532	10	17	means	mean	NOUN
easat-1532	10	18	is	be	AUX
easat-1532	10	19	crucial	crucial	ADJ
easat-1532	10	20	,	,	PUNCT
easat-1532	10	21	and	and	CCONJ
easat-1532	10	22	multi	multi	ADJ
easat-1532	10	23	-	-	ADJ
easat-1532	10	24	source	source	NOUN
easat-1532	10	25	information	information	NOUN
easat-1532	10	26	positioning	positioning	NOUN
easat-1532	10	27	,	,	PUNCT
easat-1532	10	28	as	as	ADP
easat-1532	10	29	a	a	DET
easat-1532	10	30	multi	multi	ADJ
easat-1532	10	31	-	-	ADJ
easat-1532	10	32	angle	angle	ADJ
easat-1532	10	33	information	information	NOUN
easat-1532	10	34	collection	collection	NOUN
easat-1532	10	35	and	and	CCONJ
easat-1532	10	36	processing	processing	NOUN
easat-1532	10	37	technology	technology	NOUN
easat-1532	10	38	,	,	PUNCT
easat-1532	10	39	can	can	AUX
easat-1532	10	40	provide	provide	VERB
easat-1532	10	41	sufficient	sufficient	ADJ
easat-1532	10	42	information	information	NOUN
easat-1532	10	43	support	support	NOUN
easat-1532	10	44	for	for	ADP
easat-1532	10	45	intelligent	intelligent	ADJ
easat-1532	10	46	logistics[7	logistics[7	NOUN
easat-1532	10	47	-	-	SYM
easat-1532	10	48	9	9	NUM
easat-1532	10	49	]	]	PUNCT
easat-1532	10	50	.	.	PUNCT
easat-1532	11	1	the	the	DET
easat-1532	11	2	multi	multi	ADJ
easat-1532	11	3	-	-	ADJ
easat-1532	11	4	source	source	ADJ
easat-1532	11	5	information	information	NOUN
easat-1532	11	6	fusion	fusion	NOUN
easat-1532	11	7	processing	processing	NOUN
easat-1532	11	8	method	method	NOUN
easat-1532	11	9	is	be	AUX
easat-1532	11	10	mainly	mainly	ADV
easat-1532	11	11	a	a	DET
easat-1532	11	12	technical	technical	ADJ
easat-1532	11	13	means	mean	NOUN
easat-1532	11	14	to	to	PART
easat-1532	11	15	process	process	VERB
easat-1532	11	16	the	the	DET
easat-1532	11	17	external	external	ADJ
easat-1532	11	18	information	information	NOUN
easat-1532	11	19	using	use	VERB
easat-1532	11	20	multiple	multiple	ADJ
easat-1532	11	21	sensors	sensor	NOUN
easat-1532	11	22	or	or	CCONJ
easat-1532	11	23	multiple	multiple	ADJ
easat-1532	11	24	information	information	NOUN
easat-1532	11	25	source	source	NOUN
easat-1532	11	26	systems	system	NOUN
easat-1532	11	27	.	.	PUNCT
easat-1532	12	1	this	this	PRON
easat-1532	12	2	means	mean	VERB
easat-1532	12	3	measures	measure	VERB
easat-1532	12	4	the	the	DET
easat-1532	12	5	current	current	ADJ
easat-1532	12	6	state	state	NOUN
easat-1532	12	7	of	of	ADP
easat-1532	12	8	the	the	DET
easat-1532	12	9	information	information	NOUN
easat-1532	12	10	acquisition	acquisition	NOUN
easat-1532	12	11	target	target	NOUN
easat-1532	12	12	through	through	ADP
easat-1532	12	13	different	different	ADJ
easat-1532	12	14	information	information	NOUN
easat-1532	12	15	sources	source	NOUN
easat-1532	12	16	,	,	PUNCT
easat-1532	12	17	and	and	CCONJ
easat-1532	12	18	uses	use	VERB
easat-1532	12	19	information	information	NOUN
easat-1532	12	20	correlation	correlation	NOUN
easat-1532	12	21	,	,	PUNCT
easat-1532	12	22	information	information	NOUN
easat-1532	12	23	integration	integration	NOUN
easat-1532	12	24	and	and	CCONJ
easat-1532	12	25	other	other	ADJ
easat-1532	12	26	means	mean	NOUN
easat-1532	12	27	to	to	PART
easat-1532	12	28	determine	determine	VERB
easat-1532	12	29	the	the	DET
easat-1532	12	30	current	current	ADJ
easat-1532	12	31	comprehensive	comprehensive	ADJ
easat-1532	12	32	state	state	NOUN
easat-1532	12	33	of	of	ADP
easat-1532	12	34	the	the	DET
easat-1532	12	35	information	information	NOUN
easat-1532	12	36	acquisition	acquisition	NOUN
easat-1532	12	37	target	target	NOUN
easat-1532	12	38	based	base	VERB
easat-1532	12	39	on	on	ADP
easat-1532	12	40	the	the	DET
easat-1532	12	41	information	information	NOUN
easat-1532	12	42	from	from	ADP
easat-1532	12	43	different	different	ADJ
easat-1532	12	44	sides	side	NOUN
easat-1532	12	45	,	,	PUNCT
easat-1532	12	46	this	this	DET
easat-1532	12	47	technology	technology	NOUN
easat-1532	12	48	has	have	VERB
easat-1532	12	49	high	high	ADJ
easat-1532	12	50	accuracy	accuracy	NOUN
easat-1532	12	51	and	and	CCONJ
easat-1532	12	52	fault	fault	NOUN
easat-1532	12	53	-	-	PUNCT
easat-1532	12	54	tolerance	tolerance	NOUN
easat-1532	12	55	,	,	PUNCT
easat-1532	12	56	low	low	ADJ
easat-1532	12	57	cost	cost	NOUN
easat-1532	12	58	of	of	ADP
easat-1532	12	59	information	information	NOUN
easat-1532	12	60	acquisition	acquisition	NOUN
easat-1532	12	61	and	and	CCONJ
easat-1532	12	62	high	high	ADJ
easat-1532	12	63	reliability	reliability	NOUN
easat-1532	12	64	,	,	PUNCT
easat-1532	12	65	and	and	CCONJ
easat-1532	12	66	has	have	AUX
easat-1532	12	67	been	be	AUX
easat-1532	12	68	widely	widely	ADV
easat-1532	12	69	used	use	VERB
easat-1532	12	70	in	in	ADP
easat-1532	12	71	such	such	ADJ
easat-1532	12	72	fields	field	NOUN
easat-1532	12	73	as	as	ADP
easat-1532	12	74	military	military	ADJ
easat-1532	12	75	,	,	PUNCT
easat-1532	12	76	industrial	industrial	ADJ
easat-1532	12	77	,	,	PUNCT
easat-1532	12	78	transportation	transportation	NOUN
easat-1532	12	79	and	and	CCONJ
easat-1532	12	80	so	so	ADV
easat-1532	12	81	on	on	ADV
easat-1532	12	82	.	.	PUNCT
easat-1532	13	1	therefore	therefore	ADV
easat-1532	13	2	,	,	PUNCT
easat-1532	13	3	this	this	DET
easat-1532	13	4	study	study	NOUN
easat-1532	13	5	applies	apply	VERB
easat-1532	13	6	multi	multi	ADJ
easat-1532	13	7	-	-	ADJ
easat-1532	13	8	source	source	ADJ
easat-1532	13	9	information	information	NOUN
easat-1532	13	10	positioning	positioning	NOUN
easat-1532	13	11	1618	1618	NUM
easat-1532	13	12	edelweiss	edelweiss	PROPN
easat-1532	13	13	applied	apply	VERB
easat-1532	13	14	science	science	NOUN
easat-1532	13	15	and	and	CCONJ
easat-1532	13	16	technology	technology	NOUN
easat-1532	13	17	issn	issn	PROPN
easat-1532	13	18	:	:	PUNCT
easat-1532	13	19	2576	2576	NUM
easat-1532	13	20	-	-	SYM
easat-1532	13	21	8484	8484	NUM
easat-1532	13	22	vol	vol	NOUN
easat-1532	13	23	.	.	PROPN
easat-1532	13	24	8	8	NUM
easat-1532	13	25	,	,	PUNCT
easat-1532	13	26	no	no	INTJ
easat-1532	13	27	.	.	NOUN
easat-1532	14	1	4	4	NUM
easat-1532	14	2	:	:	SYM
easat-1532	14	3	1617	1617	NUM
easat-1532	14	4	-	-	SYM
easat-1532	14	5	1629	1629	NUM
easat-1532	14	6	,	,	PUNCT
easat-1532	14	7	2024	2024	NUM
easat-1532	14	8	doi	doi	NOUN
easat-1532	14	9	:	:	PUNCT
easat-1532	14	10	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	14	11	©	©	PROPN
easat-1532	14	12	2024	2024	NUM
easat-1532	14	13	by	by	ADP
easat-1532	14	14	the	the	DET
easat-1532	14	15	authors	author	NOUN
easat-1532	14	16	;	;	PUNCT
easat-1532	14	17	licensee	licensee	PROPN
easat-1532	14	18	learning	learning	NOUN
easat-1532	14	19	gate	gate	NOUN
easat-1532	14	20	technology	technology	NOUN
easat-1532	14	21	to	to	ADP
easat-1532	14	22	intelligent	intelligent	ADJ
easat-1532	14	23	city	city	NOUN
easat-1532	14	24	logistics	logistic	NOUN
easat-1532	14	25	distribution	distribution	NOUN
easat-1532	14	26	,	,	PUNCT
easat-1532	14	27	and	and	CCONJ
easat-1532	14	28	provides	provide	VERB
easat-1532	14	29	a	a	DET
easat-1532	14	30	feasible	feasible	ADJ
easat-1532	14	31	path	path	NOUN
easat-1532	14	32	for	for	ADP
easat-1532	14	33	the	the	DET
easat-1532	14	34	realization	realization	NOUN
easat-1532	14	35	of	of	ADP
easat-1532	14	36	automatic	automatic	ADJ
easat-1532	14	37	logistics	logistic	NOUN
easat-1532	14	38	distribution	distribution	NOUN
easat-1532	14	39	planning	planning	NOUN
easat-1532	14	40	by	by	ADP
easat-1532	14	41	using	use	VERB
easat-1532	14	42	the	the	DET
easat-1532	14	43	information	information	NOUN
easat-1532	14	44	collection	collection	NOUN
easat-1532	14	45	stability	stability	NOUN
easat-1532	14	46	and	and	CCONJ
easat-1532	14	47	comprehensive	comprehensive	ADJ
easat-1532	14	48	information	information	NOUN
easat-1532	14	49	collection	collection	NOUN
easat-1532	14	50	ability	ability	NOUN
easat-1532	14	51	of	of	ADP
easat-1532	14	52	multi	multi	ADJ
easat-1532	14	53	-	-	ADJ
easat-1532	14	54	source	source	ADJ
easat-1532	14	55	information	information	NOUN
easat-1532	14	56	fusion	fusion	NOUN
easat-1532	14	57	positioning	positioning	NOUN
easat-1532	14	58	technology	technology	NOUN
easat-1532	14	59	itself	itself	PRON
easat-1532	14	60	.	.	PUNCT
easat-1532	15	1	2	2	X
easat-1532	15	2	.	.	X
easat-1532	15	3	related	relate	VERB
easat-1532	15	4	work	work	NOUN
easat-1532	15	5	the	the	DET
easat-1532	15	6	multi	multi	ADJ
easat-1532	15	7	-	-	ADJ
easat-1532	15	8	source	source	ADJ
easat-1532	15	9	information	information	NOUN
easat-1532	15	10	localization	localization	NOUN
easat-1532	15	11	technology	technology	NOUN
easat-1532	15	12	has	have	AUX
easat-1532	15	13	been	be	AUX
easat-1532	15	14	applied	apply	VERB
easat-1532	15	15	in	in	ADP
easat-1532	15	16	indoor	indoor	ADJ
easat-1532	15	17	localization	localization	NOUN
easat-1532	15	18	and	and	CCONJ
easat-1532	15	19	outdoor	outdoor	ADJ
easat-1532	15	20	complex	complex	ADJ
easat-1532	15	21	environment	environment	NOUN
easat-1532	15	22	localization	localization	NOUN
easat-1532	15	23	,	,	PUNCT
easat-1532	15	24	and	and	CCONJ
easat-1532	15	25	tang	tang	PROPN
easat-1532	15	26	h	h	PROPN
easat-1532	15	27	's	's	PART
easat-1532	15	28	team	team	NOUN
easat-1532	15	29	has	have	AUX
easat-1532	15	30	designed	design	VERB
easat-1532	15	31	a	a	DET
easat-1532	15	32	multi	multi	ADJ
easat-1532	15	33	-	-	ADJ
easat-1532	15	34	source	source	ADJ
easat-1532	15	35	information	information	NOUN
easat-1532	15	36	fusion	fusion	NOUN
easat-1532	15	37	indoor	indoor	ADJ
easat-1532	15	38	localization	localization	NOUN
easat-1532	15	39	method	method	NOUN
easat-1532	15	40	based	base	VERB
easat-1532	15	41	on	on	ADP
easat-1532	15	42	wireless	wireless	ADJ
easat-1532	15	43	lan	lan	PROPN
easat-1532	15	44	.	.	PUNCT
easat-1532	16	1	the	the	DET
easat-1532	16	2	method	method	NOUN
easat-1532	16	3	is	be	AUX
easat-1532	16	4	based	base	VERB
easat-1532	16	5	on	on	ADP
easat-1532	16	6	inertial	inertial	ADJ
easat-1532	16	7	navigation	navigation	NOUN
easat-1532	16	8	system	system	NOUN
easat-1532	16	9	and	and	CCONJ
easat-1532	16	10	uses	use	VERB
easat-1532	16	11	wlan	wlan	NOUN
easat-1532	16	12	to	to	PART
easat-1532	16	13	enhance	enhance	VERB
easat-1532	16	14	the	the	DET
easat-1532	16	15	signal	signal	ADJ
easat-1532	16	16	strength	strength	NOUN
easat-1532	16	17	and	and	CCONJ
easat-1532	16	18	design	design	VERB
easat-1532	16	19	a	a	DET
easat-1532	16	20	sparse	sparse	ADJ
easat-1532	16	21	signal	signal	NOUN
easat-1532	16	22	-	-	PUNCT
easat-1532	16	23	based	base	VERB
easat-1532	16	24	fusion	fusion	NOUN
easat-1532	16	25	model	model	NOUN
easat-1532	16	26	.	.	PUNCT
easat-1532	17	1	the	the	DET
easat-1532	17	2	researchers	researcher	NOUN
easat-1532	17	3	finally	finally	ADV
easat-1532	17	4	tested	test	VERB
easat-1532	17	5	the	the	DET
easat-1532	17	6	performance	performance	NOUN
easat-1532	17	7	of	of	ADP
easat-1532	17	8	the	the	DET
easat-1532	17	9	positioning	positioning	NOUN
easat-1532	17	10	model	model	NOUN
easat-1532	17	11	using	use	VERB
easat-1532	17	12	simulation	simulation	NOUN
easat-1532	17	13	experiments	experiment	NOUN
easat-1532	17	14	,	,	PUNCT
easat-1532	17	15	and	and	CCONJ
easat-1532	17	16	the	the	DET
easat-1532	17	17	results	result	NOUN
easat-1532	17	18	showed	show	VERB
easat-1532	17	19	that	that	SCONJ
easat-1532	17	20	the	the	DET
easat-1532	17	21	algorithm	algorithm	NOUN
easat-1532	17	22	is	be	AUX
easat-1532	17	23	robust	robust	ADJ
easat-1532	17	24	and	and	CCONJ
easat-1532	17	25	effective.[10	effective.[10	VERB
easat-1532	17	26	]	]	PUNCT
easat-1532	17	27	.	.	PUNCT
easat-1532	18	1	he	he	PRON
easat-1532	18	2	z	z	VERB
easat-1532	18	3	m	m	VERB
easat-1532	18	4	et	et	PROPN
easat-1532	18	5	al	al	PROPN
easat-1532	18	6	.	.	PROPN
easat-1532	18	7	applied	apply	VERB
easat-1532	18	8	point	point	NOUN
easat-1532	18	9	cloud	cloud	NOUN
easat-1532	18	10	recognition	recognition	NOUN
easat-1532	18	11	technology	technology	NOUN
easat-1532	18	12	and	and	CCONJ
easat-1532	18	13	electric	electric	ADJ
easat-1532	18	14	equipment	equipment	NOUN
easat-1532	18	15	identification	identification	NOUN
easat-1532	18	16	technology	technology	NOUN
easat-1532	18	17	to	to	ADP
easat-1532	18	18	a	a	DET
easat-1532	18	19	multi	multi	ADJ
easat-1532	18	20	-	-	ADJ
easat-1532	18	21	source	source	ADJ
easat-1532	18	22	information	information	NOUN
easat-1532	18	23	integrated	integrate	VERB
easat-1532	18	24	indoor	indoor	ADJ
easat-1532	18	25	positioning	positioning	NOUN
easat-1532	18	26	system	system	NOUN
easat-1532	18	27	,	,	PUNCT
easat-1532	18	28	and	and	CCONJ
easat-1532	18	29	also	also	ADV
easat-1532	18	30	used	use	VERB
easat-1532	18	31	gps	gps	PROPN
easat-1532	18	32	and	and	CCONJ
easat-1532	18	33	other	other	ADJ
easat-1532	18	34	devices	device	NOUN
easat-1532	18	35	as	as	ADP
easat-1532	18	36	technical	technical	ADJ
easat-1532	18	37	aids	aid	NOUN
easat-1532	18	38	to	to	PART
easat-1532	18	39	achieve	achieve	VERB
easat-1532	18	40	accurate	accurate	ADJ
easat-1532	18	41	positioning	positioning	NOUN
easat-1532	18	42	and	and	CCONJ
easat-1532	18	43	integrated	integrated	ADJ
easat-1532	18	44	positioning	positioning	NOUN
easat-1532	18	45	at	at	ADP
easat-1532	18	46	the	the	DET
easat-1532	18	47	decimeter	decimeter	NOUN
easat-1532	18	48	level	level	NOUN
easat-1532	18	49	in	in	ADP
easat-1532	18	50	indoor	indoor	ADJ
easat-1532	18	51	and	and	CCONJ
easat-1532	18	52	outdoor	outdoor	ADJ
easat-1532	18	53	environments	environment	NOUN
easat-1532	18	54	.	.	PUNCT
easat-1532	19	1	the	the	DET
easat-1532	19	2	experimental	experimental	ADJ
easat-1532	19	3	results	result	NOUN
easat-1532	19	4	show	show	VERB
easat-1532	19	5	that	that	SCONJ
easat-1532	19	6	the	the	DET
easat-1532	19	7	method	method	NOUN
easat-1532	19	8	has	have	VERB
easat-1532	19	9	high	high	ADJ
easat-1532	19	10	positioning	positioning	NOUN
easat-1532	19	11	accuracy[11	accuracy[11	PROPN
easat-1532	19	12	]	]	X
easat-1532	19	13	.huang	.huang	PUNCT
easat-1532	19	14	l	l	NOUN
easat-1532	19	15	team	team	NOUN
easat-1532	19	16	designed	design	VERB
easat-1532	19	17	a	a	DET
easat-1532	19	18	smart	smart	ADJ
easat-1532	19	19	phone	phone	NOUN
easat-1532	19	20	positioning	positioning	NOUN
easat-1532	19	21	technology	technology	NOUN
easat-1532	19	22	for	for	ADP
easat-1532	19	23	indoor	indoor	ADJ
easat-1532	19	24	pedestrian	pedestrian	NOUN
easat-1532	19	25	positioning	positioning	NOUN
easat-1532	19	26	.	.	PUNCT
easat-1532	20	1	based	base	VERB
easat-1532	20	2	on	on	ADP
easat-1532	20	3	the	the	DET
easat-1532	20	4	non	non	ADJ
easat-1532	20	5	-	-	ADJ
easat-1532	20	6	line	line	ADJ
easat-1532	20	7	-	-	PUNCT
easat-1532	20	8	of	of	ADP
easat-1532	20	9	-	-	PUNCT
easat-1532	20	10	sight	sight	NOUN
easat-1532	20	11	problem	problem	NOUN
easat-1532	20	12	and	and	CCONJ
easat-1532	20	13	multi	multi	ADJ
easat-1532	20	14	-	-	ADJ
easat-1532	20	15	path	path	ADJ
easat-1532	20	16	problem	problem	NOUN
easat-1532	20	17	of	of	ADP
easat-1532	20	18	indoor	indoor	ADJ
easat-1532	20	19	positioning	positioning	NOUN
easat-1532	20	20	,	,	PUNCT
easat-1532	20	21	this	this	DET
easat-1532	20	22	technology	technology	NOUN
easat-1532	20	23	designs	design	VERB
easat-1532	20	24	an	an	DET
easat-1532	20	25	indoor	indoor	ADJ
easat-1532	20	26	spatial	spatial	ADJ
easat-1532	20	27	position	position	NOUN
easat-1532	20	28	learning	learn	VERB
easat-1532	20	29	model	model	NOUN
easat-1532	20	30	based	base	VERB
easat-1532	20	31	on	on	ADP
easat-1532	20	32	deep	deep	ADJ
easat-1532	20	33	convolution	convolution	NOUN
easat-1532	20	34	neural	neural	ADJ
easat-1532	20	35	network	network	NOUN
easat-1532	20	36	,	,	PUNCT
easat-1532	20	37	which	which	PRON
easat-1532	20	38	forms	form	VERB
easat-1532	20	39	a	a	DET
easat-1532	20	40	nonlinear	nonlinear	ADJ
easat-1532	20	41	mapping	mapping	NOUN
easat-1532	20	42	with	with	ADP
easat-1532	20	43	wireless	wireless	ADJ
easat-1532	20	44	network	network	NOUN
easat-1532	20	45	ranging	range	VERB
easat-1532	20	46	information	information	NOUN
easat-1532	20	47	technology	technology	NOUN
easat-1532	20	48	,	,	PUNCT
easat-1532	20	49	and	and	CCONJ
easat-1532	20	50	then	then	ADV
easat-1532	20	51	carries	carry	VERB
easat-1532	20	52	out	out	ADP
easat-1532	20	53	highprecision	highprecision	NOUN
easat-1532	20	54	positioning	positioning	NOUN
easat-1532	20	55	of	of	ADP
easat-1532	20	56	indoor	indoor	ADJ
easat-1532	20	57	pedestrian	pedestrian	NOUN
easat-1532	20	58	position	position	NOUN
easat-1532	20	59	through	through	ADP
easat-1532	20	60	fingerprint	fingerprint	NOUN
easat-1532	20	61	positioning	positioning	NOUN
easat-1532	20	62	.	.	PUNCT
easat-1532	21	1	a	a	DET
easat-1532	21	2	large	large	ADJ
easat-1532	21	3	number	number	NOUN
easat-1532	21	4	of	of	ADP
easat-1532	21	5	tests	test	NOUN
easat-1532	21	6	have	have	AUX
easat-1532	21	7	been	be	AUX
easat-1532	21	8	carried	carry	VERB
easat-1532	21	9	out	out	ADP
easat-1532	21	10	on	on	ADP
easat-1532	21	11	the	the	DET
easat-1532	21	12	model	model	NOUN
easat-1532	21	13	,	,	PUNCT
easat-1532	21	14	and	and	CCONJ
easat-1532	21	15	the	the	DET
easat-1532	21	16	research	research	NOUN
easat-1532	21	17	results	result	NOUN
easat-1532	21	18	show	show	VERB
easat-1532	21	19	that	that	SCONJ
easat-1532	21	20	the	the	DET
easat-1532	21	21	method	method	NOUN
easat-1532	21	22	has	have	VERB
easat-1532	21	23	high	high	ADJ
easat-1532	21	24	continuous	continuous	ADJ
easat-1532	21	25	positioning	positioning	NOUN
easat-1532	21	26	ability	ability	NOUN
easat-1532	21	27	in	in	ADP
easat-1532	21	28	practical	practical	ADJ
easat-1532	21	29	applicationss[12	applicationss[12	PROPN
easat-1532	21	30	]	]	PUNCT
easat-1532	21	31	.	.	PUNCT
easat-1532	22	1	na	na	INTJ
easat-1532	22	2	w	w	PROPN
easat-1532	22	3	et	et	PROPN
easat-1532	22	4	al	al	PROPN
easat-1532	22	5	.	.	PROPN
easat-1532	22	6	proposed	propose	VERB
easat-1532	22	7	a	a	DET
easat-1532	22	8	fault	fault	NOUN
easat-1532	22	9	location	location	NOUN
easat-1532	22	10	method	method	NOUN
easat-1532	22	11	based	base	VERB
easat-1532	22	12	on	on	ADP
easat-1532	22	13	the	the	DET
easat-1532	22	14	traditional	traditional	ADJ
easat-1532	22	15	particle	particle	NOUN
easat-1532	22	16	swarm	swarm	NOUN
easat-1532	22	17	algorithm	algorithm	NOUN
easat-1532	22	18	for	for	ADP
easat-1532	22	19	the	the	DET
easat-1532	22	20	problems	problem	NOUN
easat-1532	22	21	of	of	ADP
easat-1532	22	22	low	low	ADJ
easat-1532	22	23	localization	localization	NOUN
easat-1532	22	24	accuracy	accuracy	NOUN
easat-1532	22	25	and	and	CCONJ
easat-1532	22	26	slow	slow	ADJ
easat-1532	22	27	localization	localization	NOUN
easat-1532	22	28	speed	speed	NOUN
easat-1532	22	29	in	in	ADP
easat-1532	22	30	the	the	DET
easat-1532	22	31	traditional	traditional	ADJ
easat-1532	22	32	distribution	distribution	NOUN
easat-1532	22	33	network	network	NOUN
easat-1532	22	34	fault	fault	NOUN
easat-1532	22	35	location	location	NOUN
easat-1532	22	36	process	process	NOUN
easat-1532	22	37	,	,	PUNCT
easat-1532	22	38	and	and	CCONJ
easat-1532	22	39	the	the	DET
easat-1532	22	40	researchers	researcher	NOUN
easat-1532	22	41	introduced	introduce	VERB
easat-1532	22	42	a	a	DET
easat-1532	22	43	variable	variable	ADJ
easat-1532	22	44	inertia	inertia	NOUN
easat-1532	22	45	weight	weight	NOUN
easat-1532	22	46	factor	factor	NOUN
easat-1532	22	47	based	base	VERB
easat-1532	22	48	on	on	ADP
easat-1532	22	49	the	the	DET
easat-1532	22	50	traditional	traditional	ADJ
easat-1532	22	51	particle	particle	NOUN
easat-1532	22	52	swarm	swarm	NOUN
easat-1532	22	53	algorithm	algorithm	NOUN
easat-1532	22	54	to	to	ADP
easat-1532	22	55	the	the	DET
easat-1532	22	56	researchers	researcher	NOUN
easat-1532	22	57	introduced	introduce	VERB
easat-1532	22	58	a	a	DET
easat-1532	22	59	variable	variable	ADJ
easat-1532	22	60	inertia	inertia	NOUN
easat-1532	22	61	weight	weight	NOUN
easat-1532	22	62	factor	factor	NOUN
easat-1532	22	63	to	to	PART
easat-1532	22	64	adjust	adjust	VERB
easat-1532	22	65	the	the	DET
easat-1532	22	66	number	number	NOUN
easat-1532	22	67	of	of	ADP
easat-1532	22	68	iterations	iteration	NOUN
easat-1532	22	69	based	base	VERB
easat-1532	22	70	on	on	ADP
easat-1532	22	71	the	the	DET
easat-1532	22	72	traditional	traditional	ADJ
easat-1532	22	73	particle	particle	NOUN
easat-1532	22	74	swarm	swarm	NOUN
easat-1532	22	75	algorithm	algorithm	NOUN
easat-1532	22	76	,	,	PUNCT
easat-1532	22	77	and	and	CCONJ
easat-1532	22	78	added	add	VERB
easat-1532	22	79	a	a	DET
easat-1532	22	80	particle	particle	NOUN
easat-1532	22	81	screening	screen	VERB
easat-1532	22	82	mechanism	mechanism	NOUN
easat-1532	22	83	to	to	PART
easat-1532	22	84	retain	retain	VERB
easat-1532	22	85	the	the	DET
easat-1532	22	86	particles	particle	NOUN
easat-1532	22	87	with	with	ADP
easat-1532	22	88	high	high	ADJ
easat-1532	22	89	adaptability	adaptability	NOUN
easat-1532	22	90	.	.	PUNCT
easat-1532	23	1	the	the	DET
easat-1532	23	2	results	result	NOUN
easat-1532	23	3	show	show	VERB
easat-1532	23	4	that	that	SCONJ
easat-1532	23	5	this	this	DET
easat-1532	23	6	method	method	NOUN
easat-1532	23	7	can	can	AUX
easat-1532	23	8	achieve	achieve	VERB
easat-1532	23	9	distribution	distribution	NOUN
easat-1532	23	10	network	network	NOUN
easat-1532	23	11	fault	fault	NOUN
easat-1532	23	12	location	location	NOUN
easat-1532	23	13	detection	detection	NOUN
easat-1532	23	14	more	more	ADV
easat-1532	23	15	rapidly	rapidly	ADV
easat-1532	23	16	and	and	CCONJ
easat-1532	23	17	accurately.[13	accurately.[13	NUM
easat-1532	23	18	]	]	PUNCT
easat-1532	23	19	.	.	PUNCT
easat-1532	24	1	hu	hu	PROPN
easat-1532	25	1	e	e	PROPN
easat-1532	25	2	's	's	PART
easat-1532	25	3	team	team	NOUN
easat-1532	25	4	proposes	propose	VERB
easat-1532	25	5	an	an	DET
easat-1532	25	6	indoor	indoor	ADJ
easat-1532	25	7	and	and	CCONJ
easat-1532	25	8	outdoor	outdoor	ADJ
easat-1532	25	9	multi	multi	ADJ
easat-1532	25	10	-	-	ADJ
easat-1532	25	11	source	source	ADJ
easat-1532	25	12	data	data	NOUN
easat-1532	25	13	localization	localization	NOUN
easat-1532	25	14	technique	technique	NOUN
easat-1532	25	15	based	base	VERB
easat-1532	25	16	on	on	ADP
easat-1532	25	17	inertial	inertial	ADJ
easat-1532	25	18	high	high	ADJ
easat-1532	25	19	-	-	PUNCT
easat-1532	25	20	altitude	altitude	NOUN
easat-1532	25	21	system	system	NOUN
easat-1532	25	22	,	,	PUNCT
easat-1532	25	23	which	which	PRON
easat-1532	25	24	adopts	adopt	VERB
easat-1532	25	25	a	a	DET
easat-1532	25	26	relative	relative	ADJ
easat-1532	25	27	entropy	entropy	NOUN
easat-1532	25	28	kalman	kalman	PROPN
easat-1532	25	29	strategy	strategy	PROPN
easat-1532	25	30	to	to	PART
easat-1532	25	31	design	design	VERB
easat-1532	25	32	a	a	DET
easat-1532	25	33	multi	multi	ADJ
easat-1532	25	34	-	-	ADJ
easat-1532	25	35	source	source	ADJ
easat-1532	25	36	data	data	NOUN
easat-1532	25	37	fusion	fusion	NOUN
easat-1532	25	38	localization	localization	NOUN
easat-1532	25	39	model	model	NOUN
easat-1532	25	40	and	and	CCONJ
easat-1532	25	41	filter	filter	NOUN
easat-1532	25	42	and	and	CCONJ
easat-1532	25	43	outlier	outlier	NOUN
easat-1532	25	44	processing	processing	NOUN
easat-1532	25	45	for	for	ADP
easat-1532	25	46	multi	multi	ADJ
easat-1532	25	47	-	-	ADJ
easat-1532	25	48	source	source	NOUN
easat-1532	25	49	data	datum	NOUN
easat-1532	25	50	to	to	PART
easat-1532	25	51	improve	improve	VERB
easat-1532	25	52	the	the	DET
easat-1532	25	53	reliability	reliability	NOUN
easat-1532	25	54	and	and	CCONJ
easat-1532	25	55	stability	stability	NOUN
easat-1532	25	56	of	of	ADP
easat-1532	25	57	the	the	DET
easat-1532	25	58	data	datum	NOUN
easat-1532	25	59	.	.	PUNCT
easat-1532	26	1	the	the	DET
easat-1532	26	2	study	study	NOUN
easat-1532	26	3	also	also	ADV
easat-1532	26	4	quantifies	quantify	VERB
easat-1532	26	5	the	the	DET
easat-1532	26	6	degree	degree	NOUN
easat-1532	26	7	of	of	ADP
easat-1532	26	8	coupling	coupling	NOUN
easat-1532	26	9	of	of	ADP
easat-1532	26	10	information	information	NOUN
easat-1532	26	11	in	in	ADP
easat-1532	26	12	the	the	DET
easat-1532	26	13	information	information	NOUN
easat-1532	26	14	layer	layer	NOUN
easat-1532	26	15	to	to	PART
easat-1532	26	16	facilitate	facilitate	VERB
easat-1532	26	17	the	the	DET
easat-1532	26	18	improvement	improvement	NOUN
easat-1532	26	19	of	of	ADP
easat-1532	26	20	coupling	coupling	NOUN
easat-1532	26	21	in	in	ADP
easat-1532	26	22	the	the	DET
easat-1532	26	23	data	datum	NOUN
easat-1532	26	24	fusion	fusion	NOUN
easat-1532	26	25	process	process	NOUN
easat-1532	26	26	.	.	PUNCT
easat-1532	27	1	the	the	DET
easat-1532	27	2	research	research	NOUN
easat-1532	27	3	results	result	NOUN
easat-1532	27	4	show	show	VERB
easat-1532	27	5	that	that	SCONJ
easat-1532	27	6	the	the	DET
easat-1532	27	7	method	method	NOUN
easat-1532	27	8	significantly	significantly	ADV
easat-1532	27	9	improves	improve	VERB
easat-1532	27	10	the	the	DET
easat-1532	27	11	positioning	positioning	NOUN
easat-1532	27	12	accuracy	accuracy	NOUN
easat-1532	27	13	and	and	CCONJ
easat-1532	27	14	navigation	navigation	NOUN
easat-1532	27	15	stability	stability	NOUN
easat-1532	27	16	of	of	ADP
easat-1532	27	17	the	the	DET
easat-1532	27	18	positioning	positioning	NOUN
easat-1532	27	19	system	system	NOUN
easat-1532	27	20	.	.	PUNCT
easat-1532	28	1	it	it	PRON
easat-1532	28	2	can	can	AUX
easat-1532	28	3	be	be	AUX
easat-1532	28	4	seen	see	VERB
easat-1532	28	5	that	that	SCONJ
easat-1532	28	6	the	the	DET
easat-1532	28	7	application	application	NOUN
easat-1532	28	8	of	of	ADP
easat-1532	28	9	multi	multi	ADJ
easat-1532	28	10	-	-	ADJ
easat-1532	28	11	source	source	NOUN
easat-1532	28	12	information	information	NOUN
easat-1532	28	13	in	in	ADP
easat-1532	28	14	various	various	ADJ
easat-1532	28	15	types	type	NOUN
easat-1532	28	16	of	of	ADP
easat-1532	28	17	positioning	positioning	NOUN
easat-1532	28	18	has	have	AUX
easat-1532	28	19	been	be	AUX
easat-1532	28	20	relatively	relatively	ADV
easat-1532	28	21	mature[14	mature[14	VERB
easat-1532	28	22	]	]	PUNCT
easat-1532	28	23	.	.	PUNCT
easat-1532	29	1	on	on	ADP
easat-1532	29	2	the	the	DET
easat-1532	29	3	other	other	ADJ
easat-1532	29	4	hand	hand	NOUN
easat-1532	29	5	,	,	PUNCT
easat-1532	29	6	many	many	ADJ
easat-1532	29	7	research	research	NOUN
easat-1532	29	8	results	result	NOUN
easat-1532	29	9	have	have	AUX
easat-1532	29	10	emerged	emerge	VERB
easat-1532	29	11	in	in	ADP
easat-1532	29	12	recent	recent	ADJ
easat-1532	29	13	years	year	NOUN
easat-1532	29	14	in	in	ADP
easat-1532	29	15	the	the	DET
easat-1532	29	16	logistics	logistic	NOUN
easat-1532	29	17	distribution	distribution	NOUN
easat-1532	29	18	mode	mode	NOUN
easat-1532	29	19	.	.	PUNCT
easat-1532	30	1	liu	liu	PROPN
easat-1532	30	2	c	c	PROPN
easat-1532	30	3	team	team	NOUN
easat-1532	30	4	analyzed	analyze	VERB
easat-1532	30	5	the	the	DET
easat-1532	30	6	distribution	distribution	NOUN
easat-1532	30	7	route	route	NOUN
easat-1532	30	8	and	and	CCONJ
easat-1532	30	9	storage	storage	NOUN
easat-1532	30	10	planning	planning	NOUN
easat-1532	30	11	split	split	NOUN
easat-1532	30	12	in	in	ADP
easat-1532	30	13	the	the	DET
easat-1532	30	14	process	process	NOUN
easat-1532	30	15	of	of	ADP
easat-1532	30	16	smart	smart	ADJ
easat-1532	30	17	urban	urban	PROPN
easat-1532	30	18	uav	uav	PROPN
easat-1532	30	19	logistics	logistic	NOUN
easat-1532	30	20	distribution	distribution	NOUN
easat-1532	30	21	,	,	PUNCT
easat-1532	30	22	and	and	CCONJ
easat-1532	30	23	studied	study	VERB
easat-1532	30	24	the	the	DET
easat-1532	30	25	use	use	NOUN
easat-1532	30	26	of	of	ADP
easat-1532	30	27	multiple	multiple	ADJ
easat-1532	30	28	uav	uav	PROPN
easat-1532	30	29	communication	communication	NOUN
easat-1532	30	30	network	network	NOUN
easat-1532	30	31	linkage	linkage	NOUN
easat-1532	30	32	to	to	PART
easat-1532	30	33	solve	solve	VERB
easat-1532	30	34	the	the	DET
easat-1532	30	35	network	network	NOUN
easat-1532	30	36	resource	resource	NOUN
easat-1532	30	37	allocation	allocation	NOUN
easat-1532	30	38	problem	problem	NOUN
easat-1532	30	39	,	,	PUNCT
easat-1532	30	40	and	and	CCONJ
easat-1532	30	41	carried	carry	VERB
easat-1532	30	42	out	out	ADP
easat-1532	30	43	real	real	ADJ
easat-1532	30	44	-	-	PUNCT
easat-1532	30	45	time	time	NOUN
easat-1532	30	46	planning	planning	NOUN
easat-1532	30	47	of	of	ADP
easat-1532	30	48	uav	uav	PROPN
easat-1532	30	49	distribution	distribution	NOUN
easat-1532	30	50	and	and	CCONJ
easat-1532	30	51	storage	storage	NOUN
easat-1532	30	52	problem	problem	NOUN
easat-1532	30	53	by	by	ADP
easat-1532	30	54	simulated	simulated	ADJ
easat-1532	30	55	annealing	anneal	VERB
easat-1532	30	56	algorithm	algorithm	NOUN
easat-1532	30	57	to	to	PART
easat-1532	30	58	achieve	achieve	VERB
easat-1532	30	59	the	the	DET
easat-1532	30	60	the	the	DET
easat-1532	30	61	planning	planning	NOUN
easat-1532	30	62	effect	effect	NOUN
easat-1532	30	63	is	be	AUX
easat-1532	30	64	maximized	maximize	VERB
easat-1532	30	65	under	under	ADP
easat-1532	30	66	the	the	DET
easat-1532	30	67	minimum	minimum	ADJ
easat-1532	30	68	resource	resource	NOUN
easat-1532	30	69	allocation	allocation	NOUN
easat-1532	30	70	.	.	PUNCT
easat-1532	31	1	the	the	DET
easat-1532	31	2	results	result	NOUN
easat-1532	31	3	show	show	VERB
easat-1532	31	4	that	that	SCONJ
easat-1532	31	5	this	this	DET
easat-1532	31	6	method	method	NOUN
easat-1532	31	7	can	can	AUX
easat-1532	31	8	effectively	effectively	ADV
easat-1532	31	9	reduce	reduce	VERB
easat-1532	31	10	the	the	DET
easat-1532	31	11	resource	resource	NOUN
easat-1532	31	12	utilization	utilization	NOUN
easat-1532	31	13	rate	rate	NOUN
easat-1532	31	14	in	in	ADP
easat-1532	31	15	practical	practical	ADJ
easat-1532	31	16	applications.[15	applications.[15	NOUN
easat-1532	31	17	]	]	PUNCT
easat-1532	31	18	.	.	PUNCT
easat-1532	32	1	chan	chan	PROPN
easat-1532	33	1	f	f	PROPN
easat-1532	33	2	t	t	PROPN
easat-1532	33	3	s	s	PROPN
easat-1532	33	4	team	team	NOUN
easat-1532	33	5	proposes	propose	VERB
easat-1532	33	6	a	a	DET
easat-1532	33	7	multiobjective	multiobjective	ADJ
easat-1532	33	8	particle	particle	NOUN
easat-1532	33	9	swarm	swarm	NOUN
easat-1532	33	10	optimization	optimization	NOUN
easat-1532	33	11	algorithm	algorithm	NOUN
easat-1532	33	12	for	for	ADP
easat-1532	33	13	food	food	NOUN
easat-1532	33	14	logistics	logistic	NOUN
easat-1532	33	15	distribution	distribution	NOUN
easat-1532	33	16	and	and	CCONJ
easat-1532	33	17	warehousing	warehousing	NOUN
easat-1532	33	18	,	,	PUNCT
easat-1532	33	19	and	and	CCONJ
easat-1532	33	20	then	then	ADV
easat-1532	33	21	builds	build	VERB
easat-1532	33	22	a	a	DET
easat-1532	33	23	smart	smart	ADJ
easat-1532	33	24	food	food	NOUN
easat-1532	33	25	logistics	logistic	NOUN
easat-1532	33	26	system	system	NOUN
easat-1532	33	27	based	base	VERB
easat-1532	33	28	on	on	ADP
easat-1532	33	29	it	it	PRON
easat-1532	33	30	.	.	PUNCT
easat-1532	34	1	the	the	DET
easat-1532	34	2	system	system	NOUN
easat-1532	34	3	can	can	AUX
easat-1532	34	4	effectively	effectively	ADV
easat-1532	34	5	reduce	reduce	VERB
easat-1532	34	6	the	the	DET
easat-1532	34	7	total	total	ADJ
easat-1532	34	8	cost	cost	NOUN
easat-1532	34	9	of	of	ADP
easat-1532	34	10	the	the	DET
easat-1532	34	11	logistics	logistic	NOUN
easat-1532	34	12	system	system	NOUN
easat-1532	34	13	,	,	PUNCT
easat-1532	34	14	maximize	maximize	VERB
easat-1532	34	15	the	the	DET
easat-1532	34	16	average	average	ADJ
easat-1532	34	17	quality	quality	NOUN
easat-1532	34	18	of	of	ADP
easat-1532	34	19	the	the	DET
easat-1532	34	20	food	food	NOUN
easat-1532	34	21	logistics	logistic	NOUN
easat-1532	34	22	,	,	PUNCT
easat-1532	34	23	minimize	minimize	VERB
easat-1532	34	24	the	the	DET
easat-1532	34	25	carbon	carbon	NOUN
easat-1532	34	26	dioxide	dioxide	NOUN
easat-1532	34	27	emissions	emission	NOUN
easat-1532	34	28	in	in	ADP
easat-1532	34	29	the	the	DET
easat-1532	34	30	food	food	NOUN
easat-1532	34	31	logistics	logistic	NOUN
easat-1532	34	32	and	and	CCONJ
easat-1532	34	33	distribution	distribution	NOUN
easat-1532	34	34	process	process	NOUN
easat-1532	34	35	,	,	PUNCT
easat-1532	34	36	and	and	CCONJ
easat-1532	34	37	shorten	shorten	VERB
easat-1532	34	38	the	the	DET
easat-1532	34	39	overall	overall	ADJ
easat-1532	34	40	delivery	delivery	NOUN
easat-1532	34	41	time	time	NOUN
easat-1532	34	42	of	of	ADP
easat-1532	34	43	the	the	DET
easat-1532	34	44	logistics.[16	logistics.[16	PROPN
easat-1532	34	45	]	]	PUNCT
easat-1532	34	46	safaei	safaei	NOUN
easat-1532	34	47	as	as	SCONJ
easat-1532	34	48	team	team	NOUN
easat-1532	34	49	proposed	propose	VERB
easat-1532	34	50	a	a	DET
easat-1532	34	51	logistics	logistic	NOUN
easat-1532	34	52	distribution	distribution	NOUN
easat-1532	34	53	and	and	CCONJ
easat-1532	34	54	storage	storage	NOUN
easat-1532	34	55	mode	mode	NOUN
easat-1532	34	56	planning	planning	NOUN
easat-1532	34	57	model	model	NOUN
easat-1532	34	58	for	for	ADP
easat-1532	34	59	relief	relief	NOUN
easat-1532	34	60	materials	material	NOUN
easat-1532	34	61	in	in	ADP
easat-1532	34	62	critical	critical	ADJ
easat-1532	34	63	situations	situation	NOUN
easat-1532	34	64	.	.	PUNCT
easat-1532	35	1	the	the	DET
easat-1532	35	2	model	model	NOUN
easat-1532	35	3	can	can	AUX
easat-1532	35	4	minimize	minimize	VERB
easat-1532	35	5	the	the	DET
easat-1532	35	6	overall	overall	ADJ
easat-1532	35	7	operating	operating	NOUN
easat-1532	35	8	cost	cost	NOUN
easat-1532	35	9	of	of	ADP
easat-1532	35	10	relief	relief	NOUN
easat-1532	35	11	materials	material	NOUN
easat-1532	35	12	in	in	ADP
easat-1532	35	13	1619	1619	NUM
easat-1532	35	14	edelweiss	edelweiss	PROPN
easat-1532	35	15	applied	apply	VERB
easat-1532	35	16	science	science	NOUN
easat-1532	35	17	and	and	CCONJ
easat-1532	35	18	technology	technology	NOUN
easat-1532	35	19	issn	issn	PROPN
easat-1532	35	20	:	:	PUNCT
easat-1532	35	21	2576	2576	NUM
easat-1532	35	22	-	-	SYM
easat-1532	35	23	8484	8484	NUM
easat-1532	35	24	vol	vol	NOUN
easat-1532	35	25	.	.	PROPN
easat-1532	35	26	8	8	NUM
easat-1532	35	27	,	,	PUNCT
easat-1532	35	28	no	no	INTJ
easat-1532	35	29	.	.	NOUN
easat-1532	35	30	4	4	NUM
easat-1532	35	31	:	:	SYM
easat-1532	35	32	1617	1617	NUM
easat-1532	35	33	-	-	SYM
easat-1532	35	34	1629	1629	NUM
easat-1532	35	35	,	,	PUNCT
easat-1532	35	36	2024	2024	NUM
easat-1532	35	37	doi	doi	NOUN
easat-1532	35	38	:	:	PUNCT
easat-1532	35	39	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	35	40	©	©	PROPN
easat-1532	35	41	2024	2024	NUM
easat-1532	35	42	by	by	ADP
easat-1532	35	43	the	the	DET
easat-1532	35	44	authors	author	NOUN
easat-1532	35	45	;	;	PUNCT
easat-1532	35	46	licensee	licensee	PROPN
easat-1532	35	47	learning	learning	NOUN
easat-1532	35	48	gate	gate	VERB
easat-1532	35	49	the	the	DET
easat-1532	35	50	distribution	distribution	NOUN
easat-1532	35	51	process	process	NOUN
easat-1532	35	52	,	,	PUNCT
easat-1532	35	53	and	and	CCONJ
easat-1532	35	54	meet	meet	VERB
easat-1532	35	55	the	the	DET
easat-1532	35	56	distribution	distribution	NOUN
easat-1532	35	57	needs	need	NOUN
easat-1532	35	58	of	of	ADP
easat-1532	35	59	materials	material	NOUN
easat-1532	35	60	.	.	PUNCT
easat-1532	36	1	the	the	DET
easat-1532	36	2	model	model	NOUN
easat-1532	36	3	is	be	AUX
easat-1532	36	4	solved	solve	VERB
easat-1532	36	5	by	by	ADP
easat-1532	36	6	objective	objective	ADJ
easat-1532	36	7	programming	programming	NOUN
easat-1532	36	8	method	method	NOUN
easat-1532	36	9	,	,	PUNCT
easat-1532	36	10	and	and	CCONJ
easat-1532	36	11	the	the	DET
easat-1532	36	12	results	result	NOUN
easat-1532	36	13	show	show	VERB
easat-1532	36	14	that	that	SCONJ
easat-1532	36	15	the	the	DET
easat-1532	36	16	model	model	NOUN
easat-1532	36	17	can	can	AUX
easat-1532	36	18	meet	meet	VERB
easat-1532	36	19	the	the	DET
easat-1532	36	20	emergency	emergency	NOUN
easat-1532	36	21	distribution	distribution	NOUN
easat-1532	36	22	needs	need	VERB
easat-1532	36	23	under	under	ADP
easat-1532	36	24	the	the	DET
easat-1532	36	25	corresponding	corresponding	ADJ
easat-1532	36	26	scenarios[17	scenarios[17	PROPN
easat-1532	36	27	]	]	PUNCT
easat-1532	36	28	.	.	PUNCT
easat-1532	37	1	musolino	musolino	PROPN
easat-1532	37	2	g	g	PROPN
easat-1532	37	3	's	's	PART
easat-1532	37	4	team	team	NOUN
easat-1532	37	5	proposed	propose	VERB
easat-1532	37	6	a	a	DET
easat-1532	37	7	logistics	logistic	NOUN
easat-1532	37	8	distribution	distribution	NOUN
easat-1532	37	9	planning	planning	NOUN
easat-1532	37	10	method	method	NOUN
easat-1532	37	11	based	base	VERB
easat-1532	37	12	on	on	ADP
easat-1532	37	13	the	the	DET
easat-1532	37	14	location	location	NOUN
easat-1532	37	15	of	of	ADP
easat-1532	37	16	urban	urban	ADJ
easat-1532	37	17	intelligent	intelligent	ADJ
easat-1532	37	18	distribution	distribution	NOUN
easat-1532	37	19	centers	center	NOUN
easat-1532	37	20	,	,	PUNCT
easat-1532	37	21	and	and	CCONJ
easat-1532	37	22	analyzed	analyze	VERB
easat-1532	37	23	the	the	DET
easat-1532	37	24	effect	effect	NOUN
easat-1532	37	25	of	of	ADP
easat-1532	37	26	logistics	logistic	NOUN
easat-1532	37	27	operation	operation	NOUN
easat-1532	37	28	under	under	ADP
easat-1532	37	29	the	the	DET
easat-1532	37	30	route	route	NOUN
easat-1532	37	31	and	and	CCONJ
easat-1532	37	32	storage	storage	NOUN
easat-1532	37	33	planning	planning	NOUN
easat-1532	37	34	by	by	ADP
easat-1532	37	35	means	mean	NOUN
easat-1532	37	36	of	of	ADP
easat-1532	37	37	simulation	simulation	NOUN
easat-1532	37	38	tests	test	NOUN
easat-1532	37	39	.	.	PUNCT
easat-1532	38	1	the	the	DET
easat-1532	38	2	research	research	NOUN
easat-1532	38	3	results	result	NOUN
easat-1532	38	4	show	show	VERB
easat-1532	38	5	that	that	SCONJ
easat-1532	38	6	the	the	DET
easat-1532	38	7	strategy	strategy	NOUN
easat-1532	38	8	can	can	AUX
easat-1532	38	9	effectively	effectively	ADV
easat-1532	38	10	guarantee	guarantee	VERB
easat-1532	38	11	the	the	DET
easat-1532	38	12	sustainability	sustainability	NOUN
easat-1532	38	13	of	of	ADP
easat-1532	38	14	logistics	logistic	NOUN
easat-1532	38	15	operations[18	operations[18	X
easat-1532	38	16	]	]	PUNCT
easat-1532	38	17	.	.	PUNCT
easat-1532	39	1	it	it	PRON
easat-1532	39	2	can	can	AUX
easat-1532	39	3	be	be	AUX
easat-1532	39	4	seen	see	VERB
easat-1532	39	5	that	that	SCONJ
easat-1532	39	6	the	the	DET
easat-1532	39	7	current	current	ADJ
easat-1532	39	8	research	research	NOUN
easat-1532	39	9	on	on	ADP
easat-1532	39	10	logistics	logistic	NOUN
easat-1532	39	11	distribution	distribution	NOUN
easat-1532	39	12	and	and	CCONJ
easat-1532	39	13	storage	storage	NOUN
easat-1532	39	14	planning	planning	NOUN
easat-1532	39	15	is	be	AUX
easat-1532	39	16	more	more	ADV
easat-1532	39	17	focused	focused	ADJ
easat-1532	39	18	on	on	ADP
easat-1532	39	19	real	real	ADJ
easat-1532	39	20	-	-	PUNCT
easat-1532	39	21	time	time	NOUN
easat-1532	39	22	dynamic	dynamic	ADJ
easat-1532	39	23	planning	planning	NOUN
easat-1532	39	24	,	,	PUNCT
easat-1532	39	25	focusing	focus	VERB
easat-1532	39	26	on	on	ADP
easat-1532	39	27	intelligent	intelligent	ADJ
easat-1532	39	28	improvement	improvement	NOUN
easat-1532	39	29	of	of	ADP
easat-1532	39	30	the	the	DET
easat-1532	39	31	city	city	NOUN
easat-1532	39	32	,	,	PUNCT
easat-1532	39	33	but	but	CCONJ
easat-1532	39	34	this	this	DET
easat-1532	39	35	dynamic	dynamic	ADJ
easat-1532	39	36	planning	planning	NOUN
easat-1532	39	37	is	be	AUX
easat-1532	39	38	particularly	particularly	ADV
easat-1532	39	39	dependent	dependent	ADJ
easat-1532	39	40	on	on	ADP
easat-1532	39	41	the	the	DET
easat-1532	39	42	information	information	NOUN
easat-1532	39	43	collection	collection	NOUN
easat-1532	39	44	and	and	CCONJ
easat-1532	39	45	processing	processing	NOUN
easat-1532	39	46	capabilities	capability	NOUN
easat-1532	39	47	of	of	ADP
easat-1532	39	48	the	the	DET
easat-1532	39	49	system	system	NOUN
easat-1532	39	50	,	,	PUNCT
easat-1532	39	51	so	so	CCONJ
easat-1532	39	52	the	the	DET
easat-1532	39	53	research	research	NOUN
easat-1532	39	54	selects	select	VERB
easat-1532	39	55	the	the	DET
easat-1532	39	56	multi	multi	ADJ
easat-1532	39	57	-	-	ADJ
easat-1532	39	58	source	source	ADJ
easat-1532	39	59	information	information	NOUN
easat-1532	39	60	positioning	positioning	NOUN
easat-1532	39	61	technology	technology	NOUN
easat-1532	39	62	with	with	ADP
easat-1532	39	63	better	well	ADJ
easat-1532	39	64	information	information	NOUN
easat-1532	39	65	processing	processing	NOUN
easat-1532	39	66	effect	effect	NOUN
easat-1532	39	67	as	as	ADP
easat-1532	39	68	the	the	DET
easat-1532	39	69	basis	basis	NOUN
easat-1532	39	70	to	to	PART
easat-1532	39	71	establish	establish	VERB
easat-1532	39	72	the	the	DET
easat-1532	39	73	intelligent	intelligent	ADJ
easat-1532	39	74	logistics	logistic	NOUN
easat-1532	39	75	distribution	distribution	NOUN
easat-1532	39	76	model	model	NOUN
easat-1532	39	77	and	and	CCONJ
easat-1532	39	78	storage	storage	NOUN
easat-1532	39	79	planning	planning	NOUN
easat-1532	39	80	model	model	NOUN
easat-1532	39	81	,	,	PUNCT
easat-1532	39	82	provide	provide	VERB
easat-1532	39	83	a	a	DET
easat-1532	39	84	feasible	feasible	ADJ
easat-1532	39	85	path	path	NOUN
easat-1532	39	86	for	for	ADP
easat-1532	39	87	the	the	DET
easat-1532	39	88	realization	realization	NOUN
easat-1532	39	89	of	of	ADP
easat-1532	39	90	intelligent	intelligent	ADJ
easat-1532	39	91	logistics	logistic	NOUN
easat-1532	39	92	distribution	distribution	NOUN
easat-1532	39	93	.	.	PUNCT
easat-1532	40	1	3	3	X
easat-1532	40	2	.	.	X
easat-1532	40	3	multi	multi	ADJ
easat-1532	40	4	-	-	ADJ
easat-1532	40	5	source	source	ADJ
easat-1532	40	6	information	information	NOUN
easat-1532	40	7	positioning	positioning	NOUN
easat-1532	40	8	logistics	logistic	NOUN
easat-1532	40	9	automated	automate	VERB
easat-1532	40	10	warehousing	warehousing	NOUN
easat-1532	40	11	and	and	CCONJ
easat-1532	40	12	distribution	distribution	NOUN
easat-1532	40	13	model	model	NOUN
easat-1532	40	14	design	design	NOUN
easat-1532	40	15	3.1	3.1	NUM
easat-1532	40	16	.	.	PUNCT
easat-1532	40	17	map	map	VERB
easat-1532	40	18	construction	construction	NOUN
easat-1532	40	19	and	and	CCONJ
easat-1532	40	20	positioning	positioning	NOUN
easat-1532	40	21	navigation	navigation	NOUN
easat-1532	40	22	strategy	strategy	NOUN
easat-1532	40	23	design	design	NOUN
easat-1532	40	24	in	in	ADP
easat-1532	40	25	intelligent	intelligent	ADJ
easat-1532	40	26	logistics	logistic	NOUN
easat-1532	40	27	warehousing	warehousing	NOUN
easat-1532	40	28	and	and	CCONJ
easat-1532	40	29	distribution	distribution	NOUN
easat-1532	40	30	,	,	PUNCT
easat-1532	40	31	the	the	DET
easat-1532	40	32	distribution	distribution	NOUN
easat-1532	40	33	system	system	NOUN
easat-1532	40	34	needs	need	VERB
easat-1532	40	35	to	to	PART
easat-1532	40	36	choose	choose	VERB
easat-1532	40	37	the	the	DET
easat-1532	40	38	logistics	logistic	NOUN
easat-1532	40	39	and	and	CCONJ
easat-1532	40	40	distribution	distribution	NOUN
easat-1532	40	41	mode	mode	NOUN
easat-1532	40	42	and	and	CCONJ
easat-1532	40	43	plan	plan	VERB
easat-1532	40	44	the	the	DET
easat-1532	40	45	storage	storage	NOUN
easat-1532	40	46	strategy	strategy	NOUN
easat-1532	40	47	based	base	VERB
easat-1532	40	48	on	on	ADP
easat-1532	40	49	the	the	DET
easat-1532	40	50	lack	lack	NOUN
easat-1532	40	51	of	of	ADP
easat-1532	40	52	detailed	detailed	ADJ
easat-1532	40	53	information	information	NOUN
easat-1532	40	54	and	and	CCONJ
easat-1532	40	55	the	the	DET
easat-1532	40	56	overall	overall	ADJ
easat-1532	40	57	terrain	terrain	NOUN
easat-1532	40	58	is	be	AUX
easat-1532	40	59	unstructured	unstructure	VERB
easat-1532	40	60	and	and	CCONJ
easat-1532	40	61	complex	complex	ADJ
easat-1532	40	62	in	in	ADP
easat-1532	40	63	elements	element	NOUN
easat-1532	40	64	.	.	PUNCT
easat-1532	41	1	in	in	ADP
easat-1532	41	2	the	the	DET
easat-1532	41	3	planning	planning	NOUN
easat-1532	41	4	process	process	NOUN
easat-1532	41	5	,	,	PUNCT
easat-1532	41	6	the	the	DET
easat-1532	41	7	distribution	distribution	NOUN
easat-1532	41	8	system	system	NOUN
easat-1532	41	9	needs	need	VERB
easat-1532	41	10	to	to	PART
easat-1532	41	11	capture	capture	VERB
easat-1532	41	12	external	external	ADJ
easat-1532	41	13	information	information	NOUN
easat-1532	41	14	from	from	ADP
easat-1532	41	15	multiple	multiple	ADJ
easat-1532	41	16	sources	source	NOUN
easat-1532	41	17	,	,	PUNCT
easat-1532	41	18	and	and	CCONJ
easat-1532	41	19	this	this	DET
easat-1532	41	20	information	information	NOUN
easat-1532	41	21	is	be	AUX
easat-1532	41	22	often	often	ADV
easat-1532	41	23	captured	capture	VERB
easat-1532	41	24	through	through	ADP
easat-1532	41	25	different	different	ADJ
easat-1532	41	26	kinds	kind	NOUN
easat-1532	41	27	of	of	ADP
easat-1532	41	28	sensors	sensor	NOUN
easat-1532	41	29	.	.	PUNCT
easat-1532	42	1	on	on	ADP
easat-1532	42	2	the	the	DET
easat-1532	42	3	basis	basis	NOUN
easat-1532	42	4	of	of	ADP
easat-1532	42	5	fully	fully	ADV
easat-1532	42	6	acquiring	acquire	VERB
easat-1532	42	7	external	external	ADJ
easat-1532	42	8	information	information	NOUN
easat-1532	42	9	,	,	PUNCT
easat-1532	42	10	the	the	DET
easat-1532	42	11	system	system	NOUN
easat-1532	42	12	can	can	AUX
easat-1532	42	13	construct	construct	VERB
easat-1532	42	14	a	a	DET
easat-1532	42	15	map	map	NOUN
easat-1532	42	16	through	through	ADP
easat-1532	42	17	algorithms	algorithm	NOUN
easat-1532	42	18	and	and	CCONJ
easat-1532	42	19	realize	realize	VERB
easat-1532	42	20	positioning	positioning	NOUN
easat-1532	42	21	on	on	ADP
easat-1532	42	22	this	this	DET
easat-1532	42	23	basis	basis	NOUN
easat-1532	42	24	,	,	PUNCT
easat-1532	42	25	and	and	CCONJ
easat-1532	42	26	then	then	ADV
easat-1532	42	27	realize	realize	VERB
easat-1532	42	28	automated	automate	VERB
easat-1532	42	29	distribution	distribution	NOUN
easat-1532	42	30	mode	mode	NOUN
easat-1532	42	31	and	and	CCONJ
easat-1532	42	32	storage	storage	NOUN
easat-1532	42	33	mode	mode	NOUN
easat-1532	42	34	planning	planning	NOUN
easat-1532	42	35	,	,	PUNCT
easat-1532	42	36	and	and	CCONJ
easat-1532	42	37	the	the	DET
easat-1532	42	38	specific	specific	ADJ
easat-1532	42	39	process	process	NOUN
easat-1532	42	40	is	be	AUX
easat-1532	42	41	shown	show	VERB
easat-1532	42	42	in	in	ADP
easat-1532	42	43	figure	figure	NOUN
easat-1532	42	44	1	1	NUM
easat-1532	42	45	.	.	PUNCT
easat-1532	43	1	按钮	按钮	PROPN
easat-1532	43	2	environmental	environmental	ADJ
easat-1532	43	3	information	information	NOUN
easat-1532	43	4	location	location	NOUN
easat-1532	43	5	algorithm	algorithm	NOUN
easat-1532	43	6	distributor	distributor	NOUN
easat-1532	43	7	status	status	NOUN
easat-1532	43	8	map	map	NOUN
easat-1532	43	9	map	map	VERB
easat-1532	43	10	construction	construction	NOUN
easat-1532	43	11	figure	figure	NOUN
easat-1532	43	12	1	1	NUM
easat-1532	43	13	.	.	X
easat-1532	43	14	map	map	VERB
easat-1532	43	15	creation	creation	NOUN
easat-1532	43	16	and	and	CCONJ
easat-1532	43	17	positioning	positioning	NOUN
easat-1532	43	18	process	process	NOUN
easat-1532	43	19	.	.	PUNCT
easat-1532	44	1	intelligent	intelligent	ADJ
easat-1532	44	2	logistics	logistic	NOUN
easat-1532	44	3	warehouse	warehouse	NOUN
easat-1532	44	4	planning	planning	NOUN
easat-1532	44	5	and	and	CCONJ
easat-1532	44	6	distribution	distribution	NOUN
easat-1532	44	7	process	process	NOUN
easat-1532	44	8	are	be	AUX
easat-1532	44	9	interdependent	interdependent	ADJ
easat-1532	44	10	on	on	ADP
easat-1532	44	11	the	the	DET
easat-1532	44	12	distribution	distribution	NOUN
easat-1532	44	13	mode	mode	NOUN
easat-1532	44	14	planning	planning	NOUN
easat-1532	44	15	,	,	PUNCT
easat-1532	44	16	which	which	PRON
easat-1532	44	17	in	in	ADP
easat-1532	44	18	turn	turn	NOUN
easat-1532	44	19	is	be	AUX
easat-1532	44	20	strictly	strictly	ADV
easat-1532	44	21	based	base	VERB
easat-1532	44	22	on	on	ADP
easat-1532	44	23	the	the	DET
easat-1532	44	24	specific	specific	ADJ
easat-1532	44	25	environmental	environmental	ADJ
easat-1532	44	26	information	information	NOUN
easat-1532	44	27	in	in	ADP
easat-1532	44	28	the	the	DET
easat-1532	44	29	planning	planning	NOUN
easat-1532	44	30	area	area	NOUN
easat-1532	44	31	.	.	PUNCT
easat-1532	45	1	this	this	DET
easat-1532	45	2	process	process	NOUN
easat-1532	45	3	,	,	PUNCT
easat-1532	45	4	shown	show	VERB
easat-1532	45	5	in	in	ADP
easat-1532	45	6	figure	figure	NOUN
easat-1532	45	7	1	1	NUM
easat-1532	45	8	,	,	PUNCT
easat-1532	45	9	is	be	AUX
easat-1532	45	10	a	a	DET
easat-1532	45	11	combination	combination	NOUN
easat-1532	45	12	of	of	ADP
easat-1532	45	13	algorithmic	algorithmic	ADJ
easat-1532	45	14	positioning	positioning	NOUN
easat-1532	45	15	and	and	CCONJ
easat-1532	45	16	system	system	NOUN
easat-1532	45	17	map	map	NOUN
easat-1532	45	18	construction	construction	NOUN
easat-1532	45	19	.	.	PUNCT
easat-1532	46	1	in	in	ADP
easat-1532	46	2	this	this	DET
easat-1532	46	3	process	process	NOUN
easat-1532	46	4	,	,	PUNCT
easat-1532	46	5	the	the	DET
easat-1532	46	6	intelligent	intelligent	ADJ
easat-1532	46	7	distribution	distribution	NOUN
easat-1532	46	8	system	system	NOUN
easat-1532	46	9	gradually	gradually	ADV
easat-1532	46	10	builds	build	VERB
easat-1532	46	11	incremental	incremental	ADJ
easat-1532	46	12	environmental	environmental	ADJ
easat-1532	46	13	maps	map	NOUN
easat-1532	46	14	through	through	ADP
easat-1532	46	15	the	the	DET
easat-1532	46	16	collection	collection	NOUN
easat-1532	46	17	of	of	ADP
easat-1532	46	18	external	external	ADJ
easat-1532	46	19	environmental	environmental	ADJ
easat-1532	46	20	information	information	NOUN
easat-1532	46	21	by	by	ADP
easat-1532	46	22	1620	1620	NUM
easat-1532	46	23	edelweiss	edelweiss	PROPN
easat-1532	46	24	applied	apply	VERB
easat-1532	46	25	science	science	NOUN
easat-1532	46	26	and	and	CCONJ
easat-1532	46	27	technology	technology	NOUN
easat-1532	46	28	issn	issn	PROPN
easat-1532	46	29	:	:	PUNCT
easat-1532	46	30	2576	2576	NUM
easat-1532	46	31	-	-	SYM
easat-1532	46	32	8484	8484	NUM
easat-1532	46	33	vol	vol	NOUN
easat-1532	46	34	.	.	PROPN
easat-1532	46	35	8	8	NUM
easat-1532	46	36	,	,	PUNCT
easat-1532	46	37	no	no	INTJ
easat-1532	46	38	.	.	NOUN
easat-1532	46	39	4	4	NUM
easat-1532	46	40	:	:	SYM
easat-1532	46	41	1617	1617	NUM
easat-1532	46	42	-	-	SYM
easat-1532	46	43	1629	1629	NUM
easat-1532	46	44	,	,	PUNCT
easat-1532	46	45	2024	2024	NUM
easat-1532	46	46	doi	doi	NOUN
easat-1532	46	47	:	:	PUNCT
easat-1532	46	48	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	46	49	©	©	PROPN
easat-1532	46	50	2024	2024	NUM
easat-1532	46	51	by	by	ADP
easat-1532	46	52	the	the	DET
easat-1532	46	53	authors	author	NOUN
easat-1532	46	54	;	;	PUNCT
easat-1532	46	55	licensee	licensee	PROPN
easat-1532	46	56	learning	learn	VERB
easat-1532	46	57	gate	gate	NOUN
easat-1532	46	58	sensors	sensor	NOUN
easat-1532	46	59	.	.	PUNCT
easat-1532	47	1	at	at	ADP
easat-1532	47	2	the	the	DET
easat-1532	47	3	same	same	ADJ
easat-1532	47	4	time	time	NOUN
easat-1532	47	5	,	,	PUNCT
easat-1532	47	6	the	the	DET
easat-1532	47	7	real	real	ADJ
easat-1532	47	8	-	-	PUNCT
easat-1532	47	9	time	time	NOUN
easat-1532	47	10	location	location	NOUN
easat-1532	47	11	of	of	ADP
easat-1532	47	12	itself	itself	PRON
easat-1532	47	13	in	in	ADP
easat-1532	47	14	the	the	DET
easat-1532	47	15	map	map	NOUN
easat-1532	47	16	is	be	AUX
easat-1532	47	17	continuously	continuously	ADV
easat-1532	47	18	positioned	position	VERB
easat-1532	47	19	during	during	ADP
easat-1532	47	20	the	the	DET
easat-1532	47	21	real	real	ADJ
easat-1532	47	22	-	-	PUNCT
easat-1532	47	23	time	time	NOUN
easat-1532	47	24	distribution	distribution	NOUN
easat-1532	47	25	process	process	NOUN
easat-1532	47	26	.	.	PUNCT
easat-1532	48	1	this	this	DET
easat-1532	48	2	process	process	NOUN
easat-1532	48	3	can	can	AUX
easat-1532	48	4	be	be	AUX
easat-1532	48	5	succinctly	succinctly	ADV
easat-1532	48	6	divided	divide	VERB
easat-1532	48	7	into	into	ADP
easat-1532	48	8	four	four	NUM
easat-1532	48	9	main	main	ADJ
easat-1532	48	10	implementation	implementation	NOUN
easat-1532	48	11	steps	step	NOUN
easat-1532	48	12	:	:	PUNCT
easat-1532	48	13	map	map	VERB
easat-1532	48	14	creation	creation	NOUN
easat-1532	48	15	,	,	PUNCT
easat-1532	48	16	information	information	NOUN
easat-1532	48	17	feature	feature	NOUN
easat-1532	48	18	extraction	extraction	NOUN
easat-1532	48	19	,	,	PUNCT
easat-1532	48	20	map	map	VERB
easat-1532	48	21	location	location	NOUN
easat-1532	48	22	matching	matching	NOUN
easat-1532	48	23	,	,	PUNCT
easat-1532	48	24	and	and	CCONJ
easat-1532	48	25	distribution	distribution	NOUN
easat-1532	48	26	state	state	NOUN
easat-1532	48	27	correction	correction	NOUN
easat-1532	48	28	.	.	PUNCT
easat-1532	49	1	since	since	SCONJ
easat-1532	49	2	all	all	DET
easat-1532	49	3	these	these	DET
easat-1532	49	4	steps	step	NOUN
easat-1532	49	5	are	be	AUX
easat-1532	49	6	based	base	VERB
easat-1532	49	7	on	on	ADP
easat-1532	49	8	the	the	DET
easat-1532	49	9	sensor	sensor	NOUN
easat-1532	49	10	information	information	NOUN
easat-1532	49	11	capture	capture	NOUN
easat-1532	49	12	of	of	ADP
easat-1532	49	13	the	the	DET
easat-1532	49	14	delivery	delivery	NOUN
easat-1532	49	15	robot	robot	NOUN
easat-1532	49	16	,	,	PUNCT
easat-1532	49	17	if	if	SCONJ
easat-1532	49	18	the	the	DET
easat-1532	49	19	external	external	ADJ
easat-1532	49	20	information	information	NOUN
easat-1532	49	21	is	be	AUX
easat-1532	49	22	not	not	PART
easat-1532	49	23	sufficient	sufficient	ADJ
easat-1532	49	24	,	,	PUNCT
easat-1532	49	25	it	it	PRON
easat-1532	49	26	will	will	AUX
easat-1532	49	27	lead	lead	VERB
easat-1532	49	28	to	to	ADP
easat-1532	49	29	problems	problem	NOUN
easat-1532	49	30	in	in	ADP
easat-1532	49	31	delivery	delivery	NOUN
easat-1532	49	32	planning	planning	NOUN
easat-1532	49	33	.	.	PUNCT
easat-1532	50	1	therefore	therefore	ADV
easat-1532	50	2	,	,	PUNCT
easat-1532	50	3	this	this	DET
easat-1532	50	4	study	study	NOUN
easat-1532	50	5	uses	use	VERB
easat-1532	50	6	multi	multi	ADJ
easat-1532	50	7	-	-	ADJ
easat-1532	50	8	sensor	sensor	ADJ
easat-1532	50	9	information	information	NOUN
easat-1532	50	10	fusion	fusion	NOUN
easat-1532	50	11	for	for	ADP
easat-1532	50	12	information	information	NOUN
easat-1532	50	13	extraction	extraction	NOUN
easat-1532	50	14	to	to	PART
easat-1532	50	15	ensure	ensure	VERB
easat-1532	50	16	that	that	SCONJ
easat-1532	50	17	the	the	DET
easat-1532	50	18	delivery	delivery	NOUN
easat-1532	50	19	robot	robot	NOUN
easat-1532	50	20	collects	collect	VERB
easat-1532	50	21	sufficient	sufficient	ADJ
easat-1532	50	22	information	information	NOUN
easat-1532	50	23	about	about	ADP
easat-1532	50	24	the	the	DET
easat-1532	50	25	external	external	ADJ
easat-1532	50	26	environment	environment	NOUN
easat-1532	50	27	.	.	PUNCT
easat-1532	51	1	the	the	DET
easat-1532	51	2	specific	specific	ADJ
easat-1532	51	3	system	system	NOUN
easat-1532	51	4	framework	framework	NOUN
easat-1532	51	5	is	be	AUX
easat-1532	51	6	shown	show	VERB
easat-1532	51	7	in	in	ADP
easat-1532	51	8	figure	figure	NOUN
easat-1532	51	9	2	2	NUM
easat-1532	51	10	.	.	PUNCT
easat-1532	51	11	observation	observation	NOUN
easat-1532	51	12	input	input	NOUN
easat-1532	51	13	featu	featu	PROPN
easat-1532	51	14	re	re	ADP
easat-1532	51	15	extra	extra	PROPN
easat-1532	51	16	ction	ction	NOUN
easat-1532	51	17	data	data	PROPN
easat-1532	51	18	assoc	assoc	PROPN
easat-1532	51	19	iation	iation	PROPN
easat-1532	51	20	update	update	NOUN
easat-1532	51	21	map	map	NOUN
easat-1532	51	22	and	and	CCONJ
easat-1532	51	23	locate	locate	ADJ
easat-1532	51	24	observation	observation	NOUN
easat-1532	51	25	system	system	NOUN
easat-1532	51	26	prediction	prediction	NOUN
easat-1532	51	27	control	control	NOUN
easat-1532	51	28	variable	variable	ADJ
easat-1532	51	29	input	input	NOUN
easat-1532	51	30	figure	figure	NOUN
easat-1532	51	31	2	2	NUM
easat-1532	51	32	.	.	PUNCT
easat-1532	51	33	navigation	navigation	NOUN
easat-1532	51	34	system	system	NOUN
easat-1532	51	35	framework	framework	NOUN
easat-1532	51	36	.	.	PUNCT
easat-1532	52	1	in	in	ADP
easat-1532	52	2	this	this	DET
easat-1532	52	3	study	study	NOUN
easat-1532	52	4	,	,	PUNCT
easat-1532	52	5	the	the	DET
easat-1532	52	6	extended	extended	ADJ
easat-1532	52	7	kalman	kalman	NOUN
easat-1532	52	8	filter	filter	NOUN
easat-1532	52	9	algorithm	algorithm	NOUN
easat-1532	52	10	is	be	AUX
easat-1532	52	11	selected	select	VERB
easat-1532	52	12	as	as	ADP
easat-1532	52	13	the	the	DET
easat-1532	52	14	main	main	ADJ
easat-1532	52	15	algorithm	algorithm	NOUN
easat-1532	52	16	to	to	PART
easat-1532	52	17	solve	solve	VERB
easat-1532	52	18	the	the	DET
easat-1532	52	19	map	map	NOUN
easat-1532	52	20	construction	construction	NOUN
easat-1532	52	21	and	and	CCONJ
easat-1532	52	22	localization	localization	NOUN
easat-1532	52	23	problem	problem	NOUN
easat-1532	52	24	based	base	VERB
easat-1532	52	25	on	on	ADP
easat-1532	52	26	the	the	DET
easat-1532	52	27	consideration	consideration	NOUN
easat-1532	52	28	of	of	ADP
easat-1532	52	29	robustness	robustness	NOUN
easat-1532	52	30	and	and	CCONJ
easat-1532	52	31	accuracy	accuracy	NOUN
easat-1532	52	32	in	in	ADP
easat-1532	52	33	the	the	DET
easat-1532	52	34	process	process	NOUN
easat-1532	52	35	of	of	ADP
easat-1532	52	36	external	external	ADJ
easat-1532	52	37	environment	environment	NOUN
easat-1532	52	38	information	information	NOUN
easat-1532	52	39	collection	collection	NOUN
easat-1532	52	40	.	.	PUNCT
easat-1532	53	1	through	through	ADP
easat-1532	53	2	the	the	DET
easat-1532	53	3	extended	extended	ADJ
easat-1532	53	4	kalman	kalman	NOUN
easat-1532	53	5	filter	filter	NOUN
easat-1532	53	6	algorithm	algorithm	PROPN
easat-1532	53	7	,	,	PUNCT
easat-1532	53	8	the	the	DET
easat-1532	53	9	study	study	NOUN
easat-1532	53	10	constructs	construct	VERB
easat-1532	53	11	a	a	DET
easat-1532	53	12	planar	planar	ADJ
easat-1532	53	13	coordinate	coordinate	NOUN
easat-1532	53	14	system	system	NOUN
easat-1532	53	15	in	in	ADP
easat-1532	53	16	the	the	DET
easat-1532	53	17	process	process	NOUN
easat-1532	53	18	of	of	ADP
easat-1532	53	19	map	map	NOUN
easat-1532	53	20	construction	construction	NOUN
easat-1532	53	21	and	and	CCONJ
easat-1532	53	22	localization	localization	NOUN
easat-1532	53	23	,	,	PUNCT
easat-1532	53	24	and	and	CCONJ
easat-1532	53	25	uses	use	VERB
easat-1532	53	26	the	the	DET
easat-1532	53	27	point	point	NOUN
easat-1532	53	28	coordinates	coordinate	NOUN
easat-1532	53	29	in	in	ADP
easat-1532	53	30	the	the	DET
easat-1532	53	31	planar	planar	ADJ
easat-1532	53	32	coordinate	coordinate	NOUN
easat-1532	53	33	system	system	NOUN
easat-1532	53	34	to	to	PART
easat-1532	53	35	represent	represent	VERB
easat-1532	53	36	the	the	DET
easat-1532	53	37	location	location	NOUN
easat-1532	53	38	of	of	ADP
easat-1532	53	39	the	the	DET
easat-1532	53	40	distribution	distribution	NOUN
easat-1532	53	41	point	point	NOUN
easat-1532	53	42	and	and	CCONJ
easat-1532	53	43	the	the	DET
easat-1532	53	44	surrounding	surround	VERB
easat-1532	53	45	environment	environment	NOUN
easat-1532	53	46	information	information	NOUN
easat-1532	53	47	,	,	PUNCT
easat-1532	53	48	and	and	CCONJ
easat-1532	53	49	describes	describe	VERB
easat-1532	53	50	the	the	DET
easat-1532	53	51	distribution	distribution	NOUN
easat-1532	53	52	mode	mode	NOUN
easat-1532	53	53	of	of	ADP
easat-1532	53	54	the	the	DET
easat-1532	53	55	distribution	distribution	NOUN
easat-1532	53	56	point	point	NOUN
easat-1532	53	57	,	,	PUNCT
easat-1532	53	58	its	its	PRON
easat-1532	53	59	relationship	relationship	NOUN
easat-1532	53	60	with	with	ADP
easat-1532	53	61	the	the	DET
easat-1532	53	62	external	external	ADJ
easat-1532	53	63	environment	environment	NOUN
easat-1532	53	64	information	information	NOUN
easat-1532	53	65	as	as	ADP
easat-1532	53	66	a	a	DET
easat-1532	53	67	nonlinear	nonlinear	ADJ
easat-1532	53	68	model	model	NOUN
easat-1532	53	69	with	with	ADP
easat-1532	53	70	motion	motion	NOUN
easat-1532	53	71	.	.	PUNCT
easat-1532	54	1	considering	consider	VERB
easat-1532	54	2	map	map	VERB
easat-1532	54	3	construction	construction	NOUN
easat-1532	54	4	and	and	CCONJ
easat-1532	54	5	localization	localization	NOUN
easat-1532	54	6	as	as	ADP
easat-1532	54	7	a	a	DET
easat-1532	54	8	filtering	filtering	NOUN
easat-1532	54	9	problem	problem	NOUN
easat-1532	54	10	,	,	PUNCT
easat-1532	54	11	then	then	ADV
easat-1532	54	12	the	the	DET
easat-1532	54	13	noise	noise	NOUN
easat-1532	54	14	in	in	ADP
easat-1532	54	15	the	the	DET
easat-1532	54	16	system	system	NOUN
easat-1532	54	17	can	can	AUX
easat-1532	54	18	be	be	AUX
easat-1532	54	19	processed	process	VERB
easat-1532	54	20	using	use	VERB
easat-1532	54	21	the	the	DET
easat-1532	54	22	extended	extended	ADJ
easat-1532	54	23	kalman	kalman	NOUN
easat-1532	54	24	filter	filter	NOUN
easat-1532	54	25	algorithm	algorithm	NOUN
easat-1532	54	26	,	,	PUNCT
easat-1532	54	27	and	and	CCONJ
easat-1532	54	28	the	the	DET
easat-1532	54	29	nonlinear	nonlinear	ADJ
easat-1532	54	30	discrete	discrete	ADJ
easat-1532	54	31	control	control	NOUN
easat-1532	54	32	system	system	NOUN
easat-1532	54	33	equations	equation	NOUN
easat-1532	54	34	of	of	ADP
easat-1532	54	35	the	the	DET
easat-1532	54	36	algorithm	algorithm	NOUN
easat-1532	54	37	are	be	AUX
easat-1532	54	38	shown	show	VERB
easat-1532	54	39	in	in	ADP
easat-1532	54	40	equation	equation	NOUN
easat-1532	54	41	(	(	PUNCT
easat-1532	54	42	1	1	NUM
easat-1532	54	43	)	)	PUNCT
easat-1532	54	44	.	.	PUNCT
easat-1532	55	1	(	(	PUNCT
easat-1532	55	2	)	)	PUNCT
easat-1532	55	3			PROPN
easat-1532	55	4	1	1	NOUN
easat-1532	55	5	)	)	PUNCT
easat-1532	55	6	(	(	PUNCT
easat-1532	55	7	−=	−=	AUX
easat-1532	55	8	kxfkx	kxfkx	PROPN
easat-1532	55	9	(	(	PUNCT
easat-1532	55	10	1	1	NUM
easat-1532	55	11	)	)	PUNCT
easat-1532	55	12	in	in	ADP
easat-1532	55	13	equation	equation	NOUN
easat-1532	55	14	(	(	PUNCT
easat-1532	55	15	1	1	NUM
easat-1532	55	16	)	)	PUNCT
easat-1532	55	17	,	,	PUNCT
easat-1532	55	18	(	(	PUNCT
easat-1532	55	19	)	)	PUNCT
easat-1532	55	20	1−kx	1−kx	NUM
easat-1532	55	21	represents	represent	VERB
easat-1532	55	22	the	the	DET
easat-1532	55	23	vector	vector	NOUN
easat-1532	55	24	formed	form	VERB
easat-1532	55	25	by	by	ADP
easat-1532	55	26	the	the	DET
easat-1532	55	27	system	system	NOUN
easat-1532	55	28	state	state	NOUN
easat-1532	55	29	at	at	ADP
easat-1532	55	30	the	the	DET
easat-1532	55	31	moment	moment	NOUN
easat-1532	55	32	of	of	ADP
easat-1532	55	33	1−k	1−k	NUM
easat-1532	55	34	,	,	PUNCT
easat-1532	55	35	and	and	CCONJ
easat-1532	55	36	f	f	PROPN
easat-1532	55	37	represents	represent	VERB
easat-1532	55	38	the	the	DET
easat-1532	55	39	system	system	NOUN
easat-1532	55	40	parameters	parameter	NOUN
easat-1532	55	41	.	.	PUNCT
easat-1532	56	1	the	the	DET
easat-1532	56	2	observation	observation	NOUN
easat-1532	56	3	equation	equation	NOUN
easat-1532	56	4	is	be	AUX
easat-1532	56	5	shown	show	VERB
easat-1532	56	6	in	in	ADP
easat-1532	56	7	equation	equation	NOUN
easat-1532	56	8	(	(	PUNCT
easat-1532	56	9	2	2	NUM
easat-1532	56	10	)	)	PUNCT
easat-1532	56	11	.	.	PUNCT
easat-1532	57	1	(	(	PUNCT
easat-1532	57	2	)	)	PUNCT
easat-1532	57	3	(	(	PUNCT
easat-1532	57	4	)	)	PUNCT
easat-1532	57	5			ADJ
easat-1532	57	6			PROPN
easat-1532	57	7	(	(	PUNCT
easat-1532	57	8	)	)	PUNCT
easat-1532	57	9	kvkxhkz	kvkxhkz	PROPN
easat-1532	58	1	+	+	PROPN
easat-1532	58	2	=	=	X
easat-1532	58	3	(	(	PUNCT
easat-1532	58	4	2	2	NUM
easat-1532	58	5	)	)	PUNCT
easat-1532	58	6	in	in	ADP
easat-1532	58	7	equation	equation	NOUN
easat-1532	58	8	(	(	PUNCT
easat-1532	58	9	2	2	NUM
easat-1532	58	10	)	)	PUNCT
easat-1532	58	11	,	,	PUNCT
easat-1532	58	12	h	h	PROPN
easat-1532	58	13	denotes	denote	VERB
easat-1532	58	14	the	the	DET
easat-1532	58	15	observation	observation	NOUN
easat-1532	58	16	system	system	NOUN
easat-1532	58	17	parameters	parameter	NOUN
easat-1532	58	18	and	and	CCONJ
easat-1532	58	19	(	(	PUNCT
easat-1532	58	20	)	)	PUNCT
easat-1532	58	21	kv	kv	PROPN
easat-1532	58	22	denotes	denote	VERB
easat-1532	58	23	the	the	DET
easat-1532	58	24	system	system	NOUN
easat-1532	58	25	noise	noise	NOUN
easat-1532	58	26	vector	vector	NOUN
easat-1532	58	27	.	.	PUNCT
easat-1532	59	1	it	it	PRON
easat-1532	59	2	is	be	AUX
easat-1532	59	3	important	important	ADJ
easat-1532	59	4	to	to	PART
easat-1532	59	5	update	update	VERB
easat-1532	59	6	the	the	DET
easat-1532	59	7	distribution	distribution	NOUN
easat-1532	59	8	status	status	NOUN
easat-1532	59	9	and	and	CCONJ
easat-1532	59	10	environmental	environmental	ADJ
easat-1532	59	11	information	information	NOUN
easat-1532	59	12	of	of	ADP
easat-1532	59	13	the	the	DET
easat-1532	59	14	distribution	distribution	NOUN
easat-1532	59	15	point	point	NOUN
easat-1532	59	16	in	in	ADP
easat-1532	59	17	the	the	DET
easat-1532	59	18	process	process	NOUN
easat-1532	59	19	of	of	ADP
easat-1532	59	20	map	map	NOUN
easat-1532	59	21	construction	construction	NOUN
easat-1532	59	22	and	and	CCONJ
easat-1532	59	23	positioning	positioning	NOUN
easat-1532	59	24	.	.	PUNCT
easat-1532	60	1	the	the	DET
easat-1532	60	2	data	datum	NOUN
easat-1532	60	3	collected	collect	VERB
easat-1532	60	4	by	by	ADP
easat-1532	60	5	the	the	DET
easat-1532	60	6	sensor	sensor	NOUN
easat-1532	60	7	synthesis	synthesis	NOUN
easat-1532	60	8	is	be	AUX
easat-1532	60	9	used	use	VERB
easat-1532	60	10	as	as	ADP
easat-1532	60	11	the	the	DET
easat-1532	60	12	input	input	NOUN
easat-1532	60	13	control	control	NOUN
easat-1532	60	14	quantity	quantity	NOUN
easat-1532	60	15	,	,	PUNCT
easat-1532	60	16	and	and	CCONJ
easat-1532	60	17	the	the	DET
easat-1532	60	18	distribution	distribution	NOUN
easat-1532	60	19	status	status	NOUN
easat-1532	60	20	of	of	ADP
easat-1532	60	21	the	the	DET
easat-1532	60	22	distribution	distribution	NOUN
easat-1532	60	23	point	point	NOUN
easat-1532	60	24	is	be	AUX
easat-1532	60	25	observed	observe	VERB
easat-1532	60	26	and	and	CCONJ
easat-1532	60	27	updated	update	VERB
easat-1532	60	28	based	base	VERB
easat-1532	60	29	on	on	ADP
easat-1532	60	30	the	the	DET
easat-1532	60	31	current	current	ADJ
easat-1532	60	32	location	location	NOUN
easat-1532	60	33	of	of	ADP
easat-1532	60	34	the	the	DET
easat-1532	60	35	distribution	distribution	NOUN
easat-1532	60	36	point	point	NOUN
easat-1532	60	37	.	.	PUNCT
easat-1532	61	1	firstly	firstly	ADV
easat-1532	61	2	,	,	PUNCT
easat-1532	61	3	the	the	DET
easat-1532	61	4	location	location	NOUN
easat-1532	61	5	of	of	ADP
easat-1532	61	6	the	the	DET
easat-1532	61	7	distribution	distribution	NOUN
easat-1532	61	8	point	point	NOUN
easat-1532	61	9	in	in	ADP
easat-1532	61	10	the	the	DET
easat-1532	61	11	map	map	NOUN
easat-1532	61	12	is	be	AUX
easat-1532	61	13	determined	determine	VERB
easat-1532	61	14	by	by	ADP
easat-1532	61	15	using	use	VERB
easat-1532	61	16	the	the	DET
easat-1532	61	17	extended	extended	ADJ
easat-1532	61	18	kalman	kalman	NOUN
easat-1532	61	19	filtering	filtering	NOUN
easat-1532	61	20	algorithm	algorithm	PROPN
easat-1532	61	21	,	,	PUNCT
easat-1532	61	22	after	after	ADP
easat-1532	61	23	that	that	PRON
easat-1532	61	24	,	,	PUNCT
easat-1532	61	25	the	the	DET
easat-1532	61	26	information	information	NOUN
easat-1532	61	27	of	of	ADP
easat-1532	61	28	the	the	DET
easat-1532	61	29	environmental	environmental	ADJ
easat-1532	61	30	features	feature	NOUN
easat-1532	61	31	around	around	ADP
easat-1532	61	32	the	the	DET
easat-1532	61	33	distribution	distribution	NOUN
easat-1532	61	34	point	point	NOUN
easat-1532	61	35	is	be	AUX
easat-1532	61	36	collected	collect	VERB
easat-1532	61	37	,	,	PUNCT
easat-1532	61	38	and	and	CCONJ
easat-1532	61	39	the	the	DET
easat-1532	61	40	realtime	realtime	NOUN
easat-1532	61	41	map	map	NOUN
easat-1532	61	42	information	information	NOUN
easat-1532	61	43	and	and	CCONJ
easat-1532	61	44	location	location	NOUN
easat-1532	61	45	information	information	NOUN
easat-1532	61	46	are	be	AUX
easat-1532	61	47	updated	update	VERB
easat-1532	61	48	by	by	ADP
easat-1532	61	49	using	use	VERB
easat-1532	61	50	the	the	DET
easat-1532	61	51	fitness	fitness	NOUN
easat-1532	61	52	equation	equation	NOUN
easat-1532	61	53	,	,	PUNCT
easat-1532	61	54	and	and	CCONJ
easat-1532	61	55	finally	finally	ADV
easat-1532	61	56	the	the	DET
easat-1532	61	57	deviation	deviation	NOUN
easat-1532	61	58	value	value	NOUN
easat-1532	61	59	is	be	AUX
easat-1532	61	60	reduced	reduce	VERB
easat-1532	61	61	in	in	ADP
easat-1532	61	62	a	a	DET
easat-1532	61	63	circular	circular	ADJ
easat-1532	61	64	iterative	iterative	NOUN
easat-1532	61	65	manner	manner	NOUN
easat-1532	61	66	.	.	PUNCT
easat-1532	62	1	the	the	DET
easat-1532	62	2	current	current	ADJ
easat-1532	62	3	moment	moment	NOUN
easat-1532	62	4	is	be	AUX
easat-1532	62	5	represented	represent	VERB
easat-1532	62	6	by	by	ADP
easat-1532	62	7	k	k	PROPN
easat-1532	62	8	,	,	PUNCT
easat-1532	62	9	then	then	ADV
easat-1532	62	10	the	the	DET
easat-1532	62	11	current	current	ADJ
easat-1532	62	12	system	system	NOUN
easat-1532	62	13	state	state	NOUN
easat-1532	62	14	and	and	CCONJ
easat-1532	62	15	the	the	DET
easat-1532	62	16	previous	previous	ADJ
easat-1532	62	17	one	one	NOUN
easat-1532	62	18	are	be	AUX
easat-1532	62	19	shown	show	VERB
easat-1532	62	20	in	in	ADP
easat-1532	62	21	equation	equation	NOUN
easat-1532	62	22	(	(	PUNCT
easat-1532	62	23	3	3	NUM
easat-1532	62	24	)	)	PUNCT
easat-1532	62	25	.	.	PUNCT
easat-1532	63	1	1621	1621	NUM
easat-1532	63	2	edelweiss	edelweiss	PROPN
easat-1532	63	3	applied	apply	VERB
easat-1532	63	4	science	science	NOUN
easat-1532	63	5	and	and	CCONJ
easat-1532	63	6	technology	technology	NOUN
easat-1532	63	7	issn	issn	PROPN
easat-1532	63	8	:	:	PUNCT
easat-1532	63	9	2576	2576	NUM
easat-1532	63	10	-	-	SYM
easat-1532	63	11	8484	8484	NUM
easat-1532	63	12	vol	vol	NOUN
easat-1532	63	13	.	.	PROPN
easat-1532	63	14	8	8	NUM
easat-1532	63	15	,	,	PUNCT
easat-1532	63	16	no	no	INTJ
easat-1532	63	17	.	.	NOUN
easat-1532	63	18	4	4	NUM
easat-1532	63	19	:	:	SYM
easat-1532	63	20	1617	1617	NUM
easat-1532	63	21	-	-	SYM
easat-1532	63	22	1629	1629	NUM
easat-1532	63	23	,	,	PUNCT
easat-1532	63	24	2024	2024	NUM
easat-1532	63	25	doi	doi	NOUN
easat-1532	63	26	:	:	PUNCT
easat-1532	63	27	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	63	28	©	©	PROPN
easat-1532	63	29	2024	2024	NUM
easat-1532	63	30	by	by	ADP
easat-1532	63	31	the	the	DET
easat-1532	63	32	authors	author	NOUN
easat-1532	63	33	;	;	PUNCT
easat-1532	63	34	licensee	licensee	PROPN
easat-1532	63	35	learning	learning	NOUN
easat-1532	63	36	gate	gate	NOUN
easat-1532	63	37	(	(	PUNCT
easat-1532	63	38	)	)	PUNCT
easat-1532	63	39	(	(	PUNCT
easat-1532	63	40	)	)	PUNCT
easat-1532	63	41			PROPN
easat-1532	63	42			NUM
easat-1532	63	43			ADP
easat-1532	63	44	−−	−−	NOUN
easat-1532	63	45	11kkx	11kkx	ADJ
easat-1532	63	46	kkx	kkx	PROPN
easat-1532	63	47	(	(	PUNCT
easat-1532	63	48	3	3	NUM
easat-1532	63	49	)	)	PUNCT
easat-1532	63	50	the	the	DET
easat-1532	63	51	prediction	prediction	NOUN
easat-1532	63	52	process	process	NOUN
easat-1532	63	53	of	of	ADP
easat-1532	63	54	the	the	DET
easat-1532	63	55	system	system	NOUN
easat-1532	63	56	focuses	focus	VERB
easat-1532	63	57	on	on	ADP
easat-1532	63	58	the	the	DET
easat-1532	63	59	estimation	estimation	NOUN
easat-1532	63	60	of	of	ADP
easat-1532	63	61	the	the	DET
easat-1532	63	62	prior	prior	ADJ
easat-1532	63	63	and	and	CCONJ
easat-1532	63	64	variance	variance	NOUN
easat-1532	63	65	at	at	ADP
easat-1532	63	66	k	k	NOUN
easat-1532	63	67	using	use	VERB
easat-1532	63	68	the	the	DET
easat-1532	63	69	measured	measured	ADJ
easat-1532	63	70	values	value	NOUN
easat-1532	63	71	and	and	CCONJ
easat-1532	63	72	variance	variance	NOUN
easat-1532	63	73	of	of	ADP
easat-1532	63	74	the	the	DET
easat-1532	63	75	system	system	NOUN
easat-1532	63	76	at	at	ADP
easat-1532	63	77	1−k	1−k	NUM
easat-1532	63	78	.	.	PUNCT
easat-1532	64	1	the	the	DET
easat-1532	64	2	specific	specific	ADJ
easat-1532	64	3	process	process	NOUN
easat-1532	64	4	is	be	AUX
easat-1532	64	5	shown	show	VERB
easat-1532	64	6	in	in	ADP
easat-1532	64	7	equation	equation	NOUN
easat-1532	64	8	(	(	PUNCT
easat-1532	64	9	4	4	NUM
easat-1532	64	10	)	)	PUNCT
easat-1532	64	11	.	.	PUNCT
easat-1532	65	1	(	(	PUNCT
easat-1532	65	2	)	)	PUNCT
easat-1532	65	3	(	(	PUNCT
easat-1532	65	4	)	)	PUNCT
easat-1532	65	5	(	(	PUNCT
easat-1532	65	6	)	)	PUNCT
easat-1532	65	7	(	(	PUNCT
easat-1532	65	8	)	)	PUNCT
easat-1532	65	9	(	(	PUNCT
easat-1532	65	10	)	)	PUNCT
easat-1532	65	11	k111	k111	NOUN
easat-1532	65	12	qkfkkpkfkkp	qkfkkpkfkkp	PROPN
easat-1532	65	13	x	x	X
easat-1532	65	14	t	t	NOUN
easat-1532	65	15	x	x	PUNCT
easat-1532	66	1	+	+	NOUN
easat-1532	66	2	−−=−	−−=−	NOUN
easat-1532	66	3	(	(	PUNCT
easat-1532	66	4	4	4	NUM
easat-1532	66	5	)	)	PUNCT
easat-1532	66	6	in	in	ADP
easat-1532	66	7	equation	equation	NOUN
easat-1532	66	8	(	(	PUNCT
easat-1532	66	9	4	4	NUM
easat-1532	66	10	)	)	PUNCT
easat-1532	66	11	,	,	PUNCT
easat-1532	66	12	p	p	NOUN
easat-1532	66	13	denotes	denote	VERB
easat-1532	66	14	the	the	DET
easat-1532	66	15	variance	variance	NOUN
easat-1532	66	16	,	,	PUNCT
easat-1532	66	17	(	(	PUNCT
easat-1532	66	18	)	)	PUNCT
easat-1532	66	19	11	11	NUM
easat-1532	66	20	−−	−−	NOUN
easat-1532	66	21	kkp	kkp	PROPN
easat-1532	66	22	denotes	denote	VERB
easat-1532	66	23	the	the	DET
easat-1532	66	24	corresponding	corresponding	ADJ
easat-1532	66	25	variance	variance	NOUN
easat-1532	66	26	formed	form	VERB
easat-1532	66	27	by	by	ADP
easat-1532	66	28	the	the	DET
easat-1532	66	29	optimal	optimal	ADJ
easat-1532	66	30	value	value	NOUN
easat-1532	66	31	at	at	ADP
easat-1532	66	32	the	the	DET
easat-1532	66	33	previous	previous	ADJ
easat-1532	66	34	time	time	NOUN
easat-1532	66	35	,	,	PUNCT
easat-1532	66	36	while	while	SCONJ
easat-1532	66	37	(	(	PUNCT
easat-1532	66	38	)	)	PUNCT
easat-1532	66	39	1−kkp	1−kkp	PROPN
easat-1532	66	40	denotes	denote	VERB
easat-1532	66	41	the	the	DET
easat-1532	66	42	corresponding	corresponding	ADJ
easat-1532	66	43	variance	variance	NOUN
easat-1532	66	44	formed	form	VERB
easat-1532	66	45	by	by	ADP
easat-1532	66	46	the	the	DET
easat-1532	66	47	estimated	estimate	VERB
easat-1532	66	48	value	value	NOUN
easat-1532	66	49	at	at	ADP
easat-1532	66	50	the	the	DET
easat-1532	66	51	current	current	ADJ
easat-1532	66	52	time	time	NOUN
easat-1532	66	53	,	,	PUNCT
easat-1532	66	54	(	(	PUNCT
easat-1532	66	55	)	)	PUNCT
easat-1532	66	56	kq	kq	PROPN
easat-1532	66	57	denotes	denote	VERB
easat-1532	66	58	the	the	DET
easat-1532	66	59	variance	variance	NOUN
easat-1532	66	60	mapping	mapping	NOUN
easat-1532	66	61	formed	form	VERB
easat-1532	66	62	by	by	ADP
easat-1532	66	63	the	the	DET
easat-1532	66	64	noise	noise	NOUN
easat-1532	66	65	generated	generate	VERB
easat-1532	66	66	in	in	ADP
easat-1532	66	67	the	the	DET
easat-1532	66	68	system	system	NOUN
easat-1532	66	69	,	,	PUNCT
easat-1532	66	70	and	and	CCONJ
easat-1532	66	71	f	f	PROPN
easat-1532	66	72	denotes	denote	VERB
easat-1532	66	73	the	the	DET
easat-1532	66	74	system	system	NOUN
easat-1532	66	75	parameters	parameter	NOUN
easat-1532	66	76	.	.	PUNCT
easat-1532	67	1	when	when	SCONJ
easat-1532	67	2	the	the	DET
easat-1532	67	3	system	system	NOUN
easat-1532	67	4	updates	update	VERB
easat-1532	67	5	the	the	DET
easat-1532	67	6	map	map	NOUN
easat-1532	67	7	and	and	CCONJ
easat-1532	67	8	positioning	positioning	NOUN
easat-1532	67	9	information	information	NOUN
easat-1532	67	10	,	,	PUNCT
easat-1532	67	11	it	it	PRON
easat-1532	67	12	mainly	mainly	ADV
easat-1532	67	13	uses	use	VERB
easat-1532	67	14	the	the	DET
easat-1532	67	15	estimated	estimate	VERB
easat-1532	67	16	value	value	NOUN
easat-1532	67	17	at	at	ADP
easat-1532	67	18	the	the	DET
easat-1532	67	19	moment	moment	NOUN
easat-1532	67	20	of	of	ADP
easat-1532	67	21	k	k	PROPN
easat-1532	67	22	and	and	CCONJ
easat-1532	67	23	the	the	DET
easat-1532	67	24	corresponding	corresponding	ADJ
easat-1532	67	25	variance	variance	NOUN
easat-1532	67	26	value	value	NOUN
easat-1532	67	27	formed	form	VERB
easat-1532	67	28	by	by	ADP
easat-1532	67	29	the	the	DET
easat-1532	67	30	estimated	estimate	VERB
easat-1532	67	31	value	value	NOUN
easat-1532	67	32	for	for	ADP
easat-1532	67	33	the	the	DET
easat-1532	67	34	system	system	NOUN
easat-1532	67	35	update	update	NOUN
easat-1532	67	36	,	,	PUNCT
easat-1532	67	37	as	as	SCONJ
easat-1532	67	38	shown	show	VERB
easat-1532	67	39	in	in	ADP
easat-1532	67	40	equation	equation	NOUN
easat-1532	67	41	(	(	PUNCT
easat-1532	67	42	5	5	NUM
easat-1532	67	43	)	)	PUNCT
easat-1532	67	44	.	.	PUNCT
easat-1532	68	1	(	(	PUNCT
easat-1532	68	2	)	)	PUNCT
easat-1532	68	3	(	(	PUNCT
easat-1532	68	4	)	)	PUNCT
easat-1532	68	5	(	(	PUNCT
easat-1532	68	6	)	)	PUNCT
easat-1532	68	7	(	(	PUNCT
easat-1532	68	8	)	)	PUNCT
easat-1532	68	9	(	(	PUNCT
easat-1532	68	10	)	)	PUNCT
easat-1532	68	11	(	(	PUNCT
easat-1532	68	12	)	)	PUNCT
easat-1532	68	13			NOUN
easat-1532	68	14	1ˆ1ˆˆ	1ˆ1ˆˆ	X
easat-1532	68	15	−−+−=	−−+−=	NOUN
easat-1532	68	16	kkxhkzkwkkxkkx	kkxhkzkwkkxkkx	NOUN
easat-1532	68	17	(	(	PUNCT
easat-1532	68	18	5	5	NUM
easat-1532	68	19	)	)	PUNCT
easat-1532	68	20	in	in	ADP
easat-1532	68	21	equation	equation	NOUN
easat-1532	68	22	(	(	PUNCT
easat-1532	68	23	5	5	NUM
easat-1532	68	24	)	)	PUNCT
easat-1532	68	25	,	,	PUNCT
easat-1532	68	26	h	h	PROPN
easat-1532	68	27	denotes	denote	VERB
easat-1532	68	28	the	the	DET
easat-1532	68	29	observation	observation	NOUN
easat-1532	68	30	system	system	NOUN
easat-1532	68	31	parameters	parameter	NOUN
easat-1532	68	32	,	,	PUNCT
easat-1532	68	33	(	(	PUNCT
easat-1532	68	34	)	)	PUNCT
easat-1532	68	35	kz	kz	PROPN
easat-1532	68	36	denotes	denote	VERB
easat-1532	68	37	the	the	DET
easat-1532	68	38	observation	observation	NOUN
easat-1532	68	39	vector	vector	NOUN
easat-1532	68	40	,	,	PUNCT
easat-1532	68	41	and	and	CCONJ
easat-1532	68	42	(	(	PUNCT
easat-1532	68	43	)	)	PUNCT
easat-1532	68	44	kw	kw	NOUN
easat-1532	68	45	can	can	AUX
easat-1532	68	46	be	be	AUX
easat-1532	68	47	calculated	calculate	VERB
easat-1532	68	48	by	by	ADP
easat-1532	68	49	equation	equation	NOUN
easat-1532	68	50	(	(	PUNCT
easat-1532	68	51	6	6	NUM
easat-1532	68	52	)	)	PUNCT
easat-1532	68	53	.	.	PUNCT
easat-1532	69	1	(	(	PUNCT
easat-1532	69	2	)	)	PUNCT
easat-1532	69	3	(	(	PUNCT
easat-1532	69	4	)	)	PUNCT
easat-1532	69	5	(	(	PUNCT
easat-1532	69	6	)	)	PUNCT
easat-1532	69	7	(	(	PUNCT
easat-1532	69	8	)	)	PUNCT
easat-1532	69	9	kskhkkpkw	kskhkkpkw	PROPN
easat-1532	69	10	x	x	X
easat-1532	69	11	t	t	PROPN
easat-1532	69	12	11	11	NUM
easat-1532	69	13	−−=	−−=	NUM
easat-1532	69	14	(	(	PUNCT
easat-1532	69	15	6	6	NUM
easat-1532	69	16	)	)	PUNCT
easat-1532	69	17	and	and	CCONJ
easat-1532	69	18	(	(	PUNCT
easat-1532	69	19	)	)	PUNCT
easat-1532	69	20	ks	ks	NOUN
easat-1532	69	21	in	in	ADP
easat-1532	69	22	equation	equation	NOUN
easat-1532	69	23	(	(	PUNCT
easat-1532	69	24	6	6	NUM
easat-1532	69	25	)	)	PUNCT
easat-1532	69	26	can	can	AUX
easat-1532	69	27	be	be	AUX
easat-1532	69	28	further	far	ADV
easat-1532	69	29	calculated	calculate	VERB
easat-1532	69	30	using	use	VERB
easat-1532	69	31	equation	equation	NOUN
easat-1532	69	32	(	(	PUNCT
easat-1532	69	33	7	7	NUM
easat-1532	69	34	)	)	PUNCT
easat-1532	69	35	.	.	PUNCT
easat-1532	70	1	(	(	PUNCT
easat-1532	70	2	)	)	PUNCT
easat-1532	70	3	(	(	PUNCT
easat-1532	70	4	)	)	PUNCT
easat-1532	70	5	(	(	PUNCT
easat-1532	70	6	)	)	PUNCT
easat-1532	70	7	(	(	PUNCT
easat-1532	70	8	)	)	PUNCT
easat-1532	70	9	(	(	PUNCT
easat-1532	70	10	)	)	PUNCT
easat-1532	70	11	krkhkkpkhks	krkhkkpkhks	PROPN
easat-1532	70	12	x	x	X
easat-1532	70	13	t	t	NOUN
easat-1532	70	14	x	x	X
easat-1532	71	1	+	+	NOUN
easat-1532	71	2	−=	−=	NOUN
easat-1532	71	3	1	1	NUM
easat-1532	71	4	(	(	PUNCT
easat-1532	71	5	7	7	NUM
easat-1532	71	6	)	)	PUNCT
easat-1532	71	7	in	in	ADP
easat-1532	71	8	equation	equation	NOUN
easat-1532	71	9	(	(	PUNCT
easat-1532	71	10	7	7	NUM
easat-1532	71	11	)	)	PUNCT
easat-1532	71	12	,	,	PUNCT
easat-1532	71	13	(	(	PUNCT
easat-1532	71	14	)	)	PUNCT
easat-1532	71	15	kr	kr	PROPN
easat-1532	71	16	denotes	denote	VERB
easat-1532	71	17	the	the	DET
easat-1532	71	18	update	update	NOUN
easat-1532	71	19	vector	vector	NOUN
easat-1532	71	20	.	.	PUNCT
easat-1532	72	1	the	the	DET
easat-1532	72	2	extended	extended	ADJ
easat-1532	72	3	kalman	kalman	NOUN
easat-1532	72	4	filter	filter	NOUN
easat-1532	72	5	algorithm	algorithm	NOUN
easat-1532	72	6	application	application	NOUN
easat-1532	72	7	strategy	strategy	NOUN
easat-1532	72	8	used	use	VERB
easat-1532	72	9	in	in	ADP
easat-1532	72	10	the	the	DET
easat-1532	72	11	study	study	NOUN
easat-1532	72	12	not	not	PART
easat-1532	72	13	only	only	ADV
easat-1532	72	14	makes	make	VERB
easat-1532	72	15	the	the	DET
easat-1532	72	16	map	map	NOUN
easat-1532	72	17	construction	construction	NOUN
easat-1532	72	18	and	and	CCONJ
easat-1532	72	19	localization	localization	NOUN
easat-1532	72	20	of	of	ADP
easat-1532	72	21	automated	automate	VERB
easat-1532	72	22	logistics	logistic	NOUN
easat-1532	72	23	planning	planning	NOUN
easat-1532	72	24	easier	easy	ADJ
easat-1532	72	25	to	to	PART
easat-1532	72	26	implement	implement	VERB
easat-1532	72	27	,	,	PUNCT
easat-1532	72	28	but	but	CCONJ
easat-1532	72	29	also	also	ADV
easat-1532	72	30	enables	enable	VERB
easat-1532	72	31	highly	highly	ADV
easat-1532	72	32	accurate	accurate	ADJ
easat-1532	72	33	and	and	CCONJ
easat-1532	72	34	efficient	efficient	ADJ
easat-1532	72	35	real	real	ADJ
easat-1532	72	36	-	-	PUNCT
easat-1532	72	37	time	time	NOUN
easat-1532	72	38	localization	localization	NOUN
easat-1532	72	39	.	.	PUNCT
easat-1532	73	1	the	the	DET
easat-1532	73	2	schematic	schematic	ADJ
easat-1532	73	3	diagram	diagram	NOUN
easat-1532	73	4	of	of	ADP
easat-1532	73	5	distribution	distribution	NOUN
easat-1532	73	6	planning	planning	NOUN
easat-1532	73	7	and	and	CCONJ
easat-1532	73	8	localization	localization	NOUN
easat-1532	73	9	based	base	VERB
easat-1532	73	10	on	on	ADP
easat-1532	73	11	sensor	sensor	NOUN
easat-1532	73	12	multi	multi	ADJ
easat-1532	73	13	-	-	ADJ
easat-1532	73	14	source	source	NOUN
easat-1532	73	15	information	information	NOUN
easat-1532	73	16	fusion	fusion	NOUN
easat-1532	73	17	is	be	AUX
easat-1532	73	18	shown	show	VERB
easat-1532	73	19	in	in	ADP
easat-1532	73	20	figure	figure	NOUN
easat-1532	73	21	3	3	NUM
easat-1532	73	22	.	.	PUNCT
easat-1532	73	23	vision	vision	PROPN
easat-1532	73	24	sensor	sensor	NOUN
easat-1532	73	25	gyroscope	gyroscope	NOUN
easat-1532	73	26	odometer	odometer	NOUN
easat-1532	73	27	partial	partial	ADJ
easat-1532	73	28	map	map	NOUN
easat-1532	73	29	creation	creation	NOUN
easat-1532	73	30	image	image	NOUN
easat-1532	73	31	feature	feature	NOUN
easat-1532	73	32	processing	processing	NOUN
easat-1532	73	33	observation	observation	NOUN
easat-1532	73	34	model	model	NOUN
easat-1532	73	35	motion	motion	NOUN
easat-1532	73	36	model	model	PROPN
easat-1532	73	37	global	global	PROPN
easat-1532	73	38	map	map	NOUN
easat-1532	73	39	update	update	NOUN
easat-1532	73	40	figure	figure	NOUN
easat-1532	73	41	3	3	NUM
easat-1532	73	42	.	.	PUNCT
easat-1532	73	43	multi	multi	ADJ
easat-1532	73	44	-	-	ADJ
easat-1532	73	45	source	source	ADJ
easat-1532	73	46	information	information	NOUN
easat-1532	73	47	fusion	fusion	NOUN
easat-1532	73	48	model	model	NOUN
easat-1532	73	49	.	.	PUNCT
easat-1532	74	1	1622	1622	NUM
easat-1532	74	2	edelweiss	edelweiss	PROPN
easat-1532	74	3	applied	apply	VERB
easat-1532	74	4	science	science	NOUN
easat-1532	74	5	and	and	CCONJ
easat-1532	74	6	technology	technology	NOUN
easat-1532	74	7	issn	issn	PROPN
easat-1532	74	8	:	:	PUNCT
easat-1532	74	9	2576	2576	NUM
easat-1532	74	10	-	-	SYM
easat-1532	74	11	8484	8484	NUM
easat-1532	74	12	vol	vol	NOUN
easat-1532	74	13	.	.	PROPN
easat-1532	74	14	8	8	NUM
easat-1532	74	15	,	,	PUNCT
easat-1532	74	16	no	no	INTJ
easat-1532	74	17	.	.	NOUN
easat-1532	74	18	4	4	NUM
easat-1532	74	19	:	:	SYM
easat-1532	74	20	1617	1617	NUM
easat-1532	74	21	-	-	SYM
easat-1532	74	22	1629	1629	NUM
easat-1532	74	23	,	,	PUNCT
easat-1532	74	24	2024	2024	NUM
easat-1532	74	25	doi	doi	NOUN
easat-1532	74	26	:	:	PUNCT
easat-1532	74	27	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	74	28	©	©	PROPN
easat-1532	74	29	2024	2024	NUM
easat-1532	74	30	by	by	ADP
easat-1532	74	31	the	the	DET
easat-1532	74	32	authors	author	NOUN
easat-1532	74	33	;	;	PUNCT
easat-1532	74	34	licensee	licensee	PROPN
easat-1532	74	35	learning	learning	NOUN
easat-1532	74	36	gate	gate	NOUN
easat-1532	74	37	as	as	SCONJ
easat-1532	74	38	can	can	AUX
easat-1532	74	39	be	be	AUX
easat-1532	74	40	seen	see	VERB
easat-1532	74	41	in	in	ADP
easat-1532	74	42	figure	figure	NOUN
easat-1532	74	43	3	3	NUM
easat-1532	74	44	,	,	PUNCT
easat-1532	74	45	the	the	DET
easat-1532	74	46	study	study	NOUN
easat-1532	74	47	uses	use	VERB
easat-1532	74	48	odometers	odometer	NOUN
easat-1532	74	49	for	for	ADP
easat-1532	74	50	location	location	NOUN
easat-1532	74	51	recording	recording	NOUN
easat-1532	74	52	of	of	ADP
easat-1532	74	53	distribution	distribution	NOUN
easat-1532	74	54	points	point	NOUN
easat-1532	74	55	in	in	ADP
easat-1532	74	56	multi	multi	ADJ
easat-1532	74	57	-	-	ADJ
easat-1532	74	58	source	source	ADJ
easat-1532	74	59	information	information	NOUN
easat-1532	74	60	acquisition	acquisition	NOUN
easat-1532	74	61	,	,	PUNCT
easat-1532	74	62	gyroscopes	gyroscope	NOUN
easat-1532	74	63	for	for	ADP
easat-1532	74	64	attitude	attitude	NOUN
easat-1532	74	65	recording	recording	NOUN
easat-1532	74	66	of	of	ADP
easat-1532	74	67	the	the	DET
easat-1532	74	68	intelligent	intelligent	ADJ
easat-1532	74	69	distribution	distribution	NOUN
easat-1532	74	70	vehicle	vehicle	NOUN
easat-1532	74	71	,	,	PUNCT
easat-1532	74	72	and	and	CCONJ
easat-1532	74	73	vision	vision	NOUN
easat-1532	74	74	sensors	sensor	NOUN
easat-1532	74	75	for	for	ADP
easat-1532	74	76	peripheral	peripheral	ADJ
easat-1532	74	77	image	image	NOUN
easat-1532	74	78	information	information	NOUN
easat-1532	74	79	acquisition	acquisition	NOUN
easat-1532	74	80	and	and	CCONJ
easat-1532	74	81	processing	processing	NOUN
easat-1532	74	82	.	.	PUNCT
easat-1532	75	1	the	the	DET
easat-1532	75	2	multisource	multisource	PROPN
easat-1532	75	3	information	information	NOUN
easat-1532	75	4	acquisition	acquisition	NOUN
easat-1532	75	5	is	be	AUX
easat-1532	75	6	used	use	VERB
easat-1532	75	7	to	to	PART
easat-1532	75	8	realize	realize	VERB
easat-1532	75	9	the	the	DET
easat-1532	75	10	automated	automate	VERB
easat-1532	75	11	distribution	distribution	NOUN
easat-1532	75	12	model	model	NOUN
easat-1532	75	13	and	and	CCONJ
easat-1532	75	14	storage	storage	NOUN
easat-1532	75	15	planning	planning	NOUN
easat-1532	75	16	.	.	PUNCT
easat-1532	76	1	therefore	therefore	ADV
easat-1532	76	2	,	,	PUNCT
easat-1532	76	3	it	it	PRON
easat-1532	76	4	is	be	AUX
easat-1532	76	5	necessary	necessary	ADJ
easat-1532	76	6	to	to	PART
easat-1532	76	7	design	design	VERB
easat-1532	76	8	a	a	DET
easat-1532	76	9	multi	multi	ADJ
easat-1532	76	10	-	-	ADJ
easat-1532	76	11	source	source	ADJ
easat-1532	76	12	information	information	NOUN
easat-1532	76	13	synthesis	synthesis	NOUN
easat-1532	76	14	model	model	NOUN
easat-1532	76	15	to	to	PART
easat-1532	76	16	perform	perform	VERB
easat-1532	76	17	multi	multi	ADJ
easat-1532	76	18	-	-	ADJ
easat-1532	76	19	source	source	NOUN
easat-1532	76	20	fusion	fusion	NOUN
easat-1532	76	21	processing	processing	NOUN
easat-1532	76	22	of	of	ADP
easat-1532	76	23	the	the	DET
easat-1532	76	24	collected	collect	VERB
easat-1532	76	25	information	information	NOUN
easat-1532	76	26	.	.	PUNCT
easat-1532	77	1	3.2	3.2	NUM
easat-1532	77	2	.	.	PUNCT
easat-1532	78	1	multi	multi	ADJ
easat-1532	78	2	-	-	ADJ
easat-1532	78	3	source	source	ADJ
easat-1532	78	4	information	information	NOUN
easat-1532	78	5	aggregation	aggregation	NOUN
easat-1532	78	6	model	model	NOUN
easat-1532	78	7	design	design	VERB
easat-1532	78	8	the	the	DET
easat-1532	78	9	research	research	NOUN
easat-1532	78	10	and	and	CCONJ
easat-1532	78	11	design	design	NOUN
easat-1532	78	12	of	of	ADP
easat-1532	78	13	the	the	DET
easat-1532	78	14	multi	multi	ADJ
easat-1532	78	15	-	-	ADJ
easat-1532	78	16	source	source	ADJ
easat-1532	78	17	information	information	NOUN
easat-1532	78	18	synthesis	synthesis	NOUN
easat-1532	78	19	model	model	NOUN
easat-1532	78	20	mainly	mainly	ADV
easat-1532	78	21	adopts	adopt	VERB
easat-1532	78	22	three	three	NUM
easat-1532	78	23	forms	form	NOUN
easat-1532	78	24	of	of	ADP
easat-1532	78	25	information	information	NOUN
easat-1532	78	26	collection	collection	NOUN
easat-1532	78	27	,	,	PUNCT
easat-1532	78	28	namely	namely	ADV
easat-1532	78	29	,	,	PUNCT
easat-1532	78	30	intelligent	intelligent	ADJ
easat-1532	78	31	distribution	distribution	NOUN
easat-1532	78	32	vehicle	vehicle	NOUN
easat-1532	78	33	odometer	odometer	NOUN
easat-1532	78	34	,	,	PUNCT
easat-1532	78	35	gyroscope	gyroscope	NOUN
easat-1532	78	36	and	and	CCONJ
easat-1532	78	37	visual	visual	ADJ
easat-1532	78	38	sensor	sensor	NOUN
easat-1532	78	39	.	.	PUNCT
easat-1532	79	1	in	in	ADP
easat-1532	79	2	the	the	DET
easat-1532	79	3	process	process	NOUN
easat-1532	79	4	of	of	ADP
easat-1532	79	5	intelligent	intelligent	ADJ
easat-1532	79	6	logistics	logistic	NOUN
easat-1532	79	7	and	and	CCONJ
easat-1532	79	8	distribution	distribution	NOUN
easat-1532	79	9	,	,	PUNCT
easat-1532	79	10	the	the	DET
easat-1532	79	11	real	real	ADJ
easat-1532	79	12	-	-	PUNCT
easat-1532	79	13	time	time	NOUN
easat-1532	79	14	planning	planning	NOUN
easat-1532	79	15	of	of	ADP
easat-1532	79	16	distribution	distribution	NOUN
easat-1532	79	17	mode	mode	NOUN
easat-1532	79	18	and	and	CCONJ
easat-1532	79	19	storage	storage	NOUN
easat-1532	79	20	mode	mode	NOUN
easat-1532	79	21	depends	depend	VERB
easat-1532	79	22	on	on	ADP
easat-1532	79	23	the	the	DET
easat-1532	79	24	change	change	NOUN
easat-1532	79	25	of	of	ADP
easat-1532	79	26	distribution	distribution	NOUN
easat-1532	79	27	environment	environment	NOUN
easat-1532	79	28	information	information	NOUN
easat-1532	79	29	,	,	PUNCT
easat-1532	79	30	and	and	CCONJ
easat-1532	79	31	the	the	DET
easat-1532	79	32	optimal	optimal	ADJ
easat-1532	79	33	distribution	distribution	NOUN
easat-1532	79	34	and	and	CCONJ
easat-1532	79	35	storage	storage	NOUN
easat-1532	79	36	planning	planning	NOUN
easat-1532	79	37	scheme	scheme	NOUN
easat-1532	79	38	is	be	AUX
easat-1532	79	39	often	often	ADV
easat-1532	79	40	different	different	ADJ
easat-1532	79	41	under	under	ADP
easat-1532	79	42	different	different	ADJ
easat-1532	79	43	information	information	NOUN
easat-1532	79	44	backgrounds	background	NOUN
easat-1532	79	45	.	.	PUNCT
easat-1532	80	1	multi	multi	ADJ
easat-1532	80	2	-	-	ADJ
easat-1532	80	3	source	source	NOUN
easat-1532	80	4	information	information	NOUN
easat-1532	80	5	fusion	fusion	NOUN
easat-1532	80	6	in	in	ADP
easat-1532	80	7	the	the	DET
easat-1532	80	8	form	form	NOUN
easat-1532	80	9	of	of	ADP
easat-1532	80	10	multi	multi	ADJ
easat-1532	80	11	-	-	NOUN
easat-1532	80	12	sensor	sensor	NOUN
easat-1532	80	13	can	can	AUX
easat-1532	80	14	effectively	effectively	ADV
easat-1532	80	15	reduce	reduce	VERB
easat-1532	80	16	the	the	DET
easat-1532	80	17	redundancy	redundancy	NOUN
easat-1532	80	18	and	and	CCONJ
easat-1532	80	19	contradiction	contradiction	NOUN
easat-1532	80	20	of	of	ADP
easat-1532	80	21	information	information	NOUN
easat-1532	80	22	,	,	PUNCT
easat-1532	80	23	and	and	CCONJ
easat-1532	80	24	achieve	achieve	VERB
easat-1532	80	25	information	information	NOUN
easat-1532	80	26	complementarity	complementarity	NOUN
easat-1532	80	27	and	and	CCONJ
easat-1532	80	28	information	information	NOUN
easat-1532	80	29	verification	verification	NOUN
easat-1532	80	30	.	.	PUNCT
easat-1532	81	1	in	in	ADP
easat-1532	81	2	the	the	DET
easat-1532	81	3	typical	typical	ADJ
easat-1532	81	4	information	information	NOUN
easat-1532	81	5	fusion	fusion	NOUN
easat-1532	81	6	model	model	NOUN
easat-1532	81	7	,	,	PUNCT
easat-1532	81	8	the	the	DET
easat-1532	81	9	sensor	sensor	NOUN
easat-1532	81	10	information	information	NOUN
easat-1532	81	11	collection	collection	NOUN
easat-1532	81	12	is	be	AUX
easat-1532	81	13	the	the	DET
easat-1532	81	14	basis	basis	NOUN
easat-1532	81	15	of	of	ADP
easat-1532	81	16	the	the	DET
easat-1532	81	17	information	information	NOUN
easat-1532	81	18	prior	prior	ADJ
easat-1532	81	19	model	model	NOUN
easat-1532	81	20	.	.	PUNCT
easat-1532	82	1	the	the	DET
easat-1532	82	2	model	model	NOUN
easat-1532	82	3	provides	provide	VERB
easat-1532	82	4	the	the	DET
easat-1532	82	5	basis	basis	NOUN
easat-1532	82	6	for	for	ADP
easat-1532	82	7	decision	decision	NOUN
easat-1532	82	8	-	-	PUNCT
easat-1532	82	9	making	making	NOUN
easat-1532	82	10	through	through	ADP
easat-1532	82	11	data	datum	NOUN
easat-1532	82	12	matching	matching	NOUN
easat-1532	82	13	,	,	PUNCT
easat-1532	82	14	data	datum	NOUN
easat-1532	82	15	association	association	NOUN
easat-1532	82	16	and	and	CCONJ
easat-1532	82	17	data	data	NOUN
easat-1532	82	18	fusion	fusion	NOUN
easat-1532	82	19	of	of	ADP
easat-1532	82	20	the	the	DET
easat-1532	82	21	collected	collect	VERB
easat-1532	82	22	data	datum	NOUN
easat-1532	82	23	.	.	PUNCT
easat-1532	83	1	however	however	ADV
easat-1532	83	2	,	,	PUNCT
easat-1532	83	3	the	the	DET
easat-1532	83	4	typical	typical	ADJ
easat-1532	83	5	information	information	NOUN
easat-1532	83	6	fusion	fusion	NOUN
easat-1532	83	7	model	model	NOUN
easat-1532	83	8	has	have	VERB
easat-1532	83	9	insufficient	insufficient	ADJ
easat-1532	83	10	ability	ability	NOUN
easat-1532	83	11	to	to	PART
easat-1532	83	12	extract	extract	VERB
easat-1532	83	13	information	information	NOUN
easat-1532	83	14	features	feature	NOUN
easat-1532	83	15	,	,	PUNCT
easat-1532	83	16	which	which	PRON
easat-1532	83	17	easily	easily	ADV
easat-1532	83	18	leads	lead	VERB
easat-1532	83	19	to	to	ADP
easat-1532	83	20	information	information	NOUN
easat-1532	83	21	distortion	distortion	NOUN
easat-1532	83	22	and	and	CCONJ
easat-1532	83	23	information	information	NOUN
easat-1532	83	24	confusion	confusion	NOUN
easat-1532	83	25	.	.	PUNCT
easat-1532	84	1	therefore	therefore	ADV
easat-1532	84	2	,	,	PUNCT
easat-1532	84	3	this	this	DET
easat-1532	84	4	study	study	NOUN
easat-1532	84	5	uses	use	VERB
easat-1532	84	6	the	the	DET
easat-1532	84	7	optimized	optimize	VERB
easat-1532	84	8	multi	multi	ADJ
easat-1532	84	9	-	-	ADJ
easat-1532	84	10	layer	layer	ADJ
easat-1532	84	11	information	information	NOUN
easat-1532	84	12	fusion	fusion	NOUN
easat-1532	84	13	model	model	NOUN
easat-1532	84	14	for	for	ADP
easat-1532	84	15	information	information	NOUN
easat-1532	84	16	processing	processing	NOUN
easat-1532	84	17	,	,	PUNCT
easat-1532	84	18	and	and	CCONJ
easat-1532	84	19	the	the	DET
easat-1532	84	20	specific	specific	ADJ
easat-1532	84	21	architecture	architecture	NOUN
easat-1532	84	22	is	be	AUX
easat-1532	84	23	shown	show	VERB
easat-1532	84	24	in	in	ADP
easat-1532	84	25	figure	figure	NOUN
easat-1532	84	26	4	4	NUM
easat-1532	84	27	.	.	PUNCT
easat-1532	84	28	sensor	sensor	NOUN
easat-1532	84	29	1	1	NUM
easat-1532	84	30	sensor	sensor	NOUN
easat-1532	84	31	2	2	NUM
easat-1532	84	32	sensor	sensor	NOUN
easat-1532	84	33	n	n	NOUN
easat-1532	84	34	data	datum	NOUN
easat-1532	84	35	layer	layer	NOUN
easat-1532	84	36	fusion	fusion	NOUN
easat-1532	84	37	sensor	sensor	NOUN
easat-1532	84	38	n+1	n+1	PART
easat-1532	84	39	sensor	sensor	PROPN
easat-1532	84	40	n+2	n+2	NUM
easat-1532	84	41	sensor	sensor	NOUN
easat-1532	84	42	n+m	n+m	PROPN
easat-1532	84	43	data	datum	NOUN
easat-1532	84	44	layer	layer	NOUN
easat-1532	84	45	fusion	fusion	NOUN
easat-1532	84	46	system	system	NOUN
easat-1532	84	47	1	1	NUM
easat-1532	84	48	system	system	NOUN
easat-1532	84	49	n	n	NOUN
easat-1532	84	50	feature	feature	NOUN
easat-1532	84	51	extraction	extraction	NOUN
easat-1532	84	52	decisio	decisio	NOUN
easat-1532	84	53	n	n	CCONJ
easat-1532	84	54	-	-	PUNCT
easat-1532	84	55	level	level	NOUN
easat-1532	84	56	fusion	fusion	NOUN
easat-1532	84	57	policy	policy	NOUN
easat-1532	84	58	decision	decision	NOUN
easat-1532	84	59	feature	feature	NOUN
easat-1532	84	60	layer	layer	NOUN
easat-1532	84	61	fusion	fusion	NOUN
easat-1532	84	62	feature	feature	NOUN
easat-1532	84	63	extraction	extraction	NOUN
easat-1532	84	64	figure	figure	NOUN
easat-1532	84	65	4	4	NUM
easat-1532	84	66	.	.	PUNCT
easat-1532	85	1	multi	multi	ADJ
easat-1532	85	2	-	-	ADJ
easat-1532	85	3	layer	layer	ADJ
easat-1532	85	4	information	information	NOUN
easat-1532	85	5	fusion	fusion	NOUN
easat-1532	85	6	model	model	NOUN
easat-1532	85	7	.	.	PUNCT
easat-1532	86	1	as	as	SCONJ
easat-1532	86	2	can	can	AUX
easat-1532	86	3	be	be	AUX
easat-1532	86	4	seen	see	VERB
easat-1532	86	5	from	from	ADP
easat-1532	86	6	figure	figure	NOUN
easat-1532	86	7	4	4	NUM
easat-1532	86	8	,	,	PUNCT
easat-1532	86	9	the	the	DET
easat-1532	86	10	multilayer	multilayer	ADJ
easat-1532	86	11	information	information	NOUN
easat-1532	86	12	fusion	fusion	NOUN
easat-1532	86	13	processing	processing	NOUN
easat-1532	86	14	strategy	strategy	NOUN
easat-1532	86	15	used	use	VERB
easat-1532	86	16	in	in	ADP
easat-1532	86	17	the	the	DET
easat-1532	86	18	study	study	NOUN
easat-1532	86	19	extracts	extract	VERB
easat-1532	86	20	external	external	ADJ
easat-1532	86	21	data	datum	NOUN
easat-1532	86	22	features	feature	NOUN
easat-1532	86	23	by	by	ADP
easat-1532	86	24	performing	perform	VERB
easat-1532	86	25	data	datum	NOUN
easat-1532	86	26	fusion	fusion	NOUN
easat-1532	86	27	at	at	ADP
easat-1532	86	28	the	the	DET
easat-1532	86	29	data	data	NOUN
easat-1532	86	30	layer	layer	NOUN
easat-1532	86	31	for	for	ADP
easat-1532	86	32	each	each	DET
easat-1532	86	33	sensor	sensor	NOUN
easat-1532	86	34	subsystem	subsystem	NOUN
easat-1532	86	35	,	,	PUNCT
easat-1532	86	36	and	and	CCONJ
easat-1532	86	37	then	then	ADV
easat-1532	86	38	fuses	fuse	VERB
easat-1532	86	39	the	the	DET
easat-1532	86	40	data	data	NOUN
easat-1532	86	41	features	feature	NOUN
easat-1532	86	42	of	of	ADP
easat-1532	86	43	each	each	DET
easat-1532	86	44	subsystem	subsystem	NOUN
easat-1532	86	45	at	at	ADP
easat-1532	86	46	the	the	DET
easat-1532	86	47	feature	feature	NOUN
easat-1532	86	48	layer	layer	NOUN
easat-1532	86	49	,	,	PUNCT
easat-1532	86	50	and	and	CCONJ
easat-1532	86	51	finally	finally	ADV
easat-1532	86	52	performs	perform	VERB
easat-1532	86	53	information	information	NOUN
easat-1532	86	54	fusion	fusion	NOUN
easat-1532	86	55	at	at	ADP
easat-1532	86	56	the	the	DET
easat-1532	86	57	decision	decision	NOUN
easat-1532	86	58	layer	layer	NOUN
easat-1532	86	59	based	base	VERB
easat-1532	86	60	on	on	ADP
easat-1532	86	61	the	the	DET
easat-1532	86	62	whole	whole	ADJ
easat-1532	86	63	layer	layer	NOUN
easat-1532	86	64	of	of	ADP
easat-1532	86	65	data	datum	NOUN
easat-1532	86	66	.	.	PUNCT
easat-1532	87	1	in	in	ADP
easat-1532	87	2	the	the	DET
easat-1532	87	3	information	information	NOUN
easat-1532	87	4	fusion	fusion	NOUN
easat-1532	87	5	process	process	NOUN
easat-1532	87	6	,	,	PUNCT
easat-1532	87	7	the	the	DET
easat-1532	87	8	most	most	ADV
easat-1532	87	9	common	common	ADJ
easat-1532	87	10	is	be	AUX
easat-1532	87	11	the	the	DET
easat-1532	87	12	centralized	centralized	ADJ
easat-1532	87	13	information	information	NOUN
easat-1532	87	14	fusion	fusion	NOUN
easat-1532	87	15	structure	structure	NOUN
easat-1532	87	16	,	,	PUNCT
easat-1532	87	17	which	which	PRON
easat-1532	87	18	is	be	AUX
easat-1532	87	19	a	a	DET
easat-1532	87	20	fusion	fusion	NOUN
easat-1532	87	21	structure	structure	NOUN
easat-1532	87	22	with	with	ADP
easat-1532	87	23	a	a	DET
easat-1532	87	24	central	central	ADJ
easat-1532	87	25	information	information	NOUN
easat-1532	87	26	fusion	fusion	NOUN
easat-1532	87	27	center	center	NOUN
easat-1532	87	28	as	as	ADP
easat-1532	87	29	the	the	DET
easat-1532	87	30	main	main	ADJ
easat-1532	87	31	structure	structure	NOUN
easat-1532	87	32	.	.	PUNCT
easat-1532	88	1	based	base	VERB
easat-1532	88	2	on	on	ADP
easat-1532	88	3	this	this	PRON
easat-1532	88	4	,	,	PUNCT
easat-1532	88	5	a	a	DET
easat-1532	88	6	distributed	distribute	VERB
easat-1532	88	7	information	information	NOUN
easat-1532	88	8	1623	1623	NUM
easat-1532	88	9	edelweiss	edelweiss	PROPN
easat-1532	88	10	applied	apply	VERB
easat-1532	88	11	science	science	NOUN
easat-1532	88	12	and	and	CCONJ
easat-1532	88	13	technology	technology	NOUN
easat-1532	88	14	issn	issn	PROPN
easat-1532	88	15	:	:	PUNCT
easat-1532	88	16	2576	2576	NUM
easat-1532	88	17	-	-	SYM
easat-1532	88	18	8484	8484	NUM
easat-1532	88	19	vol	vol	NOUN
easat-1532	88	20	.	.	PROPN
easat-1532	88	21	8	8	NUM
easat-1532	88	22	,	,	PUNCT
easat-1532	88	23	no	no	INTJ
easat-1532	88	24	.	.	NOUN
easat-1532	88	25	4	4	NUM
easat-1532	88	26	:	:	SYM
easat-1532	88	27	1617	1617	NUM
easat-1532	88	28	-	-	SYM
easat-1532	88	29	1629	1629	NUM
easat-1532	88	30	,	,	PUNCT
easat-1532	88	31	2024	2024	NUM
easat-1532	88	32	doi	doi	NOUN
easat-1532	88	33	:	:	PUNCT
easat-1532	88	34	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	88	35	©	©	PROPN
easat-1532	88	36	2024	2024	NUM
easat-1532	88	37	by	by	ADP
easat-1532	88	38	the	the	DET
easat-1532	88	39	authors	author	NOUN
easat-1532	88	40	;	;	PUNCT
easat-1532	88	41	licensee	licensee	NOUN
easat-1532	88	42	learning	learning	NOUN
easat-1532	88	43	gate	gate	NOUN
easat-1532	88	44	fusion	fusion	NOUN
easat-1532	88	45	structure	structure	NOUN
easat-1532	88	46	with	with	ADP
easat-1532	88	47	multiple	multiple	ADJ
easat-1532	88	48	local	local	ADJ
easat-1532	88	49	information	information	NOUN
easat-1532	88	50	fusion	fusion	NOUN
easat-1532	88	51	centers	center	NOUN
easat-1532	88	52	has	have	AUX
easat-1532	88	53	evolved	evolve	VERB
easat-1532	88	54	.	.	PUNCT
easat-1532	89	1	in	in	ADP
easat-1532	89	2	this	this	DET
easat-1532	89	3	study	study	NOUN
easat-1532	89	4	,	,	PUNCT
easat-1532	89	5	two	two	NUM
easat-1532	89	6	information	information	NOUN
easat-1532	89	7	fusion	fusion	NOUN
easat-1532	89	8	strategies	strategy	NOUN
easat-1532	89	9	are	be	AUX
easat-1532	89	10	combined	combine	VERB
easat-1532	89	11	to	to	PART
easat-1532	89	12	form	form	VERB
easat-1532	89	13	a	a	DET
easat-1532	89	14	hybrid	hybrid	ADJ
easat-1532	89	15	information	information	NOUN
easat-1532	89	16	fusion	fusion	NOUN
easat-1532	89	17	structure	structure	NOUN
easat-1532	89	18	,	,	PUNCT
easat-1532	89	19	which	which	PRON
easat-1532	89	20	adds	add	VERB
easat-1532	89	21	a	a	DET
easat-1532	89	22	central	central	ADJ
easat-1532	89	23	information	information	NOUN
easat-1532	89	24	fusion	fusion	NOUN
easat-1532	89	25	center	center	NOUN
easat-1532	89	26	on	on	ADP
easat-1532	89	27	top	top	NOUN
easat-1532	89	28	of	of	ADP
easat-1532	89	29	the	the	DET
easat-1532	89	30	distributed	distribute	VERB
easat-1532	89	31	information	information	NOUN
easat-1532	89	32	fusion	fusion	NOUN
easat-1532	89	33	structure	structure	NOUN
easat-1532	89	34	to	to	PART
easat-1532	89	35	aggregate	aggregate	VERB
easat-1532	89	36	and	and	CCONJ
easat-1532	89	37	fuse	fuse	VERB
easat-1532	89	38	the	the	DET
easat-1532	89	39	information	information	NOUN
easat-1532	89	40	from	from	ADP
easat-1532	89	41	multiple	multiple	ADJ
easat-1532	89	42	local	local	ADJ
easat-1532	89	43	information	information	NOUN
easat-1532	89	44	fusion	fusion	NOUN
easat-1532	89	45	centers	center	NOUN
easat-1532	89	46	,	,	PUNCT
easat-1532	89	47	as	as	SCONJ
easat-1532	89	48	shown	show	VERB
easat-1532	89	49	in	in	ADP
easat-1532	89	50	figure	figure	NOUN
easat-1532	89	51	5	5	NUM
easat-1532	89	52	.	.	PUNCT
easat-1532	90	1	sensor	sensor	NOUN
easat-1532	90	2	1	1	NUM
easat-1532	90	3	sensor	sensor	NOUN
easat-1532	90	4	2	2	NUM
easat-1532	90	5	sensor	sensor	NOUN
easat-1532	90	6	3	3	NUM
easat-1532	90	7	sensor	sensor	NOUN
easat-1532	90	8	4	4	NUM
easat-1532	90	9	sensor	sensor	NOUN
easat-1532	90	10	n-1	n-1	NOUN
easat-1532	90	11	sensor	sensor	NOUN
easat-1532	90	12	n	n	CCONJ
easat-1532	90	13	local	local	ADJ
easat-1532	90	14	informati	informati	NOUN
easat-1532	90	15	on	on	ADP
easat-1532	90	16	fusion	fusion	NOUN
easat-1532	90	17	center	center	NOUN
easat-1532	90	18	local	local	ADJ
easat-1532	90	19	informati	informati	NOUN
easat-1532	90	20	on	on	ADP
easat-1532	90	21	fusion	fusion	NOUN
easat-1532	90	22	center	center	NOUN
easat-1532	90	23	central	central	ADJ
easat-1532	90	24	information	information	NOUN
easat-1532	90	25	fusion	fusion	NOUN
easat-1532	90	26	center	center	NOUN
easat-1532	90	27	figure	figure	NOUN
easat-1532	90	28	5	5	NUM
easat-1532	90	29	.	.	PUNCT
easat-1532	90	30	information	information	NOUN
easat-1532	90	31	fusion	fusion	NOUN
easat-1532	90	32	processing	processing	NOUN
easat-1532	90	33	structure	structure	NOUN
easat-1532	90	34	.	.	PUNCT
easat-1532	91	1	as	as	SCONJ
easat-1532	91	2	can	can	AUX
easat-1532	91	3	be	be	AUX
easat-1532	91	4	seen	see	VERB
easat-1532	91	5	from	from	ADP
easat-1532	91	6	figure	figure	NOUN
easat-1532	91	7	5	5	NUM
easat-1532	91	8	,	,	PUNCT
easat-1532	91	9	the	the	DET
easat-1532	91	10	hybrid	hybrid	ADJ
easat-1532	91	11	information	information	NOUN
easat-1532	91	12	fusion	fusion	NOUN
easat-1532	91	13	structure	structure	NOUN
easat-1532	91	14	used	use	VERB
easat-1532	91	15	in	in	ADP
easat-1532	91	16	the	the	DET
easat-1532	91	17	study	study	NOUN
easat-1532	91	18	can	can	AUX
easat-1532	91	19	use	use	VERB
easat-1532	91	20	local	local	ADJ
easat-1532	91	21	information	information	NOUN
easat-1532	91	22	fusion	fusion	NOUN
easat-1532	91	23	centers	center	NOUN
easat-1532	91	24	to	to	ADP
easat-1532	91	25	pre	pre	ADJ
easat-1532	91	26	-	-	ADJ
easat-1532	91	27	process	process	ADJ
easat-1532	91	28	external	external	ADJ
easat-1532	91	29	information	information	NOUN
easat-1532	91	30	.	.	PUNCT
easat-1532	92	1	after	after	ADP
easat-1532	92	2	pre	pre	ADJ
easat-1532	92	3	-	-	ADJ
easat-1532	92	4	processing	processing	NOUN
easat-1532	92	5	by	by	ADP
easat-1532	92	6	multiple	multiple	ADJ
easat-1532	92	7	local	local	ADJ
easat-1532	92	8	information	information	NOUN
easat-1532	92	9	fusion	fusion	NOUN
easat-1532	92	10	centers	center	NOUN
easat-1532	92	11	,	,	PUNCT
easat-1532	92	12	the	the	DET
easat-1532	92	13	information	information	NOUN
easat-1532	92	14	as	as	ADP
easat-1532	92	15	a	a	DET
easat-1532	92	16	whole	whole	NOUN
easat-1532	92	17	has	have	AUX
easat-1532	92	18	formed	form	VERB
easat-1532	92	19	preliminary	preliminary	ADJ
easat-1532	92	20	fusion	fusion	NOUN
easat-1532	92	21	characteristics	characteristic	NOUN
easat-1532	92	22	,	,	PUNCT
easat-1532	92	23	and	and	CCONJ
easat-1532	92	24	on	on	ADP
easat-1532	92	25	this	this	DET
easat-1532	92	26	basis	basis	NOUN
easat-1532	92	27	,	,	PUNCT
easat-1532	92	28	information	information	NOUN
easat-1532	92	29	fusion	fusion	NOUN
easat-1532	92	30	is	be	AUX
easat-1532	92	31	conducive	conducive	ADJ
easat-1532	92	32	to	to	ADP
easat-1532	92	33	improving	improve	VERB
easat-1532	92	34	the	the	DET
easat-1532	92	35	efficiency	efficiency	NOUN
easat-1532	92	36	of	of	ADP
easat-1532	92	37	information	information	NOUN
easat-1532	92	38	utilization	utilization	NOUN
easat-1532	92	39	,	,	PUNCT
easat-1532	92	40	reducing	reduce	VERB
easat-1532	92	41	information	information	NOUN
easat-1532	92	42	loss	loss	NOUN
easat-1532	92	43	,	,	PUNCT
easat-1532	92	44	and	and	CCONJ
easat-1532	92	45	making	make	VERB
easat-1532	92	46	information	information	NOUN
easat-1532	92	47	more	more	ADV
easat-1532	92	48	accurate	accurate	ADJ
easat-1532	92	49	.	.	PUNCT
easat-1532	93	1	since	since	SCONJ
easat-1532	93	2	the	the	DET
easat-1532	93	3	distribution	distribution	NOUN
easat-1532	93	4	point	point	NOUN
easat-1532	93	5	is	be	AUX
easat-1532	93	6	in	in	ADP
easat-1532	93	7	constant	constant	ADJ
easat-1532	93	8	motion	motion	NOUN
easat-1532	93	9	during	during	ADP
easat-1532	93	10	the	the	DET
easat-1532	93	11	real	real	ADJ
easat-1532	93	12	-	-	PUNCT
easat-1532	93	13	time	time	NOUN
easat-1532	93	14	planning	planning	NOUN
easat-1532	93	15	of	of	ADP
easat-1532	93	16	distribution	distribution	NOUN
easat-1532	93	17	and	and	CCONJ
easat-1532	93	18	storage	storage	NOUN
easat-1532	93	19	mode	mode	NOUN
easat-1532	93	20	,	,	PUNCT
easat-1532	93	21	the	the	DET
easat-1532	93	22	odometer	odometer	NOUN
easat-1532	93	23	and	and	CCONJ
easat-1532	93	24	gyroscope	gyroscope	NOUN
easat-1532	93	25	may	may	AUX
easat-1532	93	26	produce	produce	VERB
easat-1532	93	27	certain	certain	ADJ
easat-1532	93	28	motion	motion	NOUN
easat-1532	93	29	deviation	deviation	NOUN
easat-1532	93	30	for	for	ADP
easat-1532	93	31	the	the	DET
easat-1532	93	32	collection	collection	NOUN
easat-1532	93	33	of	of	ADP
easat-1532	93	34	environmental	environmental	ADJ
easat-1532	93	35	navigation	navigation	NOUN
easat-1532	93	36	information	information	NOUN
easat-1532	93	37	.	.	PUNCT
easat-1532	94	1	however	however	ADV
easat-1532	94	2	,	,	PUNCT
easat-1532	94	3	using	use	VERB
easat-1532	94	4	only	only	ADJ
easat-1532	94	5	vision	vision	NOUN
easat-1532	94	6	sensors	sensor	NOUN
easat-1532	94	7	for	for	ADP
easat-1532	94	8	data	datum	NOUN
easat-1532	94	9	acquisition	acquisition	NOUN
easat-1532	94	10	can	can	AUX
easat-1532	94	11	lead	lead	VERB
easat-1532	94	12	to	to	ADP
easat-1532	94	13	inefficient	inefficient	ADJ
easat-1532	94	14	and	and	CCONJ
easat-1532	94	15	timeconsuming	timeconsuming	ADJ
easat-1532	94	16	data	datum	NOUN
easat-1532	94	17	processing	processing	NOUN
easat-1532	94	18	.	.	PUNCT
easat-1532	95	1	therefore	therefore	ADV
easat-1532	95	2	,	,	PUNCT
easat-1532	95	3	the	the	DET
easat-1532	95	4	study	study	NOUN
easat-1532	95	5	uses	use	VERB
easat-1532	95	6	the	the	DET
easat-1532	95	7	vision	vision	NOUN
easat-1532	95	8	sensor	sensor	NOUN
easat-1532	95	9	as	as	ADP
easat-1532	95	10	an	an	DET
easat-1532	95	11	absolute	absolute	ADJ
easat-1532	95	12	sensor	sensor	NOUN
easat-1532	95	13	and	and	CCONJ
easat-1532	95	14	the	the	DET
easat-1532	95	15	odometer	odometer	NOUN
easat-1532	95	16	and	and	CCONJ
easat-1532	95	17	gyroscope	gyroscope	NOUN
easat-1532	95	18	as	as	ADP
easat-1532	95	19	relative	relative	ADJ
easat-1532	95	20	sensors	sensor	NOUN
easat-1532	95	21	.	.	PUNCT
easat-1532	96	1	the	the	DET
easat-1532	96	2	kalman	kalman	PROPN
easat-1532	96	3	filter	filter	NOUN
easat-1532	96	4	module	module	NOUN
easat-1532	96	5	of	of	ADP
easat-1532	96	6	the	the	DET
easat-1532	96	7	local	local	ADJ
easat-1532	96	8	data	data	NOUN
easat-1532	96	9	fusion	fusion	NOUN
easat-1532	96	10	center	center	NOUN
easat-1532	96	11	directly	directly	ADV
easat-1532	96	12	oriented	orient	VERB
easat-1532	96	13	to	to	ADP
easat-1532	96	14	the	the	DET
easat-1532	96	15	sensor	sensor	NOUN
easat-1532	96	16	information	information	NOUN
easat-1532	96	17	can	can	AUX
easat-1532	96	18	measure	measure	VERB
easat-1532	96	19	the	the	DET
easat-1532	96	20	system	system	NOUN
easat-1532	96	21	state	state	NOUN
easat-1532	96	22	based	base	VERB
easat-1532	96	23	on	on	ADP
easat-1532	96	24	the	the	DET
easat-1532	96	25	real	real	ADJ
easat-1532	96	26	-	-	PUNCT
easat-1532	96	27	time	time	NOUN
easat-1532	96	28	state	state	NOUN
easat-1532	96	29	of	of	ADP
easat-1532	96	30	the	the	DET
easat-1532	96	31	smart	smart	ADJ
easat-1532	96	32	delivery	delivery	NOUN
easat-1532	96	33	vehicle	vehicle	NOUN
easat-1532	96	34	,	,	PUNCT
easat-1532	96	35	and	and	CCONJ
easat-1532	96	36	the	the	DET
easat-1532	96	37	system	system	NOUN
easat-1532	96	38	state	state	NOUN
easat-1532	96	39	equation	equation	NOUN
easat-1532	96	40	is	be	AUX
easat-1532	96	41	shown	show	VERB
easat-1532	96	42	in	in	ADP
easat-1532	96	43	equation	equation	NOUN
easat-1532	96	44	(	(	PUNCT
easat-1532	96	45	8)	8)	NUM
easat-1532	96	46	.	.	PUNCT
easat-1532	97	1	(	(	PUNCT
easat-1532	97	2	)	)	PUNCT
easat-1532	97	3	(	(	PUNCT
easat-1532	97	4	)	)	PUNCT
easat-1532	97	5	(	(	PUNCT
easat-1532	97	6	)	)	PUNCT
easat-1532	97	7	(	(	PUNCT
easat-1532	97	8	)	)	SYM
easat-1532	97	9	1	1	NUM
easat-1532	97	10	1	1	NUM
easat-1532	97	11	111	111	NUM
easat-1532	97	12	−+	−+	NOUN
easat-1532	97	13	−	−	PROPN
easat-1532	98	1	+	+	PROPN
easat-1532	98	2	−=	−=	X
easat-1532	98	3	kv	kv	PROPN
easat-1532	98	4	d	d	PROPN
easat-1532	98	5	ku	ku	PROPN
easat-1532	98	6	kk	kk	PROPN
easat-1532	98	7			PROPN
easat-1532	98	8	(	(	PUNCT
easat-1532	98	9	8)	8)	NUM
easat-1532	98	10	in	in	ADP
easat-1532	98	11	equation	equation	NOUN
easat-1532	98	12	(	(	PUNCT
easat-1532	98	13	8),	8),	PROPN
easat-1532	98	14	represents	represent	VERB
easat-1532	98	15	the	the	DET
easat-1532	98	16	attitude	attitude	NOUN
easat-1532	98	17	deviation	deviation	NOUN
easat-1532	98	18	,	,	PUNCT
easat-1532	98	19	v	v	NOUN
easat-1532	98	20	represents	represent	VERB
easat-1532	98	21	the	the	DET
easat-1532	98	22	velocity	velocity	NOUN
easat-1532	98	23	,	,	PUNCT
easat-1532	98	24	1−k	1−k	NUM
easat-1532	98	25	andk	andk	NOUN
easat-1532	98	26	represent	represent	VERB
easat-1532	98	27	the	the	DET
easat-1532	98	28	two	two	NUM
easat-1532	98	29	immediately	immediately	ADV
easat-1532	98	30	adjacent	adjacent	ADJ
easat-1532	98	31	moments	moment	NOUN
easat-1532	98	32	,	,	PUNCT
easat-1532	98	33	d	d	PRON
easat-1532	98	34	represents	represent	VERB
easat-1532	98	35	the	the	DET
easat-1532	98	36	wheel	wheel	NOUN
easat-1532	98	37	distance	distance	NOUN
easat-1532	98	38	,	,	PUNCT
easat-1532	98	39	and	and	CCONJ
easat-1532	98	40	(	(	PUNCT
easat-1532	98	41	)	)	PUNCT
easat-1532	98	42	k	k	NOUN
easat-1532	98	43	can	can	AUX
easat-1532	98	44	be	be	AUX
easat-1532	98	45	calculated	calculate	VERB
easat-1532	98	46	using	use	VERB
easat-1532	98	47	equation	equation	NOUN
easat-1532	98	48	(	(	PUNCT
easat-1532	98	49	9	9	NUM
easat-1532	98	50	)	)	PUNCT
easat-1532	98	51	.	.	PUNCT
easat-1532	99	1	(	(	PUNCT
easat-1532	99	2	)	)	PUNCT
easat-1532	99	3	(	(	PUNCT
easat-1532	99	4	)	)	PUNCT
easat-1532	99	5	(	(	PUNCT
easat-1532	99	6	)	)	PUNCT
easat-1532	99	7	kkk	kkk	PROPN
easat-1532	99	8			PROPN
easat-1532	99	9	+−=	+−=	PROPN
easat-1532	99	10	1	1	NUM
easat-1532	99	11	(	(	PUNCT
easat-1532	99	12	9	9	NUM
easat-1532	99	13	)	)	PUNCT
easat-1532	99	14	1624	1624	NUM
easat-1532	99	15	edelweiss	edelweiss	PROPN
easat-1532	99	16	applied	apply	VERB
easat-1532	99	17	science	science	NOUN
easat-1532	99	18	and	and	CCONJ
easat-1532	99	19	technology	technology	NOUN
easat-1532	99	20	issn	issn	PROPN
easat-1532	99	21	:	:	PUNCT
easat-1532	99	22	2576	2576	NUM
easat-1532	99	23	-	-	SYM
easat-1532	99	24	8484	8484	NUM
easat-1532	99	25	vol	vol	NOUN
easat-1532	99	26	.	.	PROPN
easat-1532	99	27	8	8	NUM
easat-1532	99	28	,	,	PUNCT
easat-1532	99	29	no	no	INTJ
easat-1532	99	30	.	.	NOUN
easat-1532	99	31	4	4	NUM
easat-1532	99	32	:	:	SYM
easat-1532	99	33	1617	1617	NUM
easat-1532	99	34	-	-	SYM
easat-1532	99	35	1629	1629	NUM
easat-1532	99	36	,	,	PUNCT
easat-1532	99	37	2024	2024	NUM
easat-1532	99	38	doi	doi	NOUN
easat-1532	99	39	:	:	PUNCT
easat-1532	99	40	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	99	41	©	©	PROPN
easat-1532	99	42	2024	2024	NUM
easat-1532	99	43	by	by	ADP
easat-1532	99	44	the	the	DET
easat-1532	99	45	authors	author	NOUN
easat-1532	99	46	;	;	PUNCT
easat-1532	99	47	licensee	licensee	PROPN
easat-1532	99	48	learning	learning	NOUN
easat-1532	99	49	gate	gate	NOUN
easat-1532	99	50	and	and	CCONJ
easat-1532	99	51			PROPN
easat-1532	99	52	in	in	ADP
easat-1532	99	53	equation	equation	NOUN
easat-1532	99	54	(	(	PUNCT
easat-1532	99	55	9	9	X
easat-1532	99	56	)	)	PUNCT
easat-1532	99	57	can	can	AUX
easat-1532	99	58	be	be	AUX
easat-1532	99	59	calculated	calculate	VERB
easat-1532	99	60	using	use	VERB
easat-1532	99	61	equation	equation	NOUN
easat-1532	99	62	(	(	PUNCT
easat-1532	99	63	10	10	NUM
easat-1532	99	64	)	)	PUNCT
easat-1532	99	65	.	.	PUNCT
easat-1532	100	1	(	(	PUNCT
easat-1532	100	2	)	)	PUNCT
easat-1532	100	3	d	d	NOUN
easat-1532	100	4	tvv	tvv	NOUN
easat-1532	100	5	−	−	NOUN
easat-1532	100	6	=	=	PRON
easat-1532	100	7			X
easat-1532	100	8	21	21	NUM
easat-1532	100	9	(	(	PUNCT
easat-1532	100	10	10	10	NUM
easat-1532	100	11	)	)	PUNCT
easat-1532	100	12	in	in	ADP
easat-1532	100	13	equation	equation	NOUN
easat-1532	100	14	(	(	PUNCT
easat-1532	100	15	10	10	NUM
easat-1532	100	16	)	)	PUNCT
easat-1532	100	17	,	,	PUNCT
easat-1532	100	18	1v	1v	NUM
easat-1532	100	19	and	and	CCONJ
easat-1532	100	20	2v	2v	PROPN
easat-1532	100	21	denote	denote	VERB
easat-1532	100	22	the	the	DET
easat-1532	100	23	speed	speed	NOUN
easat-1532	100	24	of	of	ADP
easat-1532	100	25	the	the	DET
easat-1532	100	26	two	two	NUM
easat-1532	100	27	driving	drive	VERB
easat-1532	100	28	wheels	wheel	NOUN
easat-1532	100	29	,	,	PUNCT
easat-1532	100	30	respectively	respectively	ADV
easat-1532	100	31	,	,	PUNCT
easat-1532	100	32	andt	andt	PROPN
easat-1532	100	33	denotes	denote	VERB
easat-1532	100	34	the	the	DET
easat-1532	100	35	time	time	NOUN
easat-1532	100	36	.	.	PUNCT
easat-1532	101	1	the	the	DET
easat-1532	101	2	system	system	NOUN
easat-1532	101	3	observation	observation	NOUN
easat-1532	101	4	equation	equation	NOUN
easat-1532	101	5	can	can	AUX
easat-1532	101	6	then	then	ADV
easat-1532	101	7	be	be	AUX
easat-1532	101	8	expressed	express	VERB
easat-1532	101	9	in	in	ADP
easat-1532	101	10	the	the	DET
easat-1532	101	11	form	form	NOUN
easat-1532	101	12	of	of	ADP
easat-1532	101	13	equation	equation	NOUN
easat-1532	101	14	(	(	PUNCT
easat-1532	101	15	11	11	NUM
easat-1532	101	16	)	)	PUNCT
easat-1532	101	17	.	.	PUNCT
easat-1532	102	1	(	(	PUNCT
easat-1532	102	2	)	)	PUNCT
easat-1532	102	3	(	(	PUNCT
easat-1532	102	4	)	)	PUNCT
easat-1532	102	5	(	(	PUNCT
easat-1532	102	6	)	)	PUNCT
easat-1532	102	7	kvkhkz	kvkhkz	PROPN
easat-1532	102	8	g	g	PROPN
easat-1532	102	9	+	+	PROPN
easat-1532	102	10	=	=	X
easat-1532	102	11			X
easat-1532	102	12	(	(	PUNCT
easat-1532	102	13	11	11	NUM
easat-1532	102	14	)	)	PUNCT
easat-1532	102	15	in	in	ADP
easat-1532	102	16	equation	equation	NOUN
easat-1532	102	17	(	(	PUNCT
easat-1532	102	18	11	11	NUM
easat-1532	102	19	)	)	PUNCT
easat-1532	102	20	,	,	PUNCT
easat-1532	102	21	(	(	PUNCT
easat-1532	102	22	)	)	PUNCT
easat-1532	102	23	kv	kv	PROPN
easat-1532	102	24	denotes	denote	VERB
easat-1532	102	25	the	the	DET
easat-1532	102	26	measurement	measurement	NOUN
easat-1532	102	27	noise	noise	NOUN
easat-1532	102	28	,	,	PUNCT
easat-1532	102	29	h	h	PROPN
easat-1532	102	30	denotes	denote	VERB
easat-1532	102	31	the	the	DET
easat-1532	102	32	unit	unit	NOUN
easat-1532	102	33	matrix	matrix	NOUN
easat-1532	102	34	,	,	PUNCT
easat-1532	102	35	and	and	CCONJ
easat-1532	102	36	(	(	PUNCT
easat-1532	102	37	)	)	PUNCT
easat-1532	102	38	kg	kg	PROPN
easat-1532	102	39	denotes	denote	VERB
easat-1532	102	40	the	the	DET
easat-1532	102	41	angular	angular	ADJ
easat-1532	102	42	velocity	velocity	NOUN
easat-1532	102	43	measured	measure	VERB
easat-1532	102	44	by	by	ADP
easat-1532	102	45	the	the	DET
easat-1532	102	46	sensor	sensor	NOUN
easat-1532	102	47	.	.	PUNCT
easat-1532	103	1	k	k	PROPN
easat-1532	104	1	the	the	DET
easat-1532	104	2	predicted	predict	VERB
easat-1532	104	3	value	value	NOUN
easat-1532	104	4	of	of	ADP
easat-1532	104	5	the	the	DET
easat-1532	104	6	system	system	NOUN
easat-1532	104	7	state	state	NOUN
easat-1532	104	8	at	at	ADP
easat-1532	104	9	the	the	DET
easat-1532	104	10	moment	moment	NOUN
easat-1532	104	11	can	can	AUX
easat-1532	104	12	be	be	AUX
easat-1532	104	13	calculated	calculate	VERB
easat-1532	104	14	using	use	VERB
easat-1532	104	15	equation	equation	NOUN
easat-1532	104	16	(	(	PUNCT
easat-1532	104	17	12	12	NUM
easat-1532	104	18	)	)	PUNCT
easat-1532	104	19	.	.	PUNCT
easat-1532	105	1	(	(	PUNCT
easat-1532	105	2	)	)	PUNCT
easat-1532	105	3	(	(	PUNCT
easat-1532	105	4	)	)	PUNCT
easat-1532	105	5	dkvkkt	dkvkkt	NOUN
easat-1532	105	6	/11	/11	PUNCT
easat-1532	105	7	−=−	−=−	PROPN
easat-1532	105	8	(	(	PUNCT
easat-1532	105	9	12	12	NUM
easat-1532	105	10	)	)	PUNCT
easat-1532	105	11	on	on	ADP
easat-1532	105	12	this	this	DET
easat-1532	105	13	basis	basis	NOUN
easat-1532	105	14	,	,	PUNCT
easat-1532	105	15	the	the	DET
easat-1532	105	16	corresponding	corresponding	ADJ
easat-1532	105	17	variance	variance	NOUN
easat-1532	105	18	values	value	NOUN
easat-1532	105	19	can	can	AUX
easat-1532	105	20	be	be	AUX
easat-1532	105	21	calculated	calculate	VERB
easat-1532	105	22	,	,	PUNCT
easat-1532	105	23	and	and	CCONJ
easat-1532	105	24	the	the	DET
easat-1532	105	25	calculation	calculation	NOUN
easat-1532	105	26	procedure	procedure	NOUN
easat-1532	105	27	is	be	AUX
easat-1532	105	28	shown	show	VERB
easat-1532	105	29	in	in	ADP
easat-1532	105	30	equation	equation	NOUN
easat-1532	105	31	(	(	PUNCT
easat-1532	105	32	13	13	NUM
easat-1532	105	33	)	)	PUNCT
easat-1532	105	34	.	.	PUNCT
easat-1532	106	1			ADJ
easat-1532	106	2			PROPN
easat-1532	106	3	(	(	PUNCT
easat-1532	106	4	)	)	PUNCT
easat-1532	106	5	(	(	PUNCT
easat-1532	106	6	)	)	PUNCT
easat-1532	106	7	kqkkpkkpt	kqkkpkkpt	PROPN
easat-1532	107	1	+	+	PROPN
easat-1532	107	2	−−=−	−−=−	PROPN
easat-1532	107	3	111	111	NUM
easat-1532	107	4	(	(	PUNCT
easat-1532	107	5	13	13	NUM
easat-1532	107	6	)	)	PUNCT
easat-1532	107	7	by	by	ADP
easat-1532	107	8	bringing	bring	VERB
easat-1532	107	9	the	the	DET
easat-1532	107	10	measured	measure	VERB
easat-1532	107	11	and	and	CCONJ
easat-1532	107	12	estimated	estimated	ADJ
easat-1532	107	13	values	value	NOUN
easat-1532	107	14	of	of	ADP
easat-1532	107	15	the	the	DET
easat-1532	107	16	odometer	odometer	NOUN
easat-1532	107	17	and	and	CCONJ
easat-1532	107	18	gyroscope	gyroscope	NOUN
easat-1532	107	19	at	at	ADP
easat-1532	107	20	k	k	PROPN
easat-1532	107	21	into	into	ADP
easat-1532	107	22	the	the	DET
easat-1532	107	23	system	system	NOUN
easat-1532	107	24	update	update	NOUN
easat-1532	107	25	equation	equation	NOUN
easat-1532	107	26	,	,	PUNCT
easat-1532	107	27	the	the	DET
easat-1532	107	28	optimal	optimal	ADJ
easat-1532	107	29	solution	solution	NOUN
easat-1532	107	30	of	of	ADP
easat-1532	107	31	the	the	DET
easat-1532	107	32	system	system	NOUN
easat-1532	107	33	at	at	ADP
easat-1532	107	34	that	that	DET
easat-1532	107	35	moment	moment	NOUN
easat-1532	107	36	can	can	AUX
easat-1532	107	37	be	be	AUX
easat-1532	107	38	obtained	obtain	VERB
easat-1532	107	39	,	,	PUNCT
easat-1532	107	40	as	as	SCONJ
easat-1532	107	41	shown	show	VERB
easat-1532	107	42	in	in	ADP
easat-1532	107	43	equation	equation	NOUN
easat-1532	107	44	(	(	PUNCT
easat-1532	107	45	14	14	NUM
easat-1532	107	46	)	)	PUNCT
easat-1532	107	47	.	.	PUNCT
easat-1532	108	1	(	(	PUNCT
easat-1532	108	2	)	)	PUNCT
easat-1532	108	3	(	(	PUNCT
easat-1532	108	4	)	)	PUNCT
easat-1532	108	5	(	(	PUNCT
easat-1532	108	6	)	)	PUNCT
easat-1532	108	7	(	(	PUNCT
easat-1532	108	8	)	)	PUNCT
easat-1532	108	9	(	(	PUNCT
easat-1532	108	10	)	)	PUNCT
easat-1532	108	11	(	(	PUNCT
easat-1532	108	12	)	)	PUNCT
easat-1532	108	13	11	11	NUM
easat-1532	108	14	−−+−=	−−+−=	NOUN
easat-1532	108	15	kktkgkkgkktkk	kktkgkkgkktkk	NOUN
easat-1532	108	16			X
easat-1532	108	17	(	(	PUNCT
easat-1532	108	18	14	14	NUM
easat-1532	108	19	)	)	PUNCT
easat-1532	108	20	in	in	ADP
easat-1532	108	21	turn	turn	NOUN
easat-1532	108	22	,	,	PUNCT
easat-1532	108	23	the	the	DET
easat-1532	108	24	covariance	covariance	NOUN
easat-1532	108	25	corresponding	correspond	VERB
easat-1532	108	26	to	to	ADP
easat-1532	108	27	the	the	DET
easat-1532	108	28	optimal	optimal	ADJ
easat-1532	108	29	solution	solution	NOUN
easat-1532	108	30	of	of	ADP
easat-1532	108	31	the	the	DET
easat-1532	108	32	system	system	NOUN
easat-1532	108	33	at	at	ADP
easat-1532	108	34	the	the	DET
easat-1532	108	35	moment	moment	NOUN
easat-1532	108	36	can	can	AUX
easat-1532	108	37	be	be	AUX
easat-1532	108	38	calculated	calculate	VERB
easat-1532	108	39	,	,	PUNCT
easat-1532	108	40	as	as	SCONJ
easat-1532	108	41	shown	show	VERB
easat-1532	108	42	in	in	ADP
easat-1532	108	43	equation	equation	NOUN
easat-1532	108	44	(	(	PUNCT
easat-1532	108	45	15	15	NUM
easat-1532	108	46	)	)	PUNCT
easat-1532	108	47	.	.	PUNCT
easat-1532	109	1	(	(	PUNCT
easat-1532	109	2	)	)	PUNCT
easat-1532	109	3	(	(	PUNCT
easat-1532	109	4	)	)	PUNCT
easat-1532	109	5	(	(	PUNCT
easat-1532	109	6	)	)	PUNCT
easat-1532	109	7	(	(	PUNCT
easat-1532	109	8	)	)	PUNCT
easat-1532	109	9	11	11	NUM
easat-1532	109	10	−−=	−−=	NOUN
easat-1532	109	11	kkptkkgkkp	kkptkkgkkp	NOUN
easat-1532	109	12	(	(	PUNCT
easat-1532	109	13	15	15	NUM
easat-1532	109	14	)	)	PUNCT
easat-1532	109	15	taking	take	VERB
easat-1532	109	16	the	the	DET
easat-1532	109	17	local	local	ADJ
easat-1532	109	18	fusion	fusion	NOUN
easat-1532	109	19	processing	processing	NOUN
easat-1532	109	20	results	result	NOUN
easat-1532	109	21	of	of	ADP
easat-1532	109	22	odometer	odometer	NOUN
easat-1532	109	23	and	and	CCONJ
easat-1532	109	24	gyroscope	gyroscope	NOUN
easat-1532	109	25	as	as	ADP
easat-1532	109	26	the	the	DET
easat-1532	109	27	input	input	NOUN
easat-1532	109	28	of	of	ADP
easat-1532	109	29	the	the	DET
easat-1532	109	30	central	central	ADJ
easat-1532	109	31	information	information	NOUN
easat-1532	109	32	fusion	fusion	NOUN
easat-1532	109	33	center	center	NOUN
easat-1532	109	34	,	,	PUNCT
easat-1532	109	35	and	and	CCONJ
easat-1532	109	36	then	then	ADV
easat-1532	109	37	taking	take	VERB
easat-1532	109	38	the	the	DET
easat-1532	109	39	data	data	NOUN
easat-1532	109	40	acquisition	acquisition	NOUN
easat-1532	109	41	results	result	NOUN
easat-1532	109	42	of	of	ADP
easat-1532	109	43	visual	visual	ADJ
easat-1532	109	44	sensor	sensor	NOUN
easat-1532	109	45	as	as	ADP
easat-1532	109	46	the	the	DET
easat-1532	109	47	direct	direct	ADJ
easat-1532	109	48	input	input	NOUN
easat-1532	109	49	,	,	PUNCT
easat-1532	109	50	the	the	DET
easat-1532	109	51	constellations	constellation	NOUN
easat-1532	109	52	can	can	AUX
easat-1532	109	53	complement	complement	VERB
easat-1532	109	54	each	each	DET
easat-1532	109	55	other	other	ADJ
easat-1532	109	56	in	in	ADP
easat-1532	109	57	the	the	DET
easat-1532	109	58	fusion	fusion	NOUN
easat-1532	109	59	process	process	NOUN
easat-1532	109	60	and	and	CCONJ
easat-1532	109	61	improve	improve	VERB
easat-1532	109	62	the	the	DET
easat-1532	109	63	effect	effect	NOUN
easat-1532	109	64	of	of	ADP
easat-1532	109	65	positioning	positioning	NOUN
easat-1532	109	66	accuracy	accuracy	NOUN
easat-1532	109	67	.	.	PUNCT
easat-1532	110	1	4	4	X
easat-1532	110	2	.	.	X
easat-1532	110	3	multi	multi	ADJ
easat-1532	110	4	-	-	ADJ
easat-1532	110	5	source	source	ADJ
easat-1532	110	6	information	information	NOUN
easat-1532	110	7	positioning	positioning	NOUN
easat-1532	110	8	logistics	logistic	NOUN
easat-1532	110	9	automated	automate	VERB
easat-1532	110	10	warehousing	warehousing	NOUN
easat-1532	110	11	and	and	CCONJ
easat-1532	110	12	distribution	distribution	NOUN
easat-1532	110	13	model	model	NOUN
easat-1532	110	14	effect	effect	NOUN
easat-1532	110	15	verification	verification	NOUN
easat-1532	110	16	when	when	SCONJ
easat-1532	110	17	verifying	verify	VERB
easat-1532	110	18	the	the	DET
easat-1532	110	19	effect	effect	NOUN
easat-1532	110	20	of	of	ADP
easat-1532	110	21	the	the	DET
easat-1532	110	22	multi	multi	ADJ
easat-1532	110	23	-	-	ADJ
easat-1532	110	24	source	source	ADJ
easat-1532	110	25	information	information	NOUN
easat-1532	110	26	positioning	positioning	NOUN
easat-1532	110	27	logistics	logistic	NOUN
easat-1532	110	28	automatic	automatic	ADJ
easat-1532	110	29	warehousing	warehousing	NOUN
easat-1532	110	30	and	and	CCONJ
easat-1532	110	31	distribution	distribution	NOUN
easat-1532	110	32	model	model	NOUN
easat-1532	110	33	,	,	PUNCT
easat-1532	110	34	the	the	DET
easat-1532	110	35	performance	performance	NOUN
easat-1532	110	36	of	of	ADP
easat-1532	110	37	the	the	DET
easat-1532	110	38	kalman	kalman	NOUN
easat-1532	110	39	filter	filter	NOUN
easat-1532	110	40	positioning	positioning	NOUN
easat-1532	110	41	model	model	NOUN
easat-1532	110	42	used	use	VERB
easat-1532	110	43	in	in	ADP
easat-1532	110	44	the	the	DET
easat-1532	110	45	study	study	NOUN
easat-1532	110	46	was	be	AUX
easat-1532	110	47	compared	compare	VERB
easat-1532	110	48	and	and	CCONJ
easat-1532	110	49	analyzed	analyze	VERB
easat-1532	110	50	first	first	ADV
easat-1532	110	51	,	,	PUNCT
easat-1532	110	52	then	then	ADV
easat-1532	110	53	the	the	DET
easat-1532	110	54	error	error	NOUN
easat-1532	110	55	was	be	AUX
easat-1532	110	56	compared	compare	VERB
easat-1532	110	57	and	and	CCONJ
easat-1532	110	58	analyzed	analyze	VERB
easat-1532	110	59	from	from	ADP
easat-1532	110	60	the	the	DET
easat-1532	110	61	perspective	perspective	NOUN
easat-1532	110	62	of	of	ADP
easat-1532	110	63	different	different	ADJ
easat-1532	110	64	sensor	sensor	NOUN
easat-1532	110	65	use	use	NOUN
easat-1532	110	66	and	and	CCONJ
easat-1532	110	67	different	different	ADJ
easat-1532	110	68	information	information	NOUN
easat-1532	110	69	fusion	fusion	NOUN
easat-1532	110	70	methods	method	NOUN
easat-1532	110	71	,	,	PUNCT
easat-1532	110	72	and	and	CCONJ
easat-1532	110	73	finally	finally	ADV
easat-1532	110	74	the	the	DET
easat-1532	110	75	real	real	ADJ
easat-1532	110	76	-	-	PUNCT
easat-1532	110	77	time	time	NOUN
easat-1532	110	78	positioning	positioning	NOUN
easat-1532	110	79	and	and	CCONJ
easat-1532	110	80	logistics	logistic	NOUN
easat-1532	110	81	planning	planning	NOUN
easat-1532	110	82	simulation	simulation	NOUN
easat-1532	110	83	were	be	AUX
easat-1532	110	84	carried	carry	VERB
easat-1532	110	85	out	out	ADP
easat-1532	110	86	in	in	ADP
easat-1532	110	87	the	the	DET
easat-1532	110	88	actual	actual	ADJ
easat-1532	110	89	environment	environment	NOUN
easat-1532	110	90	.	.	PUNCT
easat-1532	111	1	in	in	ADP
easat-1532	111	2	the	the	DET
easat-1532	111	3	part	part	NOUN
easat-1532	111	4	of	of	ADP
easat-1532	111	5	model	model	NOUN
easat-1532	111	6	performance	performance	NOUN
easat-1532	111	7	analysis	analysis	NOUN
easat-1532	111	8	,	,	PUNCT
easat-1532	111	9	the	the	DET
easat-1532	111	10	research	research	NOUN
easat-1532	111	11	mainly	mainly	ADV
easat-1532	111	12	analyzes	analyze	VERB
easat-1532	111	13	the	the	DET
easat-1532	111	14	algorithm	algorithm	NOUN
easat-1532	111	15	accuracy	accuracy	NOUN
easat-1532	111	16	,	,	PUNCT
easat-1532	111	17	standard	standard	ADJ
easat-1532	111	18	error	error	NOUN
easat-1532	111	19	and	and	CCONJ
easat-1532	111	20	average	average	ADJ
easat-1532	111	21	running	running	NOUN
easat-1532	111	22	time	time	NOUN
easat-1532	111	23	.	.	PUNCT
easat-1532	112	1	the	the	DET
easat-1532	112	2	research	research	NOUN
easat-1532	112	3	mainly	mainly	ADV
easat-1532	112	4	compares	compare	VERB
easat-1532	112	5	the	the	DET
easat-1532	112	6	extended	extended	ADJ
easat-1532	112	7	kalman	kalman	NOUN
easat-1532	112	8	filter	filter	NOUN
easat-1532	112	9	positioning	positioning	NOUN
easat-1532	112	10	model	model	NOUN
easat-1532	112	11	designed	design	VERB
easat-1532	112	12	this	this	DET
easat-1532	112	13	time	time	NOUN
easat-1532	112	14	with	with	ADP
easat-1532	112	15	the	the	DET
easat-1532	112	16	kalman	kalman	PROPN
easat-1532	112	17	filter	filter	NOUN
easat-1532	112	18	positioning	positioning	NOUN
easat-1532	112	19	model	model	NOUN
easat-1532	112	20	,	,	PUNCT
easat-1532	112	21	particle	particle	NOUN
easat-1532	112	22	filter	filter	NOUN
easat-1532	112	23	positioning	positioning	NOUN
easat-1532	112	24	model	model	NOUN
easat-1532	112	25	and	and	CCONJ
easat-1532	112	26	bayesian	bayesian	NOUN
easat-1532	112	27	filter	filter	NOUN
easat-1532	112	28	positioning	positioning	NOUN
easat-1532	112	29	model	model	NOUN
easat-1532	112	30	.	.	PUNCT
easat-1532	113	1	the	the	DET
easat-1532	113	2	specific	specific	ADJ
easat-1532	113	3	results	result	NOUN
easat-1532	113	4	are	be	AUX
easat-1532	113	5	shown	show	VERB
easat-1532	113	6	in	in	ADP
easat-1532	113	7	figure	figure	NOUN
easat-1532	113	8	6	6	NUM
easat-1532	113	9	.	.	SYM
easat-1532	113	10	1625	1625	NUM
easat-1532	113	11	edelweiss	edelweiss	PROPN
easat-1532	113	12	applied	apply	VERB
easat-1532	113	13	science	science	NOUN
easat-1532	113	14	and	and	CCONJ
easat-1532	113	15	technology	technology	NOUN
easat-1532	113	16	issn	issn	PROPN
easat-1532	113	17	:	:	PUNCT
easat-1532	113	18	2576	2576	NUM
easat-1532	113	19	-	-	SYM
easat-1532	113	20	8484	8484	NUM
easat-1532	113	21	vol	vol	NOUN
easat-1532	113	22	.	.	PROPN
easat-1532	114	1	8	8	NUM
easat-1532	114	2	,	,	PUNCT
easat-1532	114	3	no	no	INTJ
easat-1532	114	4	.	.	NOUN
easat-1532	114	5	4	4	NUM
easat-1532	114	6	:	:	SYM
easat-1532	114	7	1617	1617	NUM
easat-1532	114	8	-	-	SYM
easat-1532	114	9	1629	1629	NUM
easat-1532	114	10	,	,	PUNCT
easat-1532	114	11	2024	2024	NUM
easat-1532	114	12	doi	doi	NOUN
easat-1532	114	13	:	:	PUNCT
easat-1532	114	14	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	114	15	©	©	PROPN
easat-1532	114	16	2024	2024	NUM
easat-1532	114	17	by	by	ADP
easat-1532	114	18	the	the	DET
easat-1532	114	19	authors	author	NOUN
easat-1532	114	20	;	;	PUNCT
easat-1532	114	21	licensee	licensee	PROPN
easat-1532	114	22	learning	learning	NOUN
easat-1532	114	23	gate	gate	PROPN
easat-1532	114	24	extended	extend	VERB
easat-1532	114	25	kalman	kalman	NOUN
easat-1532	114	26	filtering	filter	VERB
easat-1532	114	27	0.80	0.80	NUM
easat-1532	114	28	0.85	0.85	NUM
easat-1532	114	29	0.90	0.90	NUM
easat-1532	114	30	0.95	0.95	NUM
easat-1532	114	31	1.00	1.00	NUM
easat-1532	114	32	a	a	DET
easat-1532	114	33	lg	lg	NOUN
easat-1532	114	34	o	o	X
easat-1532	114	35	ri	ri	PROPN
easat-1532	115	1	th	th	X
easat-1532	115	2	m	m	NOUN
easat-1532	115	3	p	p	X
easat-1532	115	4	re	re	ADP
easat-1532	115	5	ci	ci	PROPN
easat-1532	115	6	si	si	PROPN
easat-1532	115	7	o	o	PROPN
easat-1532	115	8	n	n	CCONJ
easat-1532	115	9	0.96	0.96	NUM
easat-1532	115	10	0.91	0.91	NUM
easat-1532	115	11	0.75	0.75	NUM
easat-1532	115	12	kalman	kalman	NOUN
easat-1532	115	13	filtering	filtering	NOUN
easat-1532	115	14	model	model	NOUN
easat-1532	115	15	type	type	NOUN
easat-1532	115	16	0.87	0.87	NUM
easat-1532	115	17	particle	particle	NOUN
easat-1532	115	18	filter	filter	NOUN
easat-1532	115	19	bayesian	bayesian	NOUN
easat-1532	115	20	filtering	filter	VERB
easat-1532	115	21	0.93	0.93	NUM
easat-1532	115	22	(	(	PUNCT
easat-1532	115	23	a)algorithm	a)algorithm	PROPN
easat-1532	115	24	precision	precision	PROPN
easat-1532	115	25	extended	extend	VERB
easat-1532	115	26	kalman	kalman	NOUN
easat-1532	115	27	filtering	filter	VERB
easat-1532	115	28	1.50	1.50	NUM
easat-1532	115	29	1.60	1.60	NUM
easat-1532	115	30	1.70	1.70	NUM
easat-1532	115	31	1.80	1.80	NUM
easat-1532	115	32	1.90	1.90	NUM
easat-1532	115	33	s	s	NOUN
easat-1532	115	34	ta	ta	ADP
easat-1532	115	35	n	n	PROPN
easat-1532	115	36	d	d	PROPN
easat-1532	115	37	ar	ar	PROPN
easat-1532	115	38	d	d	PROPN
easat-1532	116	1	e	e	PROPN
easat-1532	116	2	rr	rr	NOUN
easat-1532	116	3	o	o	NOUN
easat-1532	116	4	r	r	NOUN
easat-1532	116	5	1.52	1.52	NUM
easat-1532	116	6	1.73	1.73	NUM
easat-1532	116	7	1.40	1.40	NUM
easat-1532	116	8	kalman	kalman	NOUN
easat-1532	116	9	filtering	filtering	NOUN
easat-1532	116	10	model	model	NOUN
easat-1532	116	11	type	type	NOUN
easat-1532	116	12	1.81	1.81	NUM
easat-1532	116	13	particle	particle	NOUN
easat-1532	116	14	filter	filter	NOUN
easat-1532	116	15	bayesian	bayesian	NOUN
easat-1532	116	16	filtering	filter	VERB
easat-1532	116	17	1.77	1.77	NUM
easat-1532	116	18	(	(	PUNCT
easat-1532	116	19	b)standard	b)standard	NUM
easat-1532	116	20	error	error	NOUN
easat-1532	116	21	extended	extend	VERB
easat-1532	116	22	kalman	kalman	NOUN
easat-1532	116	23	filtering	filter	VERB
easat-1532	116	24	100	100	NUM
easat-1532	116	25	120	120	NUM
easat-1532	116	26	140	140	NUM
easat-1532	116	27	160	160	NUM
easat-1532	116	28	180	180	NUM
easat-1532	116	29	a	a	DET
easat-1532	116	30	v	v	NOUN
easat-1532	116	31	e	e	NOUN
easat-1532	116	32	ra	ra	NOUN
easat-1532	116	33	g	g	PROPN
easat-1532	116	34	e	e	PROPN
easat-1532	116	35	ru	ru	PROPN
easat-1532	116	36	n	n	CCONJ
easat-1532	116	37	n	n	PROPN
easat-1532	116	38	in	in	ADP
easat-1532	116	39	g	g	PROPN
easat-1532	116	40	ti	ti	PROPN
easat-1532	116	41	m	m	PROPN
easat-1532	116	42	e	e	PROPN
easat-1532	116	43	(	(	PUNCT
easat-1532	116	44	s	s	X
easat-1532	116	45	)	)	PUNCT
easat-1532	116	46	105	105	NUM
easat-1532	116	47	137	137	NUM
easat-1532	116	48	80	80	NUM
easat-1532	116	49	kalman	kalman	NOUN
easat-1532	116	50	filtering	filtering	NOUN
easat-1532	116	51	model	model	NOUN
easat-1532	116	52	type	type	NOUN
easat-1532	116	53	153	153	NUM
easat-1532	116	54	particle	particle	NOUN
easat-1532	116	55	filter	filter	NOUN
easat-1532	116	56	bayesian	bayesian	NOUN
easat-1532	116	57	filtering	filter	VERB
easat-1532	116	58	144	144	NUM
easat-1532	116	59	(	(	PUNCT
easat-1532	116	60	c)average	c)average	PROPN
easat-1532	116	61	running	run	VERB
easat-1532	116	62	time(s	time(s	NOUN
easat-1532	116	63	)	)	PUNCT
easat-1532	116	64	figure	figure	NOUN
easat-1532	116	65	6	6	NUM
easat-1532	116	66	.	.	PUNCT
easat-1532	116	67	model	model	PROPN
easat-1532	116	68	data	data	PROPN
easat-1532	116	69	comparison	comparison	NOUN
easat-1532	116	70	.	.	PUNCT
easat-1532	117	1	from	from	ADP
easat-1532	117	2	figure	figure	NOUN
easat-1532	117	3	6	6	NUM
easat-1532	117	4	,	,	PUNCT
easat-1532	117	5	we	we	PRON
easat-1532	117	6	can	can	AUX
easat-1532	117	7	see	see	VERB
easat-1532	117	8	that	that	PRON
easat-1532	117	9	,	,	PUNCT
easat-1532	117	10	in	in	ADP
easat-1532	117	11	terms	term	NOUN
easat-1532	117	12	of	of	ADP
easat-1532	117	13	algorithm	algorithm	NOUN
easat-1532	117	14	accuracy	accuracy	NOUN
easat-1532	117	15	,	,	PUNCT
easat-1532	117	16	the	the	DET
easat-1532	117	17	algorithm	algorithm	NOUN
easat-1532	117	18	accuracy	accuracy	NOUN
easat-1532	117	19	of	of	ADP
easat-1532	117	20	this	this	DET
easat-1532	117	21	designed	design	VERB
easat-1532	117	22	extended	extended	ADJ
easat-1532	117	23	kalman	kalman	NOUN
easat-1532	117	24	filter	filter	NOUN
easat-1532	117	25	localization	localization	NOUN
easat-1532	117	26	model	model	NOUN
easat-1532	117	27	reaches	reach	VERB
easat-1532	117	28	0.96	0.96	NUM
easat-1532	117	29	,	,	PUNCT
easat-1532	117	30	the	the	DET
easat-1532	117	31	algorithm	algorithm	NOUN
easat-1532	117	32	accuracy	accuracy	NOUN
easat-1532	117	33	of	of	ADP
easat-1532	117	34	kalman	kalman	PROPN
easat-1532	117	35	filter	filter	NOUN
easat-1532	117	36	localization	localization	NOUN
easat-1532	117	37	model	model	NOUN
easat-1532	117	38	is	be	AUX
easat-1532	117	39	0.91	0.91	NUM
easat-1532	117	40	,	,	PUNCT
easat-1532	117	41	the	the	DET
easat-1532	117	42	algorithm	algorithm	NOUN
easat-1532	117	43	accuracy	accuracy	NOUN
easat-1532	117	44	of	of	ADP
easat-1532	117	45	particle	particle	NOUN
easat-1532	117	46	filter	filter	NOUN
easat-1532	117	47	localization	localization	NOUN
easat-1532	117	48	model	model	NOUN
easat-1532	117	49	is	be	AUX
easat-1532	117	50	0.93	0.93	NUM
easat-1532	117	51	,	,	PUNCT
easat-1532	117	52	and	and	CCONJ
easat-1532	117	53	the	the	DET
easat-1532	117	54	algorithm	algorithm	NOUN
easat-1532	117	55	accuracy	accuracy	NOUN
easat-1532	117	56	of	of	ADP
easat-1532	117	57	bayesian	bayesian	NOUN
easat-1532	117	58	filter	filter	NOUN
easat-1532	117	59	localization	localization	NOUN
easat-1532	117	60	model	model	NOUN
easat-1532	117	61	is	be	AUX
easat-1532	117	62	0.87	0.87	NUM
easat-1532	117	63	.	.	PUNCT
easat-1532	118	1	the	the	DET
easat-1532	118	2	algorithm	algorithm	NOUN
easat-1532	118	3	accuracy	accuracy	NOUN
easat-1532	118	4	of	of	ADP
easat-1532	118	5	this	this	DET
easat-1532	118	6	designed	design	VERB
easat-1532	118	7	extended	extended	ADJ
easat-1532	118	8	kalman	kalman	NOUN
easat-1532	118	9	filter	filter	NOUN
easat-1532	118	10	localization	localization	NOUN
easat-1532	118	11	model	model	NOUN
easat-1532	118	12	is	be	AUX
easat-1532	118	13	the	the	DET
easat-1532	118	14	highest	high	ADJ
easat-1532	118	15	and	and	CCONJ
easat-1532	118	16	the	the	DET
easat-1532	118	17	model	model	NOUN
easat-1532	118	18	in	in	ADP
easat-1532	118	19	terms	term	NOUN
easat-1532	118	20	of	of	ADP
easat-1532	118	21	standard	standard	ADJ
easat-1532	118	22	error	error	NOUN
easat-1532	118	23	,	,	PUNCT
easat-1532	118	24	the	the	DET
easat-1532	118	25	standard	standard	ADJ
easat-1532	118	26	error	error	NOUN
easat-1532	118	27	of	of	ADP
easat-1532	118	28	the	the	DET
easat-1532	118	29	designed	design	VERB
easat-1532	118	30	extended	extended	ADJ
easat-1532	118	31	kalman	kalman	NOUN
easat-1532	118	32	filter	filter	NOUN
easat-1532	118	33	localization	localization	NOUN
easat-1532	118	34	model	model	NOUN
easat-1532	118	35	is	be	AUX
easat-1532	118	36	only	only	ADV
easat-1532	118	37	1.52	1.52	NUM
easat-1532	118	38	,	,	PUNCT
easat-1532	118	39	the	the	DET
easat-1532	118	40	standard	standard	ADJ
easat-1532	118	41	error	error	NOUN
easat-1532	118	42	of	of	ADP
easat-1532	118	43	the	the	DET
easat-1532	118	44	kalman	kalman	NOUN
easat-1532	118	45	filter	filter	NOUN
easat-1532	118	46	localization	localization	NOUN
easat-1532	118	47	model	model	NOUN
easat-1532	118	48	is	be	AUX
easat-1532	118	49	1.73	1.73	NUM
easat-1532	118	50	,	,	PUNCT
easat-1532	118	51	the	the	DET
easat-1532	118	52	standard	standard	ADJ
easat-1532	118	53	error	error	NOUN
easat-1532	118	54	of	of	ADP
easat-1532	118	55	the	the	DET
easat-1532	118	56	particle	particle	NOUN
easat-1532	118	57	filter	filter	NOUN
easat-1532	118	58	localization	localization	NOUN
easat-1532	118	59	model	model	NOUN
easat-1532	118	60	is	be	AUX
easat-1532	118	61	1.77	1.77	NUM
easat-1532	118	62	,	,	PUNCT
easat-1532	118	63	and	and	CCONJ
easat-1532	118	64	the	the	DET
easat-1532	118	65	standard	standard	ADJ
easat-1532	118	66	error	error	NOUN
easat-1532	118	67	of	of	ADP
easat-1532	118	68	the	the	DET
easat-1532	118	69	bayesian	bayesian	NOUN
easat-1532	118	70	filter	filter	NOUN
easat-1532	118	71	localization	localization	NOUN
easat-1532	118	72	model	model	NOUN
easat-1532	118	73	is	be	AUX
easat-1532	118	74	1.81	1.81	NUM
easat-1532	118	75	.	.	PUNCT
easat-1532	119	1	the	the	DET
easat-1532	119	2	standard	standard	ADJ
easat-1532	119	3	error	error	NOUN
easat-1532	119	4	of	of	ADP
easat-1532	119	5	the	the	DET
easat-1532	119	6	designed	design	VERB
easat-1532	119	7	extended	extended	ADJ
easat-1532	119	8	kalman	kalman	NOUN
easat-1532	119	9	filter	filter	NOUN
easat-1532	119	10	localization	localization	NOUN
easat-1532	119	11	model	model	NOUN
easat-1532	119	12	is	be	AUX
easat-1532	119	13	the	the	DET
easat-1532	119	14	lowest	low	ADJ
easat-1532	119	15	and	and	CCONJ
easat-1532	119	16	the	the	DET
easat-1532	119	17	localization	localization	NOUN
easat-1532	119	18	in	in	ADP
easat-1532	119	19	terms	term	NOUN
easat-1532	119	20	of	of	ADP
easat-1532	119	21	the	the	DET
easat-1532	119	22	average	average	ADJ
easat-1532	119	23	running	running	NOUN
easat-1532	119	24	time	time	NOUN
easat-1532	119	25	,	,	PUNCT
easat-1532	119	26	the	the	DET
easat-1532	119	27	average	average	ADJ
easat-1532	119	28	running	running	NOUN
easat-1532	119	29	time	time	NOUN
easat-1532	119	30	of	of	ADP
easat-1532	119	31	the	the	DET
easat-1532	119	32	extended	extended	ADJ
easat-1532	119	33	kalman	kalman	NOUN
easat-1532	119	34	filter	filter	NOUN
easat-1532	119	35	localization	localization	NOUN
easat-1532	119	36	model	model	NOUN
easat-1532	119	37	is	be	AUX
easat-1532	119	38	105s	105s	NUM
easat-1532	119	39	,	,	PUNCT
easat-1532	119	40	the	the	DET
easat-1532	119	41	average	average	ADJ
easat-1532	119	42	running	running	NOUN
easat-1532	119	43	time	time	NOUN
easat-1532	119	44	of	of	ADP
easat-1532	119	45	the	the	DET
easat-1532	119	46	kalman	kalman	NOUN
easat-1532	119	47	filter	filter	NOUN
easat-1532	119	48	localization	localization	NOUN
easat-1532	119	49	model	model	NOUN
easat-1532	119	50	is	be	AUX
easat-1532	119	51	137s	137	NOUN
easat-1532	119	52	,	,	PUNCT
easat-1532	119	53	the	the	DET
easat-1532	119	54	average	average	ADJ
easat-1532	119	55	running	running	NOUN
easat-1532	119	56	time	time	NOUN
easat-1532	119	57	of	of	ADP
easat-1532	119	58	the	the	DET
easat-1532	119	59	particle	particle	NOUN
easat-1532	119	60	filter	filter	NOUN
easat-1532	119	61	localization	localization	NOUN
easat-1532	119	62	model	model	NOUN
easat-1532	119	63	is	be	AUX
easat-1532	119	64	144s	144s	NUM
easat-1532	119	65	,	,	PUNCT
easat-1532	119	66	and	and	CCONJ
easat-1532	119	67	the	the	DET
easat-1532	119	68	average	average	ADJ
easat-1532	119	69	running	running	NOUN
easat-1532	119	70	time	time	NOUN
easat-1532	119	71	of	of	ADP
easat-1532	119	72	the	the	DET
easat-1532	119	73	bayesian	bayesian	NOUN
easat-1532	119	74	filter	filter	NOUN
easat-1532	119	75	localization	localization	NOUN
easat-1532	119	76	model	model	NOUN
easat-1532	119	77	is	be	AUX
easat-1532	119	78	153s	153s	NUM
easat-1532	119	79	.	.	PUNCT
easat-1532	120	1	105s	105s	PROPN
easat-1532	120	2	is	be	AUX
easat-1532	120	3	the	the	DET
easat-1532	120	4	lowest	low	ADJ
easat-1532	120	5	and	and	CCONJ
easat-1532	120	6	the	the	DET
easat-1532	120	7	most	most	ADV
easat-1532	120	8	efficient	efficient	ADJ
easat-1532	120	9	operation	operation	NOUN
easat-1532	120	10	.	.	PUNCT
easat-1532	121	1	it	it	PRON
easat-1532	121	2	can	can	AUX
easat-1532	121	3	be	be	AUX
easat-1532	121	4	seen	see	VERB
easat-1532	121	5	that	that	SCONJ
easat-1532	121	6	,	,	PUNCT
easat-1532	121	7	compared	compare	VERB
easat-1532	121	8	with	with	ADP
easat-1532	121	9	the	the	DET
easat-1532	121	10	same	same	ADJ
easat-1532	121	11	type	type	NOUN
easat-1532	121	12	of	of	ADP
easat-1532	121	13	models	model	NOUN
easat-1532	121	14	,	,	PUNCT
easat-1532	121	15	this	this	PRON
easat-1532	121	16	designed	design	VERB
easat-1532	121	17	extended	extended	ADJ
easat-1532	121	18	kalman	kalman	NOUN
easat-1532	121	19	filter	filter	NOUN
easat-1532	121	20	localization	localization	NOUN
easat-1532	121	21	model	model	NOUN
easat-1532	121	22	shows	show	VERB
easat-1532	121	23	significant	significant	ADJ
easat-1532	121	24	performance	performance	NOUN
easat-1532	121	25	advantages	advantage	NOUN
easat-1532	121	26	in	in	ADP
easat-1532	121	27	terms	term	NOUN
easat-1532	121	28	of	of	ADP
easat-1532	121	29	algorithm	algorithm	NOUN
easat-1532	121	30	accuracy	accuracy	NOUN
easat-1532	121	31	,	,	PUNCT
easat-1532	121	32	standard	standard	ADJ
easat-1532	121	33	error	error	NOUN
easat-1532	121	34	and	and	CCONJ
easat-1532	121	35	average	average	ADJ
easat-1532	121	36	running	running	NOUN
easat-1532	121	37	time	time	NOUN
easat-1532	121	38	.	.	PUNCT
easat-1532	122	1	the	the	DET
easat-1532	122	2	next	next	ADJ
easat-1532	122	3	study	study	NOUN
easat-1532	122	4	compares	compare	VERB
easat-1532	122	5	the	the	DET
easat-1532	122	6	errors	error	NOUN
easat-1532	122	7	generated	generate	VERB
easat-1532	122	8	under	under	ADP
easat-1532	122	9	four	four	NUM
easat-1532	122	10	types	type	NOUN
easat-1532	122	11	of	of	ADP
easat-1532	122	12	information	information	NOUN
easat-1532	122	13	processing	processing	NOUN
easat-1532	122	14	:	:	PUNCT
easat-1532	122	15	relative	relative	ADJ
easat-1532	122	16	sensor	sensor	NOUN
easat-1532	122	17	information	information	NOUN
easat-1532	122	18	processing	processing	NOUN
easat-1532	122	19	alone	alone	ADV
easat-1532	122	20	,	,	PUNCT
easat-1532	122	21	absolute	absolute	ADJ
easat-1532	122	22	sensor	sensor	NOUN
easat-1532	122	23	information	information	NOUN
easat-1532	122	24	processing	processing	NOUN
easat-1532	122	25	alone	alone	ADV
easat-1532	122	26	,	,	PUNCT
easat-1532	122	27	local	local	ADJ
easat-1532	122	28	center	center	NOUN
easat-1532	122	29	information	information	NOUN
easat-1532	122	30	fusion	fusion	NOUN
easat-1532	122	31	processing	processing	NOUN
easat-1532	122	32	,	,	PUNCT
easat-1532	122	33	and	and	CCONJ
easat-1532	122	34	overall	overall	ADJ
easat-1532	122	35	information	information	NOUN
easat-1532	122	36	fusion	fusion	NOUN
easat-1532	122	37	processing	processing	NOUN
easat-1532	122	38	,	,	PUNCT
easat-1532	122	39	and	and	CCONJ
easat-1532	122	40	the	the	DET
easat-1532	122	41	analysis	analysis	NOUN
easat-1532	122	42	results	result	NOUN
easat-1532	122	43	are	be	AUX
easat-1532	122	44	shown	show	VERB
easat-1532	122	45	in	in	ADP
easat-1532	122	46	figure	figure	NOUN
easat-1532	122	47	7	7	NUM
easat-1532	122	48	.	.	SYM
easat-1532	122	49	1626	1626	NUM
easat-1532	122	50	edelweiss	edelweiss	PROPN
easat-1532	122	51	applied	apply	VERB
easat-1532	122	52	science	science	NOUN
easat-1532	122	53	and	and	CCONJ
easat-1532	122	54	technology	technology	NOUN
easat-1532	122	55	issn	issn	PROPN
easat-1532	122	56	:	:	PUNCT
easat-1532	122	57	2576	2576	NUM
easat-1532	122	58	-	-	SYM
easat-1532	122	59	8484	8484	NUM
easat-1532	122	60	vol	vol	NOUN
easat-1532	122	61	.	.	PROPN
easat-1532	122	62	8	8	NUM
easat-1532	122	63	,	,	PUNCT
easat-1532	122	64	no	no	INTJ
easat-1532	122	65	.	.	NOUN
easat-1532	123	1	4	4	NUM
easat-1532	123	2	:	:	SYM
easat-1532	123	3	1617	1617	NUM
easat-1532	123	4	-	-	SYM
easat-1532	123	5	1629	1629	NUM
easat-1532	123	6	,	,	PUNCT
easat-1532	123	7	2024	2024	NUM
easat-1532	123	8	doi	doi	NOUN
easat-1532	123	9	:	:	PUNCT
easat-1532	123	10	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	123	11	©	©	PROPN
easat-1532	123	12	2024	2024	NUM
easat-1532	123	13	by	by	ADP
easat-1532	123	14	the	the	DET
easat-1532	123	15	authors	author	NOUN
easat-1532	123	16	;	;	PUNCT
easat-1532	123	17	licensee	licensee	PROPN
easat-1532	123	18	learning	learning	NOUN
easat-1532	123	19	gate	gate	NOUN
easat-1532	123	20	2	2	NUM
easat-1532	123	21	-5	-5	NOUN
easat-1532	123	22	0	0	NUM
easat-1532	123	23	5	5	NUM
easat-1532	123	24	10	10	NUM
easat-1532	123	25	d	d	NOUN
easat-1532	123	26	eg	eg	NOUN
easat-1532	123	27	re	re	NOUN
easat-1532	123	28	es	es	X
easat-1532	123	29	(	(	PUNCT
easat-1532	123	30	。	。	PROPN
easat-1532	123	31	)	)	PUNCT
easat-1532	123	32	-10	-10	PUNCT
easat-1532	123	33	time(s	time(s	NOUN
easat-1532	123	34	)	)	PUNCT
easat-1532	123	35	4	4	NUM
easat-1532	123	36	6	6	NUM
easat-1532	123	37	8	8	NUM
easat-1532	123	38	10	10	NUM
easat-1532	123	39	(	(	PUNCT
easat-1532	123	40	a)relative	a)relative	NUM
easat-1532	124	1	sensor	sensor	NOUN
easat-1532	124	2	deviation	deviation	NOUN
easat-1532	124	3	15	15	NUM
easat-1532	124	4	0	0	NUM
easat-1532	124	5	2	2	NUM
easat-1532	124	6	-5	-5	NOUN
easat-1532	124	7	0	0	NUM
easat-1532	124	8	5	5	NUM
easat-1532	124	9	10	10	NUM
easat-1532	124	10	d	d	NOUN
easat-1532	124	11	eg	eg	NOUN
easat-1532	124	12	re	re	NOUN
easat-1532	124	13	es	es	X
easat-1532	124	14	(	(	PUNCT
easat-1532	124	15	。	。	PROPN
easat-1532	124	16	)	)	PUNCT
easat-1532	124	17	-10	-10	PUNCT
easat-1532	124	18	time(s	time(s	NOUN
easat-1532	124	19	)	)	PUNCT
easat-1532	124	20	4	4	NUM
easat-1532	124	21	6	6	NUM
easat-1532	124	22	8	8	NUM
easat-1532	124	23	10	10	NUM
easat-1532	124	24	(	(	PUNCT
easat-1532	124	25	b)absolute	b)absolute	NOUN
easat-1532	124	26	sensor	sensor	NOUN
easat-1532	124	27	deviation	deviation	NOUN
easat-1532	124	28	15	15	NUM
easat-1532	124	29	0	0	NUM
easat-1532	124	30	2	2	NUM
easat-1532	124	31	-5	-5	NOUN
easat-1532	124	32	0	0	NUM
easat-1532	124	33	5	5	NUM
easat-1532	124	34	10	10	NUM
easat-1532	124	35	d	d	NOUN
easat-1532	124	36	eg	eg	NOUN
easat-1532	124	37	re	re	NOUN
easat-1532	124	38	es	es	X
easat-1532	124	39	(	(	PUNCT
easat-1532	124	40	。	。	PROPN
easat-1532	124	41	)	)	PUNCT
easat-1532	124	42	-10	-10	PUNCT
easat-1532	124	43	time(s	time(s	NOUN
easat-1532	124	44	)	)	PUNCT
easat-1532	124	45	4	4	NUM
easat-1532	124	46	6	6	NUM
easat-1532	124	47	8	8	NUM
easat-1532	124	48	10	10	NUM
easat-1532	124	49	(	(	PUNCT
easat-1532	124	50	c)partial	c)partial	ADJ
easat-1532	124	51	fusion	fusion	NOUN
easat-1532	124	52	deviation	deviation	NOUN
easat-1532	124	53	15	15	NUM
easat-1532	124	54	0	0	NUM
easat-1532	124	55	2	2	NUM
easat-1532	124	56	-5	-5	NOUN
easat-1532	124	57	0	0	NUM
easat-1532	124	58	5	5	NUM
easat-1532	124	59	10	10	NUM
easat-1532	124	60	d	d	NOUN
easat-1532	124	61	eg	eg	NOUN
easat-1532	124	62	re	re	NOUN
easat-1532	124	63	es	es	X
easat-1532	124	64	(	(	PUNCT
easat-1532	124	65	。	。	PROPN
easat-1532	124	66	)	)	PUNCT
easat-1532	124	67	-10	-10	PUNCT
easat-1532	124	68	time(s	time(s	NOUN
easat-1532	124	69	)	)	PUNCT
easat-1532	124	70	4	4	NUM
easat-1532	124	71	6	6	NUM
easat-1532	124	72	8	8	NUM
easat-1532	124	73	10	10	NUM
easat-1532	124	74	(	(	PUNCT
easat-1532	124	75	d)overall	d)overall	DET
easat-1532	124	76	information	information	NOUN
easat-1532	124	77	fusion	fusion	NOUN
easat-1532	124	78	deviation	deviation	NOUN
easat-1532	124	79	15	15	NUM
easat-1532	124	80	0	0	NUM
easat-1532	124	81	figure	figure	NOUN
easat-1532	124	82	7	7	NUM
easat-1532	124	83	.	.	NOUN
easat-1532	124	84	error	error	NOUN
easat-1532	124	85	comparison	comparison	NOUN
easat-1532	124	86	analysis	analysis	NOUN
easat-1532	124	87	.	.	PUNCT
easat-1532	125	1	as	as	SCONJ
easat-1532	125	2	can	can	AUX
easat-1532	125	3	be	be	AUX
easat-1532	125	4	seen	see	VERB
easat-1532	125	5	from	from	ADP
easat-1532	125	6	fig	fig	NOUN
easat-1532	125	7	.	.	PUNCT
easat-1532	126	1	7	7	NUM
easat-1532	126	2	,	,	PUNCT
easat-1532	126	3	the	the	DET
easat-1532	126	4	variation	variation	NOUN
easat-1532	126	5	interval	interval	NOUN
easat-1532	126	6	of	of	ADP
easat-1532	126	7	the	the	DET
easat-1532	126	8	localization	localization	NOUN
easat-1532	126	9	deviation	deviation	NOUN
easat-1532	126	10	line	line	NOUN
easat-1532	126	11	is	be	AUX
easat-1532	126	12	larger	large	ADJ
easat-1532	126	13	under	under	ADP
easat-1532	126	14	both	both	CCONJ
easat-1532	126	15	the	the	DET
easat-1532	126	16	individual	individual	ADJ
easat-1532	126	17	relative	relative	ADJ
easat-1532	126	18	sensor	sensor	NOUN
easat-1532	126	19	information	information	NOUN
easat-1532	126	20	processing	processing	NOUN
easat-1532	126	21	strategy	strategy	NOUN
easat-1532	126	22	and	and	CCONJ
easat-1532	126	23	the	the	DET
easat-1532	126	24	individual	individual	ADJ
easat-1532	126	25	absolute	absolute	ADJ
easat-1532	126	26	sensor	sensor	NOUN
easat-1532	126	27	information	information	NOUN
easat-1532	126	28	processing	processing	NOUN
easat-1532	126	29	strategy	strategy	NOUN
easat-1532	126	30	,	,	PUNCT
easat-1532	126	31	and	and	CCONJ
easat-1532	126	32	the	the	DET
easat-1532	126	33	fluctuation	fluctuation	NOUN
easat-1532	126	34	of	of	ADP
easat-1532	126	35	the	the	DET
easat-1532	126	36	line	line	NOUN
easat-1532	126	37	is	be	AUX
easat-1532	126	38	frequent	frequent	ADJ
easat-1532	126	39	and	and	CCONJ
easat-1532	126	40	violent	violent	ADJ
easat-1532	126	41	,	,	PUNCT
easat-1532	126	42	and	and	CCONJ
easat-1532	126	43	the	the	DET
easat-1532	126	44	deviation	deviation	NOUN
easat-1532	126	45	distance	distance	NOUN
easat-1532	126	46	is	be	AUX
easat-1532	126	47	larger	large	ADJ
easat-1532	126	48	than	than	ADP
easat-1532	126	49	that	that	PRON
easat-1532	126	50	of	of	ADP
easat-1532	126	51	the	the	DET
easat-1532	126	52	baseline	baseline	NOUN
easat-1532	126	53	.	.	PUNCT
easat-1532	127	1	compared	compare	VERB
easat-1532	127	2	with	with	ADP
easat-1532	127	3	the	the	DET
easat-1532	127	4	individual	individual	ADJ
easat-1532	127	5	relative	relative	ADJ
easat-1532	127	6	sensor	sensor	NOUN
easat-1532	127	7	information	information	NOUN
easat-1532	127	8	processing	processing	NOUN
easat-1532	127	9	strategy	strategy	NOUN
easat-1532	127	10	and	and	CCONJ
easat-1532	127	11	the	the	DET
easat-1532	127	12	individual	individual	ADJ
easat-1532	127	13	absolute	absolute	ADJ
easat-1532	127	14	sensor	sensor	NOUN
easat-1532	127	15	information	information	NOUN
easat-1532	127	16	processing	processing	NOUN
easat-1532	127	17	strategy	strategy	NOUN
easat-1532	127	18	,	,	PUNCT
easat-1532	127	19	the	the	DET
easat-1532	127	20	fluctuation	fluctuation	NOUN
easat-1532	127	21	of	of	ADP
easat-1532	127	22	the	the	DET
easat-1532	127	23	localization	localization	NOUN
easat-1532	127	24	deviation	deviation	NOUN
easat-1532	127	25	line	line	NOUN
easat-1532	127	26	under	under	ADP
easat-1532	127	27	the	the	DET
easat-1532	127	28	local	local	ADJ
easat-1532	127	29	center	center	NOUN
easat-1532	127	30	information	information	NOUN
easat-1532	127	31	fusion	fusion	NOUN
easat-1532	127	32	processing	processing	NOUN
easat-1532	127	33	strategy	strategy	NOUN
easat-1532	127	34	is	be	AUX
easat-1532	127	35	no	no	ADV
easat-1532	127	36	longer	long	ADV
easat-1532	127	37	frequent	frequent	ADJ
easat-1532	127	38	,	,	PUNCT
easat-1532	127	39	but	but	CCONJ
easat-1532	127	40	the	the	DET
easat-1532	127	41	fluctuation	fluctuation	NOUN
easat-1532	127	42	magnitude	magnitude	NOUN
easat-1532	127	43	is	be	AUX
easat-1532	127	44	still	still	ADV
easat-1532	127	45	violent	violent	ADJ
easat-1532	127	46	and	and	CCONJ
easat-1532	127	47	the	the	DET
easat-1532	127	48	fluctuation	fluctuation	NOUN
easat-1532	127	49	interval	interval	NOUN
easat-1532	127	50	is	be	AUX
easat-1532	127	51	larger	large	ADJ
easat-1532	127	52	.	.	PUNCT
easat-1532	128	1	in	in	ADP
easat-1532	128	2	contrast	contrast	NOUN
easat-1532	128	3	,	,	PUNCT
easat-1532	128	4	the	the	DET
easat-1532	128	5	fluctuation	fluctuation	NOUN
easat-1532	128	6	of	of	ADP
easat-1532	128	7	the	the	DET
easat-1532	128	8	localization	localization	NOUN
easat-1532	128	9	deviation	deviation	NOUN
easat-1532	128	10	line	line	NOUN
easat-1532	128	11	under	under	ADP
easat-1532	128	12	the	the	DET
easat-1532	128	13	overall	overall	ADJ
easat-1532	128	14	information	information	NOUN
easat-1532	128	15	fusion	fusion	NOUN
easat-1532	128	16	processing	processing	NOUN
easat-1532	128	17	strategy	strategy	NOUN
easat-1532	128	18	adopted	adopt	VERB
easat-1532	128	19	in	in	ADP
easat-1532	128	20	this	this	DET
easat-1532	128	21	study	study	NOUN
easat-1532	128	22	is	be	AUX
easat-1532	128	23	significantly	significantly	ADV
easat-1532	128	24	reduced	reduce	VERB
easat-1532	128	25	compared	compare	VERB
easat-1532	128	26	with	with	ADP
easat-1532	128	27	the	the	DET
easat-1532	128	28	other	other	ADJ
easat-1532	128	29	strategies	strategy	NOUN
easat-1532	128	30	,	,	PUNCT
easat-1532	128	31	and	and	CCONJ
easat-1532	128	32	the	the	DET
easat-1532	128	33	overall	overall	ADJ
easat-1532	128	34	line	line	NOUN
easat-1532	128	35	is	be	AUX
easat-1532	128	36	closer	close	ADJ
easat-1532	128	37	to	to	ADP
easat-1532	128	38	the	the	DET
easat-1532	128	39	baseline	baseline	NOUN
easat-1532	128	40	and	and	CCONJ
easat-1532	128	41	varies	vary	VERB
easat-1532	128	42	up	up	ADV
easat-1532	128	43	and	and	CCONJ
easat-1532	128	44	down	down	ADV
easat-1532	128	45	around	around	ADP
easat-1532	128	46	the	the	DET
easat-1532	128	47	baseline	baseline	NOUN
easat-1532	128	48	.	.	PUNCT
easat-1532	129	1	this	this	PRON
easat-1532	129	2	demonstrates	demonstrate	VERB
easat-1532	129	3	that	that	SCONJ
easat-1532	129	4	the	the	DET
easat-1532	129	5	overall	overall	ADJ
easat-1532	129	6	information	information	NOUN
easat-1532	129	7	fusion	fusion	NOUN
easat-1532	129	8	strategy	strategy	NOUN
easat-1532	129	9	can	can	AUX
easat-1532	129	10	significantly	significantly	ADV
easat-1532	129	11	reduce	reduce	VERB
easat-1532	129	12	the	the	DET
easat-1532	129	13	localization	localization	NOUN
easat-1532	129	14	bias	bias	NOUN
easat-1532	129	15	.	.	PUNCT
easat-1532	130	1	in	in	ADP
easat-1532	130	2	the	the	DET
easat-1532	130	3	simulation	simulation	NOUN
easat-1532	130	4	test	test	NOUN
easat-1532	130	5	,	,	PUNCT
easat-1532	130	6	the	the	DET
easat-1532	130	7	study	study	NOUN
easat-1532	130	8	made	make	VERB
easat-1532	130	9	a	a	DET
easat-1532	130	10	series	series	NOUN
easat-1532	130	11	of	of	ADP
easat-1532	130	12	prior	prior	ADJ
easat-1532	130	13	settings	setting	NOUN
easat-1532	130	14	for	for	ADP
easat-1532	130	15	the	the	DET
easat-1532	130	16	map	map	NOUN
easat-1532	130	17	environment	environment	NOUN
easat-1532	130	18	,	,	PUNCT
easat-1532	130	19	movement	movement	NOUN
easat-1532	130	20	patterns	pattern	NOUN
easat-1532	130	21	and	and	CCONJ
easat-1532	130	22	other	other	ADJ
easat-1532	130	23	elements	element	NOUN
easat-1532	130	24	of	of	ADP
easat-1532	130	25	the	the	DET
easat-1532	130	26	logistics	logistic	NOUN
easat-1532	130	27	distribution	distribution	NOUN
easat-1532	130	28	,	,	PUNCT
easat-1532	130	29	as	as	SCONJ
easat-1532	130	30	shown	show	VERB
easat-1532	130	31	in	in	ADP
easat-1532	130	32	table	table	NOUN
easat-1532	130	33	1	1	NUM
easat-1532	130	34	.	.	PUNCT
easat-1532	130	35	table	table	NOUN
easat-1532	130	36	1	1	NUM
easat-1532	130	37	.	.	PUNCT
easat-1532	130	38	simulation	simulation	NOUN
easat-1532	130	39	test	test	NOUN
easat-1532	130	40	settings	setting	NOUN
easat-1532	130	41	.	.	PUNCT
easat-1532	131	1	simulation	simulation	NOUN
easat-1532	131	2	test	test	NOUN
easat-1532	131	3	elements	element	NOUN
easat-1532	131	4	simulation	simulation	PROPN
easat-1532	131	5	environment	environment	PROPN
easat-1532	131	6	environmental	environmental	ADJ
easat-1532	131	7	parameters	parameter	NOUN
easat-1532	131	8	map	map	VERB
easat-1532	131	9	elements	element	NOUN
easat-1532	131	10	two	two	NUM
easat-1532	131	11	-	-	PUNCT
easat-1532	131	12	dimensional	dimensional	ADJ
easat-1532	131	13	flat	flat	ADJ
easat-1532	131	14	areas	area	NOUN
easat-1532	131	15	the	the	DET
easat-1532	131	16	area	area	NOUN
easat-1532	131	17	plane	plane	NOUN
easat-1532	131	18	is	be	AUX
easat-1532	131	19	100m*100	100m*100	NUM
easat-1532	131	20	m	m	NOUN
easat-1532	131	21	unit	unit	NOUN
easat-1532	131	22	,	,	PUNCT
easat-1532	131	23	containing	contain	VERB
easat-1532	131	24	a	a	DET
easat-1532	131	25	total	total	NOUN
easat-1532	131	26	of	of	ADP
easat-1532	131	27	34	34	NUM
easat-1532	131	28	feature	feature	NOUN
easat-1532	131	29	points	point	NOUN
easat-1532	131	30	motion	motion	NOUN
easat-1532	131	31	model	model	NOUN
easat-1532	131	32	elements	element	NOUN
easat-1532	131	33	encoder	encoder	NOUN
easat-1532	131	34	class	class	NOUN
easat-1532	131	35	model	model	NOUN
easat-1532	131	36	\	\	PROPN
easat-1532	131	37	observation	observation	NOUN
easat-1532	131	38	model	model	NOUN
easat-1532	131	39	elements	element	NOUN
easat-1532	131	40	visual	visual	ADJ
easat-1532	131	41	sensing	sense	VERB
easat-1532	131	42	observation	observation	NOUN
easat-1532	131	43	model	model	NOUN
easat-1532	131	44	observation	observation	NOUN
easat-1532	131	45	distance	distance	NOUN
easat-1532	131	46	2	2	NUM
easat-1532	131	47	m	m	NOUN
easat-1532	131	48	,	,	PUNCT
easat-1532	131	49	observation	observation	NOUN
easat-1532	131	50	interval	interval	NOUN
easat-1532	131	51	0.2s	0.2s	PROPN
easat-1532	131	52	model	model	PROPN
easat-1532	131	53	noise	noise	NOUN
easat-1532	131	54	elements	element	NOUN
easat-1532	131	55	gaussian	gaussian	NOUN
easat-1532	131	56	noise	noise	NOUN
easat-1532	131	57	environment	environment	NOUN
easat-1532	131	58	noise	noise	NOUN
easat-1532	131	59	value	value	NOUN
easat-1532	131	60	is	be	AUX
easat-1532	131	61	0	0	NUM
easat-1532	131	62	1627	1627	NUM
easat-1532	131	63	edelweiss	edelweiss	PROPN
easat-1532	131	64	applied	apply	VERB
easat-1532	131	65	science	science	NOUN
easat-1532	131	66	and	and	CCONJ
easat-1532	131	67	technology	technology	NOUN
easat-1532	131	68	issn	issn	PROPN
easat-1532	131	69	:	:	PUNCT
easat-1532	131	70	2576	2576	NUM
easat-1532	131	71	-	-	SYM
easat-1532	131	72	8484	8484	NUM
easat-1532	131	73	vol	vol	NOUN
easat-1532	131	74	.	.	PROPN
easat-1532	131	75	8	8	NUM
easat-1532	131	76	,	,	PUNCT
easat-1532	131	77	no	no	INTJ
easat-1532	131	78	.	.	NOUN
easat-1532	132	1	4	4	NUM
easat-1532	132	2	:	:	SYM
easat-1532	132	3	1617	1617	NUM
easat-1532	132	4	-	-	SYM
easat-1532	132	5	1629	1629	NUM
easat-1532	132	6	,	,	PUNCT
easat-1532	132	7	2024	2024	NUM
easat-1532	132	8	doi	doi	NOUN
easat-1532	132	9	:	:	PUNCT
easat-1532	132	10	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	132	11	©	©	PROPN
easat-1532	132	12	2024	2024	NUM
easat-1532	132	13	by	by	ADP
easat-1532	132	14	the	the	DET
easat-1532	132	15	authors	author	NOUN
easat-1532	132	16	;	;	PUNCT
easat-1532	132	17	licensee	licensee	PROPN
easat-1532	132	18	learning	learning	NOUN
easat-1532	132	19	gate	gate	NOUN
easat-1532	132	20	as	as	SCONJ
easat-1532	132	21	can	can	AUX
easat-1532	132	22	be	be	AUX
easat-1532	132	23	seen	see	VERB
easat-1532	132	24	from	from	ADP
easat-1532	132	25	table	table	NOUN
easat-1532	132	26	1	1	NUM
easat-1532	132	27	,	,	PUNCT
easat-1532	132	28	the	the	DET
easat-1532	132	29	map	map	NOUN
easat-1532	132	30	environment	environment	NOUN
easat-1532	132	31	of	of	ADP
easat-1532	132	32	the	the	DET
easat-1532	132	33	simulated	simulate	VERB
easat-1532	132	34	distribution	distribution	NOUN
easat-1532	132	35	is	be	AUX
easat-1532	132	36	mainly	mainly	ADV
easat-1532	132	37	presented	present	VERB
easat-1532	132	38	in	in	ADP
easat-1532	132	39	a	a	DET
easat-1532	132	40	two	two	NUM
easat-1532	132	41	-	-	PUNCT
easat-1532	132	42	dimensional	dimensional	ADJ
easat-1532	132	43	plane	plane	NOUN
easat-1532	132	44	and	and	CCONJ
easat-1532	132	45	there	there	PRON
easat-1532	132	46	are	be	VERB
easat-1532	132	47	34	34	NUM
easat-1532	132	48	information	information	NOUN
easat-1532	132	49	feature	feature	NOUN
easat-1532	132	50	points	point	NOUN
easat-1532	132	51	in	in	ADP
easat-1532	132	52	the	the	DET
easat-1532	132	53	simulated	simulated	ADJ
easat-1532	132	54	environment	environment	NOUN
easat-1532	132	55	,	,	PUNCT
easat-1532	132	56	while	while	SCONJ
easat-1532	132	57	the	the	DET
easat-1532	132	58	gaussian	gaussian	ADJ
easat-1532	132	59	noise	noise	NOUN
easat-1532	132	60	value	value	NOUN
easat-1532	132	61	of	of	ADP
easat-1532	132	62	the	the	DET
easat-1532	132	63	model	model	NOUN
easat-1532	132	64	is	be	AUX
easat-1532	132	65	0	0	NUM
easat-1532	132	66	.	.	PUNCT
easat-1532	133	1	the	the	DET
easat-1532	133	2	positioning	positioning	NOUN
easat-1532	133	3	error	error	NOUN
easat-1532	133	4	condition	condition	NOUN
easat-1532	133	5	of	of	ADP
easat-1532	133	6	the	the	DET
easat-1532	133	7	system	system	NOUN
easat-1532	133	8	with	with	ADP
easat-1532	133	9	different	different	ADJ
easat-1532	133	10	sensors	sensor	NOUN
easat-1532	133	11	turned	turn	VERB
easat-1532	133	12	on	on	ADP
easat-1532	133	13	is	be	AUX
easat-1532	133	14	shown	show	VERB
easat-1532	133	15	in	in	ADP
easat-1532	133	16	figure	figure	NOUN
easat-1532	133	17	8	8	NUM
easat-1532	133	18	.	.	NOUN
easat-1532	133	19	100	100	NUM
easat-1532	133	20	200	200	NUM
easat-1532	133	21	300	300	NUM
easat-1532	133	22	400	400	NUM
easat-1532	133	23	e	e	NOUN
easat-1532	133	24	(	(	PUNCT
easat-1532	133	25	c	c	NOUN
easat-1532	133	26	m	m	VERB
easat-1532	133	27	)	)	PUNCT
easat-1532	133	28	0	0	PUNCT
easat-1532	133	29	s(m	s(m	NOUN
easat-1532	133	30	)	)	PUNCT
easat-1532	133	31	(	(	PUNCT
easat-1532	133	32	a)distance	a)distance	NOUN
easat-1532	133	33	error	error	NOUN
easat-1532	133	34	500	500	NUM
easat-1532	133	35	gyroscope	gyroscope	NOUN
easat-1532	133	36	10	10	NUM
easat-1532	133	37	20	20	NUM
easat-1532	133	38	30	30	NUM
easat-1532	133	39	40	40	NUM
easat-1532	133	40	50	50	NUM
easat-1532	133	41	odometer	odometer	NOUN
easat-1532	133	42	multi	multi	ADJ
easat-1532	133	43	-	-	ADJ
easat-1532	133	44	sensor	sensor	ADJ
easat-1532	133	45	fusion	fusion	NOUN
easat-1532	133	46	vision	vision	NOUN
easat-1532	133	47	sensor	sensor	NOUN
easat-1532	133	48	10	10	NUM
easat-1532	133	49	20	20	NUM
easat-1532	133	50	30	30	NUM
easat-1532	133	51	40	40	NUM
easat-1532	133	52	e	e	NOUN
easat-1532	133	53	(	(	PUNCT
easat-1532	133	54	。	。	PROPN
easat-1532	133	55	)	)	PUNCT
easat-1532	133	56	0	0	NUM
easat-1532	133	57	s(m	s(m	NOUN
easat-1532	133	58	)	)	PUNCT
easat-1532	133	59	(	(	PUNCT
easat-1532	133	60	b)angular	b)angular	ADJ
easat-1532	133	61	error	error	NOUN
easat-1532	133	62	50	50	NUM
easat-1532	133	63	gyroscope	gyroscope	NOUN
easat-1532	133	64	10	10	NUM
easat-1532	133	65	20	20	NUM
easat-1532	133	66	30	30	NUM
easat-1532	133	67	40	40	NUM
easat-1532	133	68	50	50	NUM
easat-1532	133	69	odometer	odometer	NOUN
easat-1532	133	70	multi	multi	ADJ
easat-1532	133	71	-	-	ADJ
easat-1532	133	72	sensor	sensor	ADJ
easat-1532	133	73	fusion	fusion	NOUN
easat-1532	133	74	vision	vision	NOUN
easat-1532	133	75	sensor	sensor	NOUN
easat-1532	133	76	figure	figure	NOUN
easat-1532	133	77	8	8	NUM
easat-1532	133	78	.	.	PUNCT
easat-1532	133	79	system	system	NOUN
easat-1532	133	80	positioning	positioning	NOUN
easat-1532	133	81	error	error	NOUN
easat-1532	133	82	under	under	ADP
easat-1532	133	83	different	different	ADJ
easat-1532	133	84	sensors	sensor	NOUN
easat-1532	133	85	.	.	PUNCT
easat-1532	134	1	it	it	PRON
easat-1532	134	2	can	can	AUX
easat-1532	134	3	be	be	AUX
easat-1532	134	4	seen	see	VERB
easat-1532	134	5	from	from	ADP
easat-1532	134	6	figure	figure	NOUN
easat-1532	134	7	8	8	NUM
easat-1532	134	8	that	that	SCONJ
easat-1532	134	9	in	in	ADP
easat-1532	134	10	terms	term	NOUN
easat-1532	134	11	of	of	ADP
easat-1532	134	12	distance	distance	NOUN
easat-1532	134	13	error	error	NOUN
easat-1532	134	14	,	,	PUNCT
easat-1532	134	15	the	the	DET
easat-1532	134	16	distance	distance	NOUN
easat-1532	134	17	error	error	NOUN
easat-1532	134	18	curves	curve	NOUN
easat-1532	134	19	of	of	ADP
easat-1532	134	20	gyroscope	gyroscope	NOUN
easat-1532	134	21	and	and	CCONJ
easat-1532	134	22	odometer	odometer	NOUN
easat-1532	134	23	are	be	AUX
easat-1532	134	24	not	not	PART
easat-1532	134	25	significantly	significantly	ADV
easat-1532	134	26	different	different	ADJ
easat-1532	134	27	,	,	PUNCT
easat-1532	134	28	and	and	CCONJ
easat-1532	134	29	both	both	PRON
easat-1532	134	30	show	show	VERB
easat-1532	134	31	a	a	DET
easat-1532	134	32	trend	trend	NOUN
easat-1532	134	33	of	of	ADP
easat-1532	134	34	rising	rise	VERB
easat-1532	134	35	with	with	ADP
easat-1532	134	36	the	the	DET
easat-1532	134	37	increase	increase	NOUN
easat-1532	134	38	of	of	ADP
easat-1532	134	39	distance	distance	NOUN
easat-1532	134	40	.	.	PUNCT
easat-1532	135	1	at	at	ADP
easat-1532	135	2	the	the	DET
easat-1532	135	3	same	same	ADJ
easat-1532	135	4	time	time	NOUN
easat-1532	135	5	,	,	PUNCT
easat-1532	135	6	the	the	DET
easat-1532	135	7	two	two	NUM
easat-1532	135	8	do	do	AUX
easat-1532	135	9	not	not	PART
easat-1532	135	10	show	show	VERB
easat-1532	135	11	a	a	DET
easat-1532	135	12	significant	significant	ADJ
easat-1532	135	13	difference	difference	NOUN
easat-1532	135	14	in	in	ADP
easat-1532	135	15	the	the	DET
easat-1532	135	16	overall	overall	ADJ
easat-1532	135	17	error	error	NOUN
easat-1532	135	18	trend	trend	NOUN
easat-1532	135	19	.	.	PUNCT
easat-1532	136	1	compared	compare	VERB
easat-1532	136	2	with	with	ADP
easat-1532	136	3	gyroscope	gyroscope	NOUN
easat-1532	136	4	and	and	CCONJ
easat-1532	136	5	odometer	odometer	NOUN
easat-1532	136	6	,	,	PUNCT
easat-1532	136	7	the	the	DET
easat-1532	136	8	position	position	NOUN
easat-1532	136	9	of	of	ADP
easat-1532	136	10	distance	distance	NOUN
easat-1532	136	11	error	error	NOUN
easat-1532	136	12	curve	curve	NOUN
easat-1532	136	13	formed	form	VERB
easat-1532	136	14	by	by	ADP
easat-1532	136	15	visual	visual	ADJ
easat-1532	136	16	sensor	sensor	NOUN
easat-1532	136	17	is	be	AUX
easat-1532	136	18	relatively	relatively	ADV
easat-1532	136	19	lower	low	ADJ
easat-1532	136	20	,	,	PUNCT
easat-1532	136	21	and	and	CCONJ
easat-1532	136	22	the	the	DET
easat-1532	136	23	average	average	ADJ
easat-1532	136	24	error	error	NOUN
easat-1532	136	25	formed	form	VERB
easat-1532	136	26	by	by	ADP
easat-1532	136	27	visual	visual	ADJ
easat-1532	136	28	sensor	sensor	NOUN
easat-1532	136	29	is	be	AUX
easat-1532	136	30	relatively	relatively	ADV
easat-1532	136	31	smaller	small	ADJ
easat-1532	136	32	.	.	PUNCT
easat-1532	137	1	however	however	ADV
easat-1532	137	2	,	,	PUNCT
easat-1532	137	3	the	the	DET
easat-1532	137	4	distribution	distribution	NOUN
easat-1532	137	5	position	position	NOUN
easat-1532	137	6	of	of	ADP
easat-1532	137	7	the	the	DET
easat-1532	137	8	range	range	NOUN
easat-1532	137	9	error	error	NOUN
easat-1532	137	10	curve	curve	NOUN
easat-1532	137	11	formed	form	VERB
easat-1532	137	12	by	by	ADP
easat-1532	137	13	the	the	DET
easat-1532	137	14	multi	multi	ADJ
easat-1532	137	15	-	-	ADJ
easat-1532	137	16	sensor	sensor	ADJ
easat-1532	137	17	model	model	NOUN
easat-1532	137	18	designed	design	VERB
easat-1532	137	19	in	in	ADP
easat-1532	137	20	this	this	DET
easat-1532	137	21	study	study	NOUN
easat-1532	137	22	is	be	AUX
easat-1532	137	23	significantly	significantly	ADV
easat-1532	137	24	lower	low	ADJ
easat-1532	137	25	than	than	ADP
easat-1532	137	26	that	that	PRON
easat-1532	137	27	of	of	ADP
easat-1532	137	28	the	the	DET
easat-1532	137	29	first	first	ADJ
easat-1532	137	30	three	three	NUM
easat-1532	137	31	,	,	PUNCT
easat-1532	137	32	and	and	CCONJ
easat-1532	137	33	different	different	ADJ
easat-1532	137	34	from	from	ADP
easat-1532	137	35	the	the	DET
easat-1532	137	36	first	first	ADJ
easat-1532	137	37	three	three	NUM
easat-1532	137	38	curves	curve	NOUN
easat-1532	137	39	,	,	PUNCT
easat-1532	137	40	the	the	DET
easat-1532	137	41	range	range	NOUN
easat-1532	137	42	error	error	NOUN
easat-1532	137	43	polyline	polyline	NOUN
easat-1532	137	44	of	of	ADP
easat-1532	137	45	the	the	DET
easat-1532	137	46	multi	multi	ADJ
easat-1532	137	47	-	-	ADJ
easat-1532	137	48	sensor	sensor	ADJ
easat-1532	137	49	model	model	NOUN
easat-1532	137	50	does	do	AUX
easat-1532	137	51	not	not	PART
easat-1532	137	52	show	show	VERB
easat-1532	137	53	a	a	DET
easat-1532	137	54	rising	rise	VERB
easat-1532	137	55	trend	trend	NOUN
easat-1532	137	56	with	with	ADP
easat-1532	137	57	the	the	DET
easat-1532	137	58	increase	increase	NOUN
easat-1532	137	59	of	of	ADP
easat-1532	137	60	the	the	DET
easat-1532	137	61	navigation	navigation	NOUN
easat-1532	137	62	distance	distance	NOUN
easat-1532	137	63	,	,	PUNCT
easat-1532	137	64	which	which	PRON
easat-1532	137	65	proves	prove	VERB
easat-1532	137	66	that	that	SCONJ
easat-1532	137	67	the	the	DET
easat-1532	137	68	multi	multi	ADJ
easat-1532	137	69	-	-	ADJ
easat-1532	137	70	sensor	sensor	ADJ
easat-1532	137	71	model	model	NOUN
easat-1532	137	72	designed	design	VERB
easat-1532	137	73	in	in	ADP
easat-1532	137	74	this	this	DET
easat-1532	137	75	study	study	NOUN
easat-1532	137	76	has	have	VERB
easat-1532	137	77	more	more	ADJ
easat-1532	137	78	advantages	advantage	NOUN
easat-1532	137	79	in	in	ADP
easat-1532	137	80	accuracy	accuracy	NOUN
easat-1532	137	81	and	and	CCONJ
easat-1532	137	82	stability	stability	NOUN
easat-1532	137	83	in	in	ADP
easat-1532	137	84	terms	term	NOUN
easat-1532	137	85	of	of	ADP
easat-1532	137	86	range	range	NOUN
easat-1532	137	87	error	error	NOUN
easat-1532	137	88	;	;	PUNCT
easat-1532	137	89	in	in	ADP
easat-1532	137	90	terms	term	NOUN
easat-1532	137	91	of	of	ADP
easat-1532	137	92	angle	angle	NOUN
easat-1532	137	93	error	error	NOUN
easat-1532	137	94	,	,	PUNCT
easat-1532	137	95	the	the	DET
easat-1532	137	96	angle	angle	NOUN
easat-1532	137	97	error	error	NOUN
easat-1532	137	98	curves	curve	NOUN
easat-1532	137	99	of	of	ADP
easat-1532	137	100	gyroscope	gyroscope	NOUN
easat-1532	137	101	and	and	CCONJ
easat-1532	137	102	odometer	odometer	NOUN
easat-1532	137	103	are	be	AUX
easat-1532	137	104	similar	similar	ADJ
easat-1532	137	105	,	,	PUNCT
easat-1532	137	106	showing	show	VERB
easat-1532	137	107	a	a	DET
easat-1532	137	108	trend	trend	NOUN
easat-1532	137	109	of	of	ADP
easat-1532	137	110	rising	rise	VERB
easat-1532	137	111	with	with	ADP
easat-1532	137	112	the	the	DET
easat-1532	137	113	increase	increase	NOUN
easat-1532	137	114	of	of	ADP
easat-1532	137	115	distance	distance	NOUN
easat-1532	137	116	,	,	PUNCT
easat-1532	137	117	and	and	CCONJ
easat-1532	137	118	the	the	DET
easat-1532	137	119	two	two	NUM
easat-1532	137	120	also	also	ADV
easat-1532	137	121	do	do	AUX
easat-1532	137	122	not	not	PART
easat-1532	137	123	show	show	VERB
easat-1532	137	124	a	a	DET
easat-1532	137	125	significant	significant	ADJ
easat-1532	137	126	difference	difference	NOUN
easat-1532	137	127	in	in	ADP
easat-1532	137	128	the	the	DET
easat-1532	137	129	overall	overall	ADJ
easat-1532	137	130	error	error	NOUN
easat-1532	137	131	trend	trend	NOUN
easat-1532	137	132	.	.	PUNCT
easat-1532	138	1	compared	compare	VERB
easat-1532	138	2	with	with	ADP
easat-1532	138	3	gyroscope	gyroscope	NOUN
easat-1532	138	4	and	and	CCONJ
easat-1532	138	5	odometer	odometer	NOUN
easat-1532	138	6	,	,	PUNCT
easat-1532	138	7	the	the	DET
easat-1532	138	8	position	position	NOUN
easat-1532	138	9	of	of	ADP
easat-1532	138	10	angle	angle	NOUN
easat-1532	138	11	error	error	NOUN
easat-1532	138	12	curve	curve	NOUN
easat-1532	138	13	formed	form	VERB
easat-1532	138	14	by	by	ADP
easat-1532	138	15	visual	visual	ADJ
easat-1532	138	16	sensor	sensor	NOUN
easat-1532	138	17	is	be	AUX
easat-1532	138	18	relatively	relatively	ADV
easat-1532	138	19	low	low	ADJ
easat-1532	138	20	,	,	PUNCT
easat-1532	138	21	and	and	CCONJ
easat-1532	138	22	the	the	DET
easat-1532	138	23	average	average	ADJ
easat-1532	138	24	error	error	NOUN
easat-1532	138	25	formed	form	VERB
easat-1532	138	26	is	be	AUX
easat-1532	138	27	relatively	relatively	ADV
easat-1532	138	28	small	small	ADJ
easat-1532	138	29	.	.	PUNCT
easat-1532	139	1	the	the	DET
easat-1532	139	2	distribution	distribution	NOUN
easat-1532	139	3	position	position	NOUN
easat-1532	139	4	of	of	ADP
easat-1532	139	5	the	the	DET
easat-1532	139	6	angle	angle	NOUN
easat-1532	139	7	error	error	NOUN
easat-1532	139	8	curve	curve	NOUN
easat-1532	139	9	formed	form	VERB
easat-1532	139	10	by	by	ADP
easat-1532	139	11	the	the	DET
easat-1532	139	12	multisensor	multisensor	NOUN
easat-1532	139	13	model	model	NOUN
easat-1532	139	14	designed	design	VERB
easat-1532	139	15	in	in	ADP
easat-1532	139	16	this	this	DET
easat-1532	139	17	study	study	NOUN
easat-1532	139	18	is	be	AUX
easat-1532	139	19	significantly	significantly	ADV
easat-1532	139	20	lower	low	ADJ
easat-1532	139	21	than	than	ADP
easat-1532	139	22	that	that	PRON
easat-1532	139	23	of	of	ADP
easat-1532	139	24	the	the	DET
easat-1532	139	25	first	first	ADJ
easat-1532	139	26	three	three	NUM
easat-1532	139	27	.	.	PUNCT
easat-1532	140	1	although	although	SCONJ
easat-1532	140	2	the	the	DET
easat-1532	140	3	broken	broken	ADJ
easat-1532	140	4	line	line	NOUN
easat-1532	140	5	also	also	ADV
easat-1532	140	6	shows	show	VERB
easat-1532	140	7	an	an	DET
easat-1532	140	8	upward	upward	ADJ
easat-1532	140	9	trend	trend	NOUN
easat-1532	140	10	,	,	PUNCT
easat-1532	140	11	the	the	DET
easat-1532	140	12	trend	trend	NOUN
easat-1532	140	13	is	be	AUX
easat-1532	140	14	not	not	PART
easat-1532	140	15	significant	significant	ADJ
easat-1532	140	16	,	,	PUNCT
easat-1532	140	17	which	which	PRON
easat-1532	140	18	proves	prove	VERB
easat-1532	140	19	that	that	SCONJ
easat-1532	140	20	the	the	DET
easat-1532	140	21	multi	multi	ADJ
easat-1532	140	22	-	-	ADJ
easat-1532	140	23	sensor	sensor	ADJ
easat-1532	140	24	model	model	NOUN
easat-1532	140	25	designed	design	VERB
easat-1532	140	26	in	in	ADP
easat-1532	140	27	this	this	DET
easat-1532	140	28	study	study	NOUN
easat-1532	140	29	is	be	AUX
easat-1532	140	30	also	also	ADV
easat-1532	140	31	more	more	ADV
easat-1532	140	32	advantageous	advantageous	ADJ
easat-1532	140	33	in	in	ADP
easat-1532	140	34	accuracy	accuracy	NOUN
easat-1532	140	35	and	and	CCONJ
easat-1532	140	36	stability	stability	NOUN
easat-1532	140	37	in	in	ADP
easat-1532	140	38	terms	term	NOUN
easat-1532	140	39	of	of	ADP
easat-1532	140	40	angle	angle	NOUN
easat-1532	140	41	error	error	NOUN
easat-1532	140	42	.	.	PUNCT
easat-1532	141	1	the	the	DET
easat-1532	141	2	final	final	ADJ
easat-1532	141	3	logistics	logistic	NOUN
easat-1532	141	4	distribution	distribution	NOUN
easat-1532	141	5	and	and	CCONJ
easat-1532	141	6	warehousing	warehousing	NOUN
easat-1532	141	7	mode	mode	NOUN
easat-1532	141	8	planning	planning	NOUN
easat-1532	141	9	results	result	NOUN
easat-1532	141	10	are	be	AUX
easat-1532	141	11	shown	show	VERB
easat-1532	141	12	in	in	ADP
easat-1532	141	13	figure	figure	NOUN
easat-1532	141	14	9	9	NUM
easat-1532	141	15	.	.	NOUN
easat-1532	141	16	1628	1628	NUM
easat-1532	141	17	edelweiss	edelweiss	PROPN
easat-1532	141	18	applied	apply	VERB
easat-1532	141	19	science	science	NOUN
easat-1532	141	20	and	and	CCONJ
easat-1532	141	21	technology	technology	NOUN
easat-1532	141	22	issn	issn	PROPN
easat-1532	141	23	:	:	PUNCT
easat-1532	141	24	2576	2576	NUM
easat-1532	141	25	-	-	SYM
easat-1532	141	26	8484	8484	NUM
easat-1532	141	27	vol	vol	NOUN
easat-1532	141	28	.	.	PROPN
easat-1532	141	29	8	8	NUM
easat-1532	141	30	,	,	PUNCT
easat-1532	141	31	no	no	INTJ
easat-1532	141	32	.	.	NOUN
easat-1532	141	33	4	4	NUM
easat-1532	141	34	:	:	SYM
easat-1532	141	35	1617	1617	NUM
easat-1532	141	36	-	-	SYM
easat-1532	141	37	1629	1629	NUM
easat-1532	141	38	,	,	PUNCT
easat-1532	141	39	2024	2024	NUM
easat-1532	141	40	doi	doi	NOUN
easat-1532	141	41	:	:	PUNCT
easat-1532	141	42	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	141	43	©	©	PROPN
easat-1532	141	44	2024	2024	NUM
easat-1532	141	45	by	by	ADP
easat-1532	141	46	the	the	DET
easat-1532	141	47	authors	author	NOUN
easat-1532	141	48	;	;	PUNCT
easat-1532	141	49	licensee	licensee	PROPN
easat-1532	141	50	learning	learning	NOUN
easat-1532	141	51	gate	gate	NOUN
easat-1532	141	52	10	10	NUM
easat-1532	141	53	20	20	NUM
easat-1532	141	54	30	30	NUM
easat-1532	141	55	40	40	NUM
easat-1532	141	56	0	0	NUM
easat-1532	141	57	x(m	x(m	PROPN
easat-1532	141	58	)	)	PUNCT
easat-1532	142	1	10	10	NUM
easat-1532	142	2	20	20	NUM
easat-1532	142	3	30	30	NUM
easat-1532	142	4	40	40	NUM
easat-1532	142	5	y	y	PROPN
easat-1532	142	6	(	(	PUNCT
easat-1532	142	7	m	m	PROPN
easat-1532	142	8	)	)	PUNCT
easat-1532	142	9	500	500	NUM
easat-1532	142	10	(	(	PUNCT
easat-1532	142	11	c	c	NOUN
easat-1532	142	12	)	)	PUNCT
easat-1532	142	13	designed	design	VERB
easat-1532	142	14	logistics	logistic	NOUN
easat-1532	142	15	planning	planning	NOUN
easat-1532	142	16	model	model	NOUN
easat-1532	142	17	50	50	NUM
easat-1532	142	18	10	10	NUM
easat-1532	142	19	20	20	NUM
easat-1532	142	20	30	30	NUM
easat-1532	142	21	40	40	NUM
easat-1532	142	22	0	0	NUM
easat-1532	142	23	x(m	x(m	PROPN
easat-1532	142	24	)	)	PUNCT
easat-1532	142	25	10	10	NUM
easat-1532	142	26	20	20	NUM
easat-1532	142	27	30	30	NUM
easat-1532	142	28	40	40	NUM
easat-1532	142	29	y	y	PROPN
easat-1532	142	30	(	(	PUNCT
easat-1532	142	31	m	m	PROPN
easat-1532	142	32	)	)	PUNCT
easat-1532	142	33	500	500	NUM
easat-1532	142	34	(	(	PUNCT
easat-1532	142	35	a	a	X
easat-1532	142	36	)	)	PUNCT
easat-1532	142	37	traditional	traditional	ADJ
easat-1532	142	38	logistics	logistic	NOUN
easat-1532	142	39	planning	planning	NOUN
easat-1532	142	40	model	model	NOUN
easat-1532	142	41	50	50	NUM
easat-1532	142	42	10	10	NUM
easat-1532	142	43	20	20	NUM
easat-1532	142	44	30	30	NUM
easat-1532	142	45	40	40	NUM
easat-1532	142	46	0	0	NUM
easat-1532	142	47	x(m	x(m	PROPN
easat-1532	142	48	)	)	PUNCT
easat-1532	142	49	10	10	NUM
easat-1532	142	50	20	20	NUM
easat-1532	142	51	30	30	NUM
easat-1532	142	52	40	40	NUM
easat-1532	142	53	y	y	PROPN
easat-1532	142	54	(	(	PUNCT
easat-1532	142	55	m	m	PROPN
easat-1532	142	56	)	)	PUNCT
easat-1532	142	57	500	500	NUM
easat-1532	142	58	(	(	PUNCT
easat-1532	142	59	b	b	NOUN
easat-1532	142	60	)	)	PUNCT
easat-1532	142	61	simple	simple	ADJ
easat-1532	142	62	integrated	integrate	VERB
easat-1532	142	63	logistics	logistic	NOUN
easat-1532	142	64	planning	planning	NOUN
easat-1532	142	65	model	model	NOUN
easat-1532	142	66	50	50	NUM
easat-1532	142	67	characteristic	characteristic	ADJ
easat-1532	142	68	point	point	NOUN
easat-1532	142	69	snap	snap	PROPN
easat-1532	142	70	box	box	PROPN
easat-1532	142	71	storage	storage	NOUN
easat-1532	142	72	point	point	NOUN
easat-1532	142	73	characteristic	characteristic	ADJ
easat-1532	142	74	point	point	NOUN
easat-1532	142	75	snap	snap	PROPN
easat-1532	142	76	box	box	PROPN
easat-1532	142	77	storage	storage	NOUN
easat-1532	142	78	point	point	NOUN
easat-1532	142	79	characteristic	characteristic	ADJ
easat-1532	142	80	point	point	NOUN
easat-1532	142	81	snap	snap	PROPN
easat-1532	142	82	box	box	PROPN
easat-1532	142	83	storage	storage	NOUN
easat-1532	142	84	point	point	NOUN
easat-1532	142	85	figure	figure	NOUN
easat-1532	142	86	9	9	NUM
easat-1532	142	87	.	.	PUNCT
easat-1532	142	88	comparison	comparison	NOUN
easat-1532	142	89	of	of	ADP
easat-1532	142	90	logistics	logistic	NOUN
easat-1532	142	91	planning	planning	NOUN
easat-1532	142	92	effects	effect	NOUN
easat-1532	142	93	.	.	PUNCT
easat-1532	143	1	from	from	ADP
easat-1532	143	2	figure	figure	NOUN
easat-1532	143	3	9	9	NUM
easat-1532	143	4	,	,	PUNCT
easat-1532	143	5	we	we	PRON
easat-1532	143	6	can	can	AUX
easat-1532	143	7	see	see	VERB
easat-1532	143	8	that	that	SCONJ
easat-1532	143	9	the	the	DET
easat-1532	143	10	traditional	traditional	ADJ
easat-1532	143	11	logistics	logistic	NOUN
easat-1532	143	12	planning	planning	NOUN
easat-1532	143	13	model	model	NOUN
easat-1532	143	14	does	do	AUX
easat-1532	143	15	not	not	PART
easat-1532	143	16	successfully	successfully	ADV
easat-1532	143	17	capture	capture	VERB
easat-1532	143	18	all	all	DET
easat-1532	143	19	the	the	DET
easat-1532	143	20	information	information	NOUN
easat-1532	143	21	feature	feature	NOUN
easat-1532	143	22	points	point	NOUN
easat-1532	143	23	,	,	PUNCT
easat-1532	143	24	but	but	CCONJ
easat-1532	143	25	only	only	ADV
easat-1532	143	26	nearly	nearly	ADV
easat-1532	143	27	half	half	NOUN
easat-1532	143	28	of	of	ADP
easat-1532	143	29	them	they	PRON
easat-1532	143	30	,	,	PUNCT
easat-1532	143	31	and	and	CCONJ
easat-1532	143	32	the	the	DET
easat-1532	143	33	planned	plan	VERB
easat-1532	143	34	distribution	distribution	NOUN
easat-1532	143	35	route	route	NOUN
easat-1532	143	36	deviates	deviate	VERB
easat-1532	143	37	from	from	ADP
easat-1532	143	38	the	the	DET
easat-1532	143	39	information	information	NOUN
easat-1532	143	40	feature	feature	NOUN
easat-1532	143	41	points	point	NOUN
easat-1532	143	42	significantly	significantly	ADV
easat-1532	143	43	,	,	PUNCT
easat-1532	143	44	which	which	PRON
easat-1532	143	45	makes	make	VERB
easat-1532	143	46	it	it	PRON
easat-1532	143	47	difficult	difficult	ADJ
easat-1532	143	48	to	to	PART
easat-1532	143	49	achieve	achieve	VERB
easat-1532	143	50	efficient	efficient	ADJ
easat-1532	143	51	distribution	distribution	NOUN
easat-1532	143	52	,	,	PUNCT
easat-1532	143	53	and	and	CCONJ
easat-1532	143	54	the	the	DET
easat-1532	143	55	planned	plan	VERB
easat-1532	143	56	storage	storage	NOUN
easat-1532	143	57	points	point	NOUN
easat-1532	143	58	are	be	AUX
easat-1532	143	59	also	also	ADV
easat-1532	143	60	far	far	ADV
easat-1532	143	61	away	away	ADV
easat-1532	143	62	;	;	PUNCT
easat-1532	143	63	in	in	ADP
easat-1532	143	64	comparison	comparison	NOUN
easat-1532	143	65	,	,	PUNCT
easat-1532	143	66	the	the	DET
easat-1532	143	67	single	single	ADJ
easat-1532	143	68	information	information	NOUN
easat-1532	143	69	sensing	sense	VERB
easat-1532	143	70	logistics	logistic	NOUN
easat-1532	143	71	planning	planning	NOUN
easat-1532	143	72	model	model	NOUN
easat-1532	143	73	has	have	VERB
easat-1532	143	74	a	a	DET
easat-1532	143	75	higher	high	ADJ
easat-1532	143	76	success	success	NOUN
easat-1532	143	77	rate	rate	NOUN
easat-1532	143	78	of	of	ADP
easat-1532	143	79	capturing	capture	VERB
easat-1532	143	80	information	information	NOUN
easat-1532	143	81	feature	feature	NOUN
easat-1532	143	82	points	point	NOUN
easat-1532	143	83	,	,	PUNCT
easat-1532	143	84	and	and	CCONJ
easat-1532	143	85	the	the	DET
easat-1532	143	86	planned	plan	VERB
easat-1532	143	87	distribution	distribution	NOUN
easat-1532	143	88	in	in	ADP
easat-1532	143	89	contrast	contrast	NOUN
easat-1532	143	90	,	,	PUNCT
easat-1532	143	91	the	the	DET
easat-1532	143	92	single	single	ADJ
easat-1532	143	93	information	information	NOUN
easat-1532	143	94	sensing	sense	VERB
easat-1532	143	95	logistics	logistic	NOUN
easat-1532	143	96	planning	planning	NOUN
easat-1532	143	97	model	model	NOUN
easat-1532	143	98	has	have	VERB
easat-1532	143	99	a	a	DET
easat-1532	143	100	higher	high	ADJ
easat-1532	143	101	success	success	NOUN
easat-1532	143	102	rate	rate	NOUN
easat-1532	143	103	in	in	ADP
easat-1532	143	104	capturing	capture	VERB
easat-1532	143	105	information	information	NOUN
easat-1532	143	106	feature	feature	NOUN
easat-1532	143	107	points	point	NOUN
easat-1532	143	108	,	,	PUNCT
easat-1532	143	109	and	and	CCONJ
easat-1532	143	110	the	the	DET
easat-1532	143	111	planned	plan	VERB
easat-1532	143	112	distribution	distribution	NOUN
easat-1532	143	113	routes	route	NOUN
easat-1532	143	114	also	also	ADV
easat-1532	143	115	show	show	VERB
easat-1532	143	116	a	a	DET
easat-1532	143	117	trend	trend	NOUN
easat-1532	143	118	of	of	ADP
easat-1532	143	119	convergence	convergence	NOUN
easat-1532	143	120	,	,	PUNCT
easat-1532	143	121	and	and	CCONJ
easat-1532	143	122	the	the	DET
easat-1532	143	123	route	route	NOUN
easat-1532	143	124	efficiency	efficiency	NOUN
easat-1532	143	125	is	be	AUX
easat-1532	143	126	higher	high	ADJ
easat-1532	143	127	than	than	ADP
easat-1532	143	128	that	that	PRON
easat-1532	143	129	of	of	ADP
easat-1532	143	130	the	the	DET
easat-1532	143	131	traditional	traditional	ADJ
easat-1532	143	132	logistics	logistic	NOUN
easat-1532	143	133	model	model	NOUN
easat-1532	143	134	,	,	PUNCT
easat-1532	143	135	but	but	CCONJ
easat-1532	143	136	the	the	DET
easat-1532	143	137	routes	route	NOUN
easat-1532	143	138	still	still	ADV
easat-1532	143	139	show	show	VERB
easat-1532	143	140	a	a	DET
easat-1532	143	141	blind	blind	ADJ
easat-1532	143	142	separation	separation	NOUN
easat-1532	143	143	from	from	ADP
easat-1532	143	144	information	information	NOUN
easat-1532	143	145	feature	feature	NOUN
easat-1532	143	146	points	point	NOUN
easat-1532	143	147	,	,	PUNCT
easat-1532	143	148	and	and	CCONJ
easat-1532	143	149	the	the	DET
easat-1532	143	150	storage	storage	NOUN
easat-1532	143	151	point	point	NOUN
easat-1532	143	152	planning	planning	NOUN
easat-1532	143	153	does	do	AUX
easat-1532	143	154	not	not	PART
easat-1532	143	155	take	take	VERB
easat-1532	143	156	into	into	ADP
easat-1532	143	157	account	account	NOUN
easat-1532	143	158	the	the	DET
easat-1532	143	159	balance	balance	NOUN
easat-1532	143	160	of	of	ADP
easat-1532	143	161	the	the	DET
easat-1532	143	162	distance	distance	NOUN
easat-1532	143	163	between	between	ADP
easat-1532	143	164	the	the	DET
easat-1532	143	165	starting	starting	NOUN
easat-1532	143	166	point	point	NOUN
easat-1532	143	167	and	and	CCONJ
easat-1532	143	168	the	the	DET
easat-1532	143	169	end	end	NOUN
easat-1532	143	170	point	point	NOUN
easat-1532	143	171	;	;	PUNCT
easat-1532	143	172	while	while	SCONJ
easat-1532	143	173	the	the	DET
easat-1532	143	174	multi	multi	ADJ
easat-1532	143	175	-	-	ADJ
easat-1532	143	176	source	source	ADJ
easat-1532	143	177	information	information	NOUN
easat-1532	143	178	location	location	NOUN
easat-1532	143	179	distribution	distribution	NOUN
easat-1532	143	180	planning	planning	NOUN
easat-1532	143	181	model	model	NOUN
easat-1532	143	182	designed	design	VERB
easat-1532	143	183	in	in	ADP
easat-1532	143	184	the	the	DET
easat-1532	143	185	study	study	NOUN
easat-1532	143	186	can	can	AUX
easat-1532	143	187	accurately	accurately	ADV
easat-1532	143	188	capture	capture	VERB
easat-1532	143	189	most	most	ADJ
easat-1532	143	190	of	of	ADP
easat-1532	143	191	the	the	DET
easat-1532	143	192	information	information	NOUN
easat-1532	143	193	feature	feature	NOUN
easat-1532	143	194	points	point	NOUN
easat-1532	143	195	,	,	PUNCT
easat-1532	143	196	and	and	CCONJ
easat-1532	143	197	the	the	DET
easat-1532	143	198	planned	plan	VERB
easat-1532	143	199	routes	route	NOUN
easat-1532	143	200	are	be	AUX
easat-1532	143	201	closely	closely	ADV
easat-1532	143	202	adjacent	adjacent	ADJ
easat-1532	143	203	to	to	ADP
easat-1532	143	204	the	the	DET
easat-1532	143	205	information	information	NOUN
easat-1532	143	206	feature	feature	NOUN
easat-1532	143	207	points	point	NOUN
easat-1532	143	208	,	,	PUNCT
easat-1532	143	209	and	and	CCONJ
easat-1532	143	210	the	the	DET
easat-1532	143	211	overall	overall	ADJ
easat-1532	143	212	route	route	NOUN
easat-1532	143	213	efficiency	efficiency	NOUN
easat-1532	143	214	is	be	AUX
easat-1532	143	215	higher	high	ADJ
easat-1532	143	216	.	.	PUNCT
easat-1532	144	1	the	the	DET
easat-1532	144	2	overall	overall	ADJ
easat-1532	144	3	route	route	NOUN
easat-1532	144	4	efficiency	efficiency	NOUN
easat-1532	144	5	is	be	AUX
easat-1532	144	6	high	high	ADJ
easat-1532	144	7	.	.	PUNCT
easat-1532	145	1	at	at	ADP
easat-1532	145	2	the	the	DET
easat-1532	145	3	same	same	ADJ
easat-1532	145	4	time	time	NOUN
easat-1532	145	5	,	,	PUNCT
easat-1532	145	6	the	the	DET
easat-1532	145	7	storage	storage	NOUN
easat-1532	145	8	point	point	NOUN
easat-1532	145	9	locations	location	NOUN
easat-1532	145	10	planned	plan	VERB
easat-1532	145	11	by	by	ADP
easat-1532	145	12	the	the	DET
easat-1532	145	13	model	model	NOUN
easat-1532	145	14	are	be	AUX
easat-1532	145	15	more	more	ADV
easat-1532	145	16	conducive	conducive	ADJ
easat-1532	145	17	to	to	ADP
easat-1532	145	18	the	the	DET
easat-1532	145	19	efficient	efficient	ADJ
easat-1532	145	20	allocation	allocation	NOUN
easat-1532	145	21	of	of	ADP
easat-1532	145	22	routes	route	NOUN
easat-1532	145	23	.	.	PUNCT
easat-1532	146	1	this	this	PRON
easat-1532	146	2	shows	show	VERB
easat-1532	146	3	that	that	SCONJ
easat-1532	146	4	the	the	DET
easat-1532	146	5	multi	multi	ADJ
easat-1532	146	6	-	-	ADJ
easat-1532	146	7	source	source	ADJ
easat-1532	146	8	information	information	NOUN
easat-1532	146	9	location	location	NOUN
easat-1532	146	10	distribution	distribution	NOUN
easat-1532	146	11	planning	planning	NOUN
easat-1532	146	12	model	model	NOUN
easat-1532	146	13	designed	design	VERB
easat-1532	146	14	by	by	ADP
easat-1532	146	15	the	the	DET
easat-1532	146	16	research	research	NOUN
easat-1532	146	17	has	have	VERB
easat-1532	146	18	stronger	strong	ADJ
easat-1532	146	19	advantages	advantage	NOUN
easat-1532	146	20	in	in	ADP
easat-1532	146	21	distribution	distribution	NOUN
easat-1532	146	22	model	model	NOUN
easat-1532	146	23	and	and	CCONJ
easat-1532	146	24	storage	storage	NOUN
easat-1532	146	25	planning	planning	NOUN
easat-1532	146	26	.	.	PUNCT
easat-1532	147	1	5	5	X
easat-1532	147	2	.	.	X
easat-1532	147	3	conclusion	conclusion	NOUN
easat-1532	147	4	the	the	DET
easat-1532	147	5	study	study	NOUN
easat-1532	147	6	focuses	focus	VERB
easat-1532	147	7	on	on	ADP
easat-1532	147	8	the	the	DET
easat-1532	147	9	inefficient	inefficient	ADJ
easat-1532	147	10	planning	planning	NOUN
easat-1532	147	11	of	of	ADP
easat-1532	147	12	autonomous	autonomous	ADJ
easat-1532	147	13	distribution	distribution	NOUN
easat-1532	147	14	and	and	CCONJ
easat-1532	147	15	storage	storage	NOUN
easat-1532	147	16	modes	mode	NOUN
easat-1532	147	17	of	of	ADP
easat-1532	147	18	distribution	distribution	NOUN
easat-1532	147	19	robots	robot	NOUN
easat-1532	147	20	in	in	ADP
easat-1532	147	21	smart	smart	ADJ
easat-1532	147	22	city	city	NOUN
easat-1532	147	23	logistics	logistic	NOUN
easat-1532	147	24	and	and	CCONJ
easat-1532	147	25	distribution	distribution	NOUN
easat-1532	147	26	,	,	PUNCT
easat-1532	147	27	which	which	PRON
easat-1532	147	28	leads	lead	VERB
easat-1532	147	29	to	to	ADP
easat-1532	147	30	poor	poor	ADJ
easat-1532	147	31	customer	customer	NOUN
easat-1532	147	32	experience	experience	NOUN
easat-1532	147	33	,	,	PUNCT
easat-1532	147	34	increased	increase	VERB
easat-1532	147	35	distribution	distribution	NOUN
easat-1532	147	36	costs	cost	NOUN
easat-1532	147	37	,	,	PUNCT
easat-1532	147	38	and	and	CCONJ
easat-1532	147	39	wasted	waste	VERB
easat-1532	147	40	distribution	distribution	NOUN
easat-1532	147	41	resources	resource	NOUN
easat-1532	147	42	.	.	PUNCT
easat-1532	148	1	from	from	ADP
easat-1532	148	2	the	the	DET
easat-1532	148	3	perspective	perspective	NOUN
easat-1532	148	4	of	of	ADP
easat-1532	148	5	information	information	NOUN
easat-1532	148	6	processing	processing	NOUN
easat-1532	148	7	in	in	ADP
easat-1532	148	8	the	the	DET
easat-1532	148	9	logistics	logistic	NOUN
easat-1532	148	10	distribution	distribution	NOUN
easat-1532	148	11	process	process	NOUN
easat-1532	148	12	,	,	PUNCT
easat-1532	148	13	the	the	DET
easat-1532	148	14	study	study	NOUN
easat-1532	148	15	takes	take	VERB
easat-1532	148	16	multi	multi	ADJ
easat-1532	148	17	-	-	NOUN
easat-1532	148	18	angle	angle	ADJ
easat-1532	148	19	and	and	CCONJ
easat-1532	148	20	multi	multi	ADJ
easat-1532	148	21	-	-	ADJ
easat-1532	148	22	source	source	ADJ
easat-1532	148	23	information	information	NOUN
easat-1532	148	24	collection	collection	NOUN
easat-1532	148	25	and	and	CCONJ
easat-1532	148	26	fusion	fusion	NOUN
easat-1532	148	27	processing	processing	NOUN
easat-1532	148	28	as	as	ADP
easat-1532	148	29	the	the	DET
easat-1532	148	30	main	main	ADJ
easat-1532	148	31	basis	basis	NOUN
easat-1532	148	32	to	to	PART
easat-1532	148	33	help	help	VERB
easat-1532	148	34	smart	smart	ADJ
easat-1532	148	35	delivery	delivery	NOUN
easat-1532	148	36	robots	robot	NOUN
easat-1532	148	37	realize	realize	VERB
easat-1532	148	38	map	map	NOUN
easat-1532	148	39	construction	construction	NOUN
easat-1532	148	40	and	and	CCONJ
easat-1532	148	41	autonomous	autonomous	ADJ
easat-1532	148	42	localization	localization	NOUN
easat-1532	148	43	in	in	ADP
easat-1532	148	44	the	the	DET
easat-1532	148	45	distribution	distribution	NOUN
easat-1532	148	46	process	process	NOUN
easat-1532	148	47	,	,	PUNCT
easat-1532	148	48	and	and	CCONJ
easat-1532	148	49	then	then	ADV
easat-1532	148	50	combine	combine	VERB
easat-1532	148	51	their	their	PRON
easat-1532	148	52	own	own	ADJ
easat-1532	148	53	state	state	NOUN
easat-1532	148	54	for	for	ADP
easat-1532	148	55	real	real	ADJ
easat-1532	148	56	-	-	PUNCT
easat-1532	148	57	time	time	NOUN
easat-1532	148	58	logistics	logistic	NOUN
easat-1532	148	59	distribution	distribution	NOUN
easat-1532	148	60	and	and	CCONJ
easat-1532	148	61	storage	storage	NOUN
easat-1532	148	62	mode	mode	NOUN
easat-1532	148	63	planning	planning	NOUN
easat-1532	148	64	.	.	PUNCT
easat-1532	149	1	the	the	DET
easat-1532	149	2	research	research	NOUN
easat-1532	149	3	results	result	NOUN
easat-1532	149	4	show	show	VERB
easat-1532	149	5	that	that	SCONJ
easat-1532	149	6	the	the	DET
easat-1532	149	7	algorithm	algorithm	NOUN
easat-1532	149	8	accuracy	accuracy	NOUN
easat-1532	149	9	of	of	ADP
easat-1532	149	10	the	the	DET
easat-1532	149	11	extended	extended	ADJ
easat-1532	149	12	kalman	kalman	NOUN
easat-1532	149	13	filter	filter	NOUN
easat-1532	149	14	localization	localization	NOUN
easat-1532	149	15	model	model	NOUN
easat-1532	149	16	designed	design	VERB
easat-1532	149	17	in	in	ADP
easat-1532	149	18	the	the	DET
easat-1532	149	19	study	study	NOUN
easat-1532	149	20	reaches	reach	VERB
easat-1532	149	21	0.96	0.96	NUM
easat-1532	149	22	,	,	PUNCT
easat-1532	149	23	which	which	PRON
easat-1532	149	24	is	be	AUX
easat-1532	149	25	the	the	DET
easat-1532	149	26	highest	high	ADJ
easat-1532	149	27	value	value	NOUN
easat-1532	149	28	in	in	ADP
easat-1532	149	29	its	its	PRON
easat-1532	149	30	class	class	NOUN
easat-1532	149	31	,	,	PUNCT
easat-1532	149	32	and	and	CCONJ
easat-1532	149	33	the	the	DET
easat-1532	149	34	standard	standard	ADJ
easat-1532	149	35	error	error	NOUN
easat-1532	149	36	is	be	AUX
easat-1532	149	37	only	only	ADV
easat-1532	149	38	1.52	1.52	NUM
easat-1532	149	39	,	,	PUNCT
easat-1532	149	40	which	which	PRON
easat-1532	149	41	is	be	AUX
easat-1532	149	42	the	the	DET
easat-1532	149	43	lowest	low	ADJ
easat-1532	149	44	value	value	NOUN
easat-1532	149	45	in	in	ADP
easat-1532	149	46	1629	1629	NUM
easat-1532	149	47	edelweiss	edelweiss	PROPN
easat-1532	149	48	applied	apply	VERB
easat-1532	149	49	science	science	NOUN
easat-1532	149	50	and	and	CCONJ
easat-1532	149	51	technology	technology	NOUN
easat-1532	149	52	issn	issn	PROPN
easat-1532	149	53	:	:	PUNCT
easat-1532	149	54	2576	2576	NUM
easat-1532	149	55	-	-	SYM
easat-1532	149	56	8484	8484	NUM
easat-1532	149	57	vol	vol	NOUN
easat-1532	149	58	.	.	PROPN
easat-1532	149	59	8	8	NUM
easat-1532	149	60	,	,	PUNCT
easat-1532	149	61	no	no	INTJ
easat-1532	149	62	.	.	NOUN
easat-1532	149	63	4	4	NUM
easat-1532	149	64	:	:	SYM
easat-1532	149	65	1617	1617	NUM
easat-1532	149	66	-	-	SYM
easat-1532	149	67	1629	1629	NUM
easat-1532	149	68	,	,	PUNCT
easat-1532	149	69	2024	2024	NUM
easat-1532	149	70	doi	doi	NOUN
easat-1532	149	71	:	:	PUNCT
easat-1532	149	72	10.55214/25768484.v8i4.1532	10.55214/25768484.v8i4.1532	NUM
easat-1532	149	73	©	©	PROPN
easat-1532	149	74	2024	2024	NUM
easat-1532	149	75	by	by	ADP
easat-1532	149	76	the	the	DET
easat-1532	149	77	authors	author	NOUN
easat-1532	149	78	;	;	PUNCT
easat-1532	149	79	licensee	licensee	PROPN
easat-1532	149	80	learning	learning	NOUN
easat-1532	149	81	gate	gate	VERB
easat-1532	149	82	its	its	PRON
easat-1532	149	83	class	class	NOUN
easat-1532	149	84	,	,	PUNCT
easat-1532	149	85	and	and	CCONJ
easat-1532	149	86	the	the	DET
easat-1532	149	87	average	average	ADJ
easat-1532	149	88	running	running	NOUN
easat-1532	149	89	time	time	NOUN
easat-1532	149	90	is	be	AUX
easat-1532	149	91	only	only	ADV
easat-1532	149	92	105s	105s	NUM
easat-1532	149	93	,	,	PUNCT
easat-1532	149	94	which	which	PRON
easat-1532	149	95	is	be	AUX
easat-1532	149	96	the	the	DET
easat-1532	149	97	lowest	low	ADJ
easat-1532	149	98	value	value	NOUN
easat-1532	149	99	in	in	ADP
easat-1532	149	100	its	its	PRON
easat-1532	149	101	class	class	NOUN
easat-1532	149	102	,	,	PUNCT
easat-1532	149	103	showing	show	VERB
easat-1532	149	104	that	that	SCONJ
easat-1532	149	105	the	the	DET
easat-1532	149	106	model	model	NOUN
easat-1532	149	107	has	have	VERB
easat-1532	149	108	performance	performance	NOUN
easat-1532	149	109	advantages	advantage	NOUN
easat-1532	149	110	.	.	PUNCT
easat-1532	150	1	meanwhile	meanwhile	ADV
easat-1532	150	2	,	,	PUNCT
easat-1532	150	3	in	in	ADP
easat-1532	150	4	the	the	DET
easat-1532	150	5	simulation	simulation	NOUN
easat-1532	150	6	,	,	PUNCT
easat-1532	150	7	the	the	DET
easat-1532	150	8	multi	multi	ADJ
easat-1532	150	9	-	-	ADJ
easat-1532	150	10	sensor	sensor	ADJ
easat-1532	150	11	model	model	NOUN
easat-1532	150	12	designed	design	VERB
easat-1532	150	13	in	in	ADP
easat-1532	150	14	the	the	DET
easat-1532	150	15	study	study	NOUN
easat-1532	150	16	has	have	VERB
easat-1532	150	17	more	more	ADJ
easat-1532	150	18	advantages	advantage	NOUN
easat-1532	150	19	in	in	ADP
easat-1532	150	20	distance	distance	NOUN
easat-1532	150	21	error	error	NOUN
easat-1532	150	22	and	and	CCONJ
easat-1532	150	23	angle	angle	NOUN
easat-1532	150	24	error	error	NOUN
easat-1532	150	25	,	,	PUNCT
easat-1532	150	26	and	and	CCONJ
easat-1532	150	27	has	have	VERB
easat-1532	150	28	better	well	ADJ
easat-1532	150	29	information	information	NOUN
easat-1532	150	30	capture	capture	NOUN
easat-1532	150	31	capability	capability	NOUN
easat-1532	150	32	compared	compare	VERB
easat-1532	150	33	with	with	ADP
easat-1532	150	34	other	other	ADJ
easat-1532	150	35	logistics	logistic	NOUN
easat-1532	150	36	planning	planning	NOUN
easat-1532	150	37	models	model	NOUN
easat-1532	150	38	.	.	PUNCT
easat-1532	151	1	has	have	VERB
easat-1532	151	2	only	only	ADV
easat-1532	151	3	two	two	NUM
easat-1532	151	4	information	information	NOUN
easat-1532	151	5	capture	capture	NOUN
easat-1532	151	6	failures	failure	NOUN
easat-1532	151	7	,	,	PUNCT
easat-1532	151	8	and	and	CCONJ
easat-1532	151	9	the	the	DET
easat-1532	151	10	overall	overall	ADJ
easat-1532	151	11	route	route	NOUN
easat-1532	151	12	and	and	CCONJ
easat-1532	151	13	storage	storage	NOUN
easat-1532	151	14	planning	planning	NOUN
easat-1532	151	15	is	be	AUX
easat-1532	151	16	more	more	ADV
easat-1532	151	17	reasonable	reasonable	ADJ
easat-1532	151	18	,	,	PUNCT
easat-1532	151	19	which	which	PRON
easat-1532	151	20	can	can	AUX
easat-1532	151	21	carry	carry	VERB
easat-1532	151	22	out	out	ADP
easat-1532	151	23	more	more	ADV
easat-1532	151	24	efficient	efficient	ADJ
easat-1532	151	25	route	route	NOUN
easat-1532	151	26	planning	planning	NOUN
easat-1532	151	27	.	.	PUNCT
easat-1532	152	1	copyright	copyright	NOUN
easat-1532	152	2	:	:	PUNCT
easat-1532	152	3	©	©	PROPN
easat-1532	152	4	2024	2024	NUM
easat-1532	152	5	by	by	ADP
easat-1532	152	6	the	the	DET
easat-1532	152	7	authors	author	NOUN
easat-1532	152	8	.	.	PUNCT
easat-1532	153	1	this	this	DET
easat-1532	153	2	article	article	NOUN
easat-1532	153	3	is	be	AUX
easat-1532	153	4	an	an	DET
easat-1532	153	5	open	open	ADJ
easat-1532	153	6	access	access	NOUN
easat-1532	153	7	article	article	NOUN
easat-1532	153	8	distributed	distribute	VERB
easat-1532	153	9	under	under	ADP
easat-1532	153	10	the	the	DET
easat-1532	153	11	terms	term	NOUN
easat-1532	153	12	and	and	CCONJ
easat-1532	153	13	conditions	condition	NOUN
easat-1532	153	14	of	of	ADP
easat-1532	153	15	the	the	DET
easat-1532	153	16	creative	creative	ADJ
easat-1532	153	17	commons	common	NOUN
easat-1532	153	18	attribution	attribution	NOUN
easat-1532	153	19	(	(	PUNCT
easat-1532	153	20	cc	cc	NOUN
easat-1532	153	21	by	by	ADP
easat-1532	153	22	)	)	PUNCT
easat-1532	153	23	license	license	NOUN
easat-1532	153	24	(	(	PUNCT
easat-1532	153	25	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
easat-1532	153	26	)	)	PUNCT
easat-1532	153	27	.	.	PUNCT
easat-1532	154	1	references	reference	NOUN
easat-1532	154	2	[	[	X
easat-1532	154	3	1	1	NUM
easat-1532	154	4	]	]	X
easat-1532	154	5	liu	liu	PROPN
easat-1532	154	6	c	c	PROPN
easat-1532	154	7	,	,	PUNCT
easat-1532	154	8	feng	feng	PROPN
easat-1532	154	9	y	y	PROPN
easat-1532	154	10	,	,	PUNCT
easat-1532	154	11	lin	lin	PROPN
easat-1532	154	12	d	d	PROPN
easat-1532	154	13	,	,	PUNCT
easat-1532	154	14	min	min	PROPN
easat-1532	154	15	guo	guo	PROPN
easat-1532	154	16	.	.	PUNCT
easat-1532	155	1	iot	iot	PROPN
easat-1532	155	2	based	base	VERB
easat-1532	155	3	laundry	laundry	NOUN
easat-1532	155	4	services	service	NOUN
easat-1532	155	5	:	:	PUNCT
easat-1532	155	6	an	an	DET
easat-1532	155	7	application	application	NOUN
easat-1532	155	8	of	of	ADP
easat-1532	155	9	big	big	ADJ
easat-1532	155	10	data	datum	NOUN
easat-1532	155	11	analytics	analytic	NOUN
easat-1532	155	12	,	,	PUNCT
easat-1532	155	13	intelligent	intelligent	ADJ
easat-1532	155	14	logistics	logistic	NOUN
easat-1532	155	15	management	management	NOUN
easat-1532	155	16	,	,	PUNCT
easat-1532	155	17	and	and	CCONJ
easat-1532	155	18	machine	machine	NOUN
easat-1532	155	19	learning	learn	VERB
easat-1532	155	20	techniques	technique	NOUN
easat-1532	155	21	.	.	PUNCT
easat-1532	156	1	international	international	ADJ
easat-1532	156	2	journal	journal	PROPN
easat-1532	156	3	of	of	ADP
easat-1532	156	4	production	production	NOUN
easat-1532	156	5	research	research	NOUN
easat-1532	156	6	,	,	PUNCT
easat-1532	156	7	2020	2020	NUM
easat-1532	156	8	,	,	PUNCT
easat-1532	156	9	58(17	58(17	NUM
easat-1532	156	10	):	):	PUNCT
easat-1532	156	11	51135131	51135131	NUM
easat-1532	156	12	.	.	PUNCT
easat-1532	157	1	[	[	X
easat-1532	157	2	2	2	NUM
easat-1532	157	3	]	]	PUNCT
easat-1532	157	4	pandian	pandian	ADJ
easat-1532	157	5	a	a	DET
easat-1532	157	6	p.	p.	PROPN
easat-1532	157	7	artificial	artificial	ADJ
easat-1532	157	8	intelligence	intelligence	NOUN
easat-1532	157	9	application	application	NOUN
easat-1532	157	10	in	in	ADP
easat-1532	157	11	smart	smart	ADJ
easat-1532	157	12	warehousing	warehousing	NOUN
easat-1532	157	13	environment	environment	NOUN
easat-1532	157	14	for	for	ADP
easat-1532	157	15	automated	automate	VERB
easat-1532	157	16	logistics	logistic	NOUN
easat-1532	157	17	.	.	PUNCT
easat-1532	158	1	journal	journal	PROPN
easat-1532	158	2	of	of	ADP
easat-1532	158	3	artificial	artificial	ADJ
easat-1532	158	4	intelligence	intelligence	NOUN
easat-1532	158	5	,	,	PUNCT
easat-1532	158	6	2019	2019	NUM
easat-1532	158	7	,	,	PUNCT
easat-1532	158	8	1(02	1(02	NUM
easat-1532	158	9	):	):	PUNCT
easat-1532	158	10	63	63	NUM
easat-1532	158	11	-	-	SYM
easat-1532	158	12	72	72	NUM
easat-1532	158	13	.	.	PUNCT
easat-1532	159	1	[	[	X
easat-1532	159	2	3	3	X
easat-1532	159	3	]	]	X
easat-1532	159	4	chien	chien	X
easat-1532	159	5	c	c	PROPN
easat-1532	159	6	f	f	PROPN
easat-1532	159	7	,	,	PUNCT
easat-1532	159	8	dauzère	dauzère	NOUN
easat-1532	159	9	-	-	PUNCT
easat-1532	159	10	pérès	pérès	ADJ
easat-1532	159	11	s	s	PART
easat-1532	159	12	,	,	PUNCT
easat-1532	159	13	huh	huh	INTJ
easat-1532	159	14	w	w	PROPN
easat-1532	159	15	t	t	PROPN
easat-1532	159	16	,	,	PUNCT
easat-1532	159	17	james	james	PROPN
easat-1532	159	18	r.	r.	PROPN
easat-1532	159	19	morrison	morrison	PROPN
easat-1532	159	20	,	,	PUNCT
easat-1532	159	21	young	young	PROPN
easat-1532	159	22	jae	jae	PROPN
easat-1532	159	23	jang	jang	PROPN
easat-1532	159	24	.	.	PUNCT
easat-1532	160	1	artificial	artificial	ADJ
easat-1532	160	2	intelligence	intelligence	NOUN
easat-1532	160	3	in	in	ADP
easat-1532	160	4	manufacturing	manufacturing	NOUN
easat-1532	160	5	and	and	CCONJ
easat-1532	160	6	logistics	logistic	NOUN
easat-1532	160	7	systems	system	NOUN
easat-1532	160	8	:	:	PUNCT
easat-1532	160	9	algorithms	algorithm	NOUN
easat-1532	160	10	,	,	PUNCT
easat-1532	160	11	applications	application	NOUN
easat-1532	160	12	,	,	PUNCT
easat-1532	160	13	and	and	CCONJ
easat-1532	160	14	case	case	NOUN
easat-1532	160	15	studies	study	NOUN
easat-1532	160	16	.	.	PUNCT
easat-1532	161	1	international	international	ADJ
easat-1532	161	2	journal	journal	PROPN
easat-1532	161	3	of	of	ADP
easat-1532	161	4	production	production	NOUN
easat-1532	161	5	research	research	NOUN
easat-1532	161	6	,	,	PUNCT
easat-1532	161	7	2020	2020	NUM
easat-1532	161	8	,	,	PUNCT
easat-1532	161	9	58(9	58(9	NUM
easat-1532	161	10	):	):	PUNCT
easat-1532	161	11	2730	2730	NUM
easat-1532	161	12	-	-	SYM
easat-1532	161	13	2731	2731	NUM
easat-1532	161	14	.	.	PUNCT
easat-1532	162	1	[	[	X
easat-1532	162	2	4	4	NUM
easat-1532	162	3	]	]	X
easat-1532	162	4	kuru	kuru	NOUN
easat-1532	162	5	k	k	PROPN
easat-1532	162	6	,	,	PUNCT
easat-1532	162	7	ansell	ansell	PROPN
easat-1532	162	8	d	d	PROPN
easat-1532	162	9	,	,	PUNCT
easat-1532	162	10	khan	khan	PROPN
easat-1532	162	11	w.	w.	PROPN
easat-1532	162	12	analysis	analysis	NOUN
easat-1532	162	13	and	and	CCONJ
easat-1532	162	14	optimization	optimization	NOUN
easat-1532	162	15	of	of	ADP
easat-1532	162	16	unmanned	unmanned	ADJ
easat-1532	162	17	aerial	aerial	ADJ
easat-1532	162	18	vehicle	vehicle	NOUN
easat-1532	162	19	swarms	swarm	NOUN
easat-1532	162	20	in	in	ADP
easat-1532	162	21	logistics	logistic	NOUN
easat-1532	162	22	:	:	PUNCT
easat-1532	162	23	an	an	DET
easat-1532	162	24	intelligent	intelligent	ADJ
easat-1532	162	25	delivery	delivery	NOUN
easat-1532	162	26	platform	platform	NOUN
easat-1532	162	27	.	.	PUNCT
easat-1532	163	1	ieee	ieee	NOUN
easat-1532	163	2	access	access	NOUN
easat-1532	163	3	,	,	PUNCT
easat-1532	163	4	2019	2019	NUM
easat-1532	163	5	,	,	PUNCT
easat-1532	163	6	7	7	NUM
easat-1532	163	7	:	:	SYM
easat-1532	163	8	15804	15804	NUM
easat-1532	163	9	-	-	SYM
easat-1532	163	10	15831	15831	NUM
easat-1532	163	11	.	.	PUNCT
easat-1532	164	1	[	[	X
easat-1532	164	2	5	5	X
easat-1532	164	3	]	]	X
easat-1532	164	4	lu	lu	PROPN
easat-1532	164	5	z	z	PROPN
easat-1532	164	6	,	,	PUNCT
easat-1532	164	7	zhuang	zhuang	PROPN
easat-1532	164	8	z	z	PROPN
easat-1532	164	9	,	,	PUNCT
easat-1532	164	10	huang	huang	PROPN
easat-1532	164	11	z	z	PROPN
easat-1532	164	12	,	,	PUNCT
easat-1532	164	13	wei	wei	PROPN
easat-1532	164	14	qin	qin	PROPN
easat-1532	164	15	,	,	PUNCT
easat-1532	164	16	zizhao	zizhao	PROPN
easat-1532	164	17	huang	huang	PROPN
easat-1532	164	18	.	.	PUNCT
easat-1532	165	1	a	a	DET
easat-1532	165	2	framework	framework	NOUN
easat-1532	165	3	of	of	ADP
easat-1532	165	4	multi	multi	ADJ
easat-1532	165	5	-	-	ADJ
easat-1532	165	6	agent	agent	ADJ
easat-1532	165	7	based	base	VERB
easat-1532	165	8	intelligent	intelligent	ADJ
easat-1532	165	9	production	production	NOUN
easat-1532	165	10	logistics	logistic	NOUN
easat-1532	165	11	system	system	NOUN
easat-1532	165	12	.	.	PUNCT
easat-1532	166	1	procedia	procedia	PROPN
easat-1532	166	2	cirp	cirp	PROPN
easat-1532	166	3	,	,	PUNCT
easat-1532	166	4	2019	2019	NUM
easat-1532	166	5	,	,	PUNCT
easat-1532	166	6	83	83	NUM
easat-1532	166	7	:	:	SYM
easat-1532	166	8	557	557	NUM
easat-1532	166	9	-	-	SYM
easat-1532	166	10	562	562	NUM
easat-1532	166	11	.	.	PUNCT
easat-1532	167	1	[	[	X
easat-1532	167	2	6	6	NUM
easat-1532	167	3	]	]	PUNCT
easat-1532	167	4	zheng	zheng	PROPN
easat-1532	167	5	k	k	PROPN
easat-1532	167	6	,	,	PUNCT
easat-1532	167	7	zhang	zhang	PROPN
easat-1532	167	8	z	z	PROPN
easat-1532	167	9	,	,	PUNCT
easat-1532	167	10	song	song	PROPN
easat-1532	167	11	b.	b.	PROPN
easat-1532	167	12	e	e	PROPN
easat-1532	167	13	-	-	PROPN
easat-1532	167	14	commerce	commerce	NOUN
easat-1532	167	15	logistics	logistic	NOUN
easat-1532	167	16	distribution	distribution	NOUN
easat-1532	167	17	mode	mode	NOUN
easat-1532	167	18	in	in	ADP
easat-1532	167	19	big	big	ADJ
easat-1532	167	20	-	-	PUNCT
easat-1532	167	21	data	data	NOUN
easat-1532	167	22	context	context	NOUN
easat-1532	167	23	:	:	PUNCT
easat-1532	167	24	a	a	DET
easat-1532	167	25	case	case	NOUN
easat-1532	167	26	analysis	analysis	NOUN
easat-1532	167	27	of	of	ADP
easat-1532	167	28	jd	jd	PROPN
easat-1532	167	29	.	.	PROPN
easat-1532	167	30	com	com	PROPN
easat-1532	167	31	.	.	PUNCT
easat-1532	167	32	industrial	industrial	ADJ
easat-1532	167	33	marketing	marketing	NOUN
easat-1532	167	34	management	management	NOUN
easat-1532	167	35	,	,	PUNCT
easat-1532	167	36	2020	2020	NUM
easat-1532	167	37	,	,	PUNCT
easat-1532	167	38	86	86	NUM
easat-1532	167	39	:	:	SYM
easat-1532	167	40	154	154	NUM
easat-1532	167	41	-	-	SYM
easat-1532	167	42	162	162	NUM
easat-1532	167	43	.	.	PUNCT
easat-1532	168	1	[	[	X
easat-1532	168	2	7	7	X
easat-1532	168	3	]	]	X
easat-1532	168	4	zhao	zhao	PROPN
easat-1532	168	5	w	w	PROPN
easat-1532	168	6	,	,	PUNCT
easat-1532	168	7	han	han	PROPN
easat-1532	168	8	s	s	PROPN
easat-1532	168	9	,	,	PUNCT
easat-1532	168	10	meng	meng	PROPN
easat-1532	168	11	w	w	PROPN
easat-1532	168	12	,	,	PUNCT
easat-1532	168	13	dajun	dajun	NOUN
easat-1532	168	14	sun	sun	NOUN
easat-1532	168	15	,	,	PUNCT
easat-1532	168	16	rose	rise	VERB
easat-1532	168	17	qingyang	qingyang	PROPN
easat-1532	168	18	hu	hu	PROPN
easat-1532	168	19	.	.	PROPN
easat-1532	169	1	bsdp	bsdp	PROPN
easat-1532	169	2	:	:	PUNCT
easat-1532	169	3	big	big	ADJ
easat-1532	169	4	sensor	sensor	NOUN
easat-1532	169	5	data	datum	NOUN
easat-1532	169	6	preprocessing	preprocessing	NOUN
easat-1532	169	7	in	in	ADP
easat-1532	169	8	multi	multi	ADJ
easat-1532	169	9	-	-	ADJ
easat-1532	169	10	source	source	NOUN
easat-1532	169	11	fusion	fusion	NOUN
easat-1532	169	12	positioning	positioning	NOUN
easat-1532	169	13	system	system	NOUN
easat-1532	169	14	using	use	VERB
easat-1532	169	15	compressive	compressive	ADJ
easat-1532	169	16	sensing	sensing	NOUN
easat-1532	169	17	.	.	PUNCT
easat-1532	170	1	ieee	ieee	NOUN
easat-1532	170	2	transactions	transaction	NOUN
easat-1532	170	3	on	on	ADP
easat-1532	170	4	vehicular	vehicular	ADJ
easat-1532	170	5	technology	technology	NOUN
easat-1532	170	6	,	,	PUNCT
easat-1532	170	7	2019	2019	NUM
easat-1532	170	8	,	,	PUNCT
easat-1532	170	9	68(9	68(9	NUM
easat-1532	170	10	):	):	PUNCT
easat-1532	170	11	8866	8866	NUM
easat-1532	170	12	-	-	SYM
easat-1532	170	13	8880	8880	NUM
easat-1532	170	14	.	.	PUNCT
easat-1532	171	1	[	[	X
easat-1532	171	2	8	8	NUM
easat-1532	171	3	]	]	X
easat-1532	171	4	yang	yang	PROPN
easat-1532	171	5	x	x	PROPN
easat-1532	171	6	,	,	PUNCT
easat-1532	171	7	stewart	stewart	PROPN
easat-1532	171	8	k	k	PROPN
easat-1532	171	9	,	,	PUNCT
easat-1532	171	10	fang	fang	PROPN
easat-1532	171	11	m	m	PROPN
easat-1532	171	12	,	,	PUNCT
easat-1532	171	13	luliang	luliang	PROPN
easat-1532	171	14	tang	tang	PROPN
easat-1532	171	15	.	.	PUNCT
easat-1532	172	1	attributing	attribute	VERB
easat-1532	172	2	pedestrian	pedestrian	NOUN
easat-1532	172	3	networks	network	NOUN
easat-1532	172	4	with	with	ADP
easat-1532	172	5	semantic	semantic	ADJ
easat-1532	172	6	information	information	NOUN
easat-1532	172	7	based	base	VERB
easat-1532	172	8	on	on	ADP
easat-1532	172	9	multisource	multisource	PROPN
easat-1532	172	10	spatial	spatial	ADJ
easat-1532	172	11	data	datum	NOUN
easat-1532	172	12	.	.	PUNCT
easat-1532	173	1	international	international	ADJ
easat-1532	173	2	journal	journal	NOUN
easat-1532	173	3	of	of	ADP
easat-1532	173	4	geographical	geographical	ADJ
easat-1532	173	5	information	information	NOUN
easat-1532	173	6	science	science	NOUN
easat-1532	173	7	,	,	PUNCT
easat-1532	173	8	2022	2022	NUM
easat-1532	173	9	,	,	PUNCT
easat-1532	173	10	36(1	36(1	NUM
easat-1532	173	11	):	):	PUNCT
easat-1532	173	12	31	31	NUM
easat-1532	173	13	-	-	SYM
easat-1532	173	14	54	54	NUM
easat-1532	173	15	.	.	PUNCT
easat-1532	174	1	[	[	X
easat-1532	174	2	9	9	NUM
easat-1532	174	3	]	]	PUNCT
easat-1532	174	4	yu	yu	PROPN
easat-1532	174	5	j	j	PROPN
easat-1532	174	6	,	,	PUNCT
easat-1532	174	7	shang	shang	PROPN
easat-1532	174	8	x	x	PROPN
easat-1532	174	9	,	,	PUNCT
easat-1532	174	10	zhang	zhang	PROPN
easat-1532	174	11	l	l	PROPN
easat-1532	174	12	,	,	PUNCT
easat-1532	174	13	yongguang	yongguang	PROPN
easat-1532	174	14	li	li	PROPN
easat-1532	174	15	,	,	PUNCT
easat-1532	174	16	zhihua	zhihua	PROPN
easat-1532	174	17	wang	wang	PROPN
easat-1532	174	18	,	,	PUNCT
easat-1532	174	19	guohui	guohui	PROPN
easat-1532	174	20	shen	shen	PROPN
easat-1532	174	21	.	.	PUNCT
easat-1532	175	1	design	design	NOUN
easat-1532	175	2	of	of	ADP
easat-1532	175	3	panoramic	panoramic	ADJ
easat-1532	175	4	grid	grid	NOUN
easat-1532	175	5	map	map	NOUN
easat-1532	175	6	incorporating	incorporate	VERB
easat-1532	175	7	multi	multi	ADJ
easat-1532	175	8	-	-	NOUN
easat-1532	175	9	source	source	NOUN
easat-1532	175	10	information[c]//2020	information[c]//2020	ADP
easat-1532	175	11	ieee	ieee	NOUN
easat-1532	175	12	4th	4th	ADJ
easat-1532	175	13	conference	conference	NOUN
easat-1532	175	14	on	on	ADP
easat-1532	175	15	energy	energy	NOUN
easat-1532	175	16	internet	internet	NOUN
easat-1532	175	17	and	and	CCONJ
easat-1532	175	18	energy	energy	NOUN
easat-1532	175	19	system	system	NOUN
easat-1532	175	20	integration	integration	NOUN
easat-1532	175	21	(	(	PUNCT
easat-1532	175	22	ei2	ei2	NOUN
easat-1532	175	23	)	)	PUNCT
easat-1532	175	24	.	.	PUNCT
easat-1532	176	1	ieee	ieee	PROPN
easat-1532	176	2	,	,	PUNCT
easat-1532	176	3	2020	2020	NUM
easat-1532	176	4	:	:	PUNCT
easat-1532	176	5	3766	3766	NUM
easat-1532	176	6	-	-	SYM
easat-1532	176	7	3771	3771	NUM
easat-1532	176	8	.	.	PUNCT
easat-1532	177	1	[	[	X
easat-1532	177	2	10	10	NUM
easat-1532	177	3	]	]	X
easat-1532	177	4	tang	tang	PROPN
easat-1532	177	5	h	h	PROPN
easat-1532	177	6	,	,	PUNCT
easat-1532	177	7	xue	xue	PROPN
easat-1532	177	8	f	f	PROPN
easat-1532	177	9	,	,	PUNCT
easat-1532	177	10	liu	liu	PROPN
easat-1532	177	11	t	t	PROPN
easat-1532	177	12	,	,	PUNCT
easat-1532	177	13	mingru	mingru	PROPN
easat-1532	177	14	zhao	zhao	PROPN
easat-1532	177	15	,	,	PUNCT
easat-1532	177	16	chengang	chengang	PROPN
easat-1532	177	17	dong	dong	PROPN
easat-1532	177	18	.	.	PUNCT
easat-1532	178	1	indoor	indoor	ADJ
easat-1532	178	2	positioning	positioning	NOUN
easat-1532	178	3	algorithm	algorithm	NOUN
easat-1532	178	4	fusing	fuse	VERB
easat-1532	178	5	multi	multi	ADJ
easat-1532	178	6	-	-	ADJ
easat-1532	178	7	source	source	NOUN
easat-1532	178	8	information	information	NOUN
easat-1532	178	9	.	.	PUNCT
easat-1532	179	1	wireless	wireless	ADJ
easat-1532	179	2	personal	personal	ADJ
easat-1532	179	3	communications	communication	NOUN
easat-1532	179	4	,	,	PUNCT
easat-1532	179	5	2019	2019	NUM
easat-1532	179	6	,	,	PUNCT
easat-1532	179	7	109(4	109(4	NUM
easat-1532	179	8	):	):	PUNCT
easat-1532	179	9	2541	2541	NUM
easat-1532	179	10	-	-	SYM
easat-1532	179	11	2560	2560	NUM
easat-1532	179	12	.	.	PUNCT
easat-1532	180	1	[	[	X
easat-1532	180	2	11	11	NUM
easat-1532	180	3	]	]	PUNCT
easat-1532	180	4	he	he	PRON
easat-1532	180	5	z	z	NOUN
easat-1532	180	6	m	m	PROPN
easat-1532	180	7	,	,	PUNCT
easat-1532	180	8	peng	peng	PROPN
easat-1532	180	9	l	l	PROPN
easat-1532	180	10	,	,	PUNCT
easat-1532	180	11	han	han	PROPN
easat-1532	180	12	h	h	PROPN
easat-1532	180	13	y	y	PROPN
easat-1532	180	14	,	,	PUNCT
easat-1532	180	15	et	et	PROPN
easat-1532	180	16	al	al	PROPN
easat-1532	180	17	.	.	PROPN
easat-1532	180	18	research	research	NOUN
easat-1532	180	19	on	on	ADP
easat-1532	180	20	indoor	indoor	ADJ
easat-1532	180	21	and	and	CCONJ
easat-1532	180	22	outdoor	outdoor	ADJ
easat-1532	180	23	comprehensive	comprehensive	ADJ
easat-1532	180	24	positioning	positioning	NOUN
easat-1532	180	25	technology	technology	NOUN
easat-1532	180	26	based	base	VERB
easat-1532	180	27	on	on	ADP
easat-1532	180	28	multisource	multisource	ADJ
easat-1532	180	29	information	information	NOUN
easat-1532	180	30	assistance	assistance	NOUN
easat-1532	180	31	.	.	PUNCT
easat-1532	181	1	procedia	procedia	NOUN
easat-1532	181	2	computer	computer	NOUN
easat-1532	181	3	science	science	NOUN
easat-1532	181	4	,	,	PUNCT
easat-1532	181	5	2020	2020	NUM
easat-1532	181	6	,	,	PUNCT
easat-1532	181	7	166	166	NUM
easat-1532	181	8	:	:	PUNCT
easat-1532	181	9	361	361	NUM
easat-1532	181	10	-	-	SYM
easat-1532	181	11	365	365	NUM
easat-1532	181	12	.	.	PUNCT
easat-1532	182	1	[	[	X
easat-1532	182	2	12	12	NUM
easat-1532	182	3	]	]	X
easat-1532	182	4	huang	huang	PROPN
easat-1532	182	5	l	l	PROPN
easat-1532	182	6	,	,	PUNCT
easat-1532	182	7	yu	yu	PROPN
easat-1532	182	8	b	b	PROPN
easat-1532	182	9	,	,	PUNCT
easat-1532	182	10	li	li	PROPN
easat-1532	182	11	j	j	PROPN
easat-1532	182	12	,	,	PUNCT
easat-1532	182	13	heng	heng	PROPN
easat-1532	182	14	zhang	zhang	PROPN
easat-1532	182	15	,	,	PUNCT
easat-1532	182	16	shuang	shuang	PROPN
easat-1532	182	17	li	li	PROPN
easat-1532	182	18	,	,	PUNCT
easat-1532	182	19	haonan	haonan	PROPN
easat-1532	182	20	jia	jia	PROPN
easat-1532	182	21	.	.	PUNCT
easat-1532	183	1	a	a	DET
easat-1532	183	2	real	real	ADJ
easat-1532	183	3	-	-	PUNCT
easat-1532	183	4	time	time	NOUN
easat-1532	183	5	indoor	indoor	ADJ
easat-1532	183	6	positioning	positioning	NOUN
easat-1532	183	7	system	system	NOUN
easat-1532	183	8	based	base	VERB
easat-1532	183	9	on	on	ADP
easat-1532	183	10	wi	wi	PROPN
easat-1532	183	11	-	-	PUNCT
easat-1532	183	12	fi	fi	NOUN
easat-1532	183	13	rtt	rtt	NOUN
easat-1532	183	14	and	and	CCONJ
easat-1532	183	15	multi	multi	ADJ
easat-1532	183	16	-	-	NOUN
easat-1532	183	17	source	source	NOUN
easat-1532	183	18	information[c]//china	information[c]//china	PROPN
easat-1532	183	19	satellite	satellite	NOUN
easat-1532	183	20	navigation	navigation	NOUN
easat-1532	183	21	conference	conference	NOUN
easat-1532	183	22	(	(	PUNCT
easat-1532	183	23	csnc	csnc	PROPN
easat-1532	183	24	2021	2021	NUM
easat-1532	183	25	)	)	PUNCT
easat-1532	183	26	proceedings	proceeding	NOUN
easat-1532	183	27	.	.	PUNCT
easat-1532	184	1	springer	springer	NOUN
easat-1532	184	2	,	,	PUNCT
easat-1532	184	3	singapore	singapore	PROPN
easat-1532	184	4	,	,	PUNCT
easat-1532	184	5	2021	2021	NUM
easat-1532	184	6	:	:	PUNCT
easat-1532	184	7	439	439	NUM
easat-1532	184	8	-	-	SYM
easat-1532	184	9	449	449	NUM
easat-1532	184	10	.	.	PUNCT
easat-1532	185	1	[	[	X
easat-1532	185	2	13	13	NUM
easat-1532	185	3	]	]	PUNCT
easat-1532	185	4	na	na	PART
easat-1532	185	5	w	w	NOUN
easat-1532	185	6	,	,	PUNCT
easat-1532	185	7	song	song	NOUN
easat-1532	185	8	z	z	PROPN
easat-1532	185	9	,	,	PUNCT
easat-1532	185	10	fan	fan	PROPN
easat-1532	185	11	s	s	PROPN
easat-1532	185	12	,	,	PUNCT
easat-1532	185	13	youhua	youhua	PROPN
easat-1532	185	14	hu	hu	PROPN
easat-1532	185	15	.	.	PROPN
easat-1532	185	16	research	research	NOUN
easat-1532	185	17	on	on	ADP
easat-1532	185	18	fault	fault	NOUN
easat-1532	185	19	location	location	NOUN
easat-1532	185	20	of	of	ADP
easat-1532	185	21	active	active	ADJ
easat-1532	185	22	distribution	distribution	NOUN
easat-1532	185	23	network	network	NOUN
easat-1532	185	24	considering	consider	VERB
easat-1532	185	25	multi	multi	ADJ
easat-1532	185	26	-	-	NOUN
easat-1532	185	27	source	source	ADJ
easat-1532	185	28	information[c]//2021	information[c]//2021	PROPN
easat-1532	185	29	china	china	PROPN
easat-1532	185	30	automation	automation	PROPN
easat-1532	185	31	congress	congress	PROPN
easat-1532	185	32	(	(	PUNCT
easat-1532	185	33	cac	cac	PROPN
easat-1532	185	34	)	)	PUNCT
easat-1532	185	35	.	.	PUNCT
easat-1532	186	1	ieee	ieee	NOUN
easat-1532	186	2	,	,	PUNCT
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easat-1532	186	4	:	:	PUNCT
easat-1532	186	5	2074	2074	NUM
easat-1532	186	6	-	-	SYM
easat-1532	186	7	2079	2079	NUM
easat-1532	186	8	.	.	PUNCT
easat-1532	187	1	[	[	X
easat-1532	187	2	14	14	NUM
easat-1532	187	3	]	]	SYM
easat-1532	187	4	hu	hu	PROPN
easat-1532	188	1	e	e	PROPN
easat-1532	188	2	,	,	PUNCT
easat-1532	188	3	deng	deng	PROPN
easat-1532	188	4	z	z	PROPN
easat-1532	188	5	,	,	PUNCT
easat-1532	188	6	xu	xu	PROPN
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easat-1532	189	2	,	,	PUNCT
easat-1532	189	3	qingqing	qingqing	PROPN
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easat-1532	189	5	,	,	PUNCT
easat-1532	189	6	lu	lu	PROPN
easat-1532	189	7	yin	yin	PROPN
easat-1532	189	8	,	,	PUNCT
easat-1532	189	9	wen	wen	PROPN
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easat-1532	189	11	.	.	PUNCT
easat-1532	190	1	relative	relative	ADJ
easat-1532	190	2	entropy	entropy	PROPN
easat-1532	190	3	-	-	PUNCT
easat-1532	190	4	based	base	VERB
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easat-1532	190	9	indoor	indoor	ADJ
easat-1532	190	10	/	/	SYM
easat-1532	190	11	outdoor	outdoor	ADJ
easat-1532	190	12	multi	multi	ADJ
easat-1532	190	13	-	-	ADJ
easat-1532	190	14	source	source	NOUN
easat-1532	190	15	fusion	fusion	NOUN
easat-1532	190	16	positioning	positioning	NOUN
easat-1532	190	17	with	with	ADP
easat-1532	190	18	ins	ins	PROPN
easat-1532	190	19	/	/	SYM
easat-1532	190	20	tc	tc	NOUN
easat-1532	190	21	-	-	PUNCT
easat-1532	190	22	ofdm	ofdm	NOUN
easat-1532	190	23	/	/	SYM
easat-1532	190	24	gnss	gnss	NOUN
easat-1532	190	25	.	.	PUNCT
easat-1532	191	1	cluster	cluster	NOUN
easat-1532	191	2	computing	computing	NOUN
easat-1532	191	3	,	,	PUNCT
easat-1532	191	4	2019	2019	NUM
easat-1532	191	5	,	,	PUNCT
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easat-1532	191	7	):	):	PUNCT
easat-1532	191	8	8351	8351	NUM
easat-1532	191	9	-	-	SYM
easat-1532	191	10	8361	8361	NUM
easat-1532	191	11	.	.	PUNCT
easat-1532	192	1	[	[	X
easat-1532	192	2	15	15	NUM
easat-1532	192	3	]	]	X
easat-1532	192	4	liu	liu	PROPN
easat-1532	192	5	c	c	PROPN
easat-1532	192	6	,	,	PUNCT
easat-1532	192	7	huang	huang	PROPN
easat-1532	192	8	l	l	PROPN
easat-1532	192	9	,	,	PUNCT
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easat-1532	192	11	z.	z.	PROPN
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easat-1532	193	2	two	two	NUM
easat-1532	193	3	-	-	PUNCT
easat-1532	193	4	stage	stage	NOUN
easat-1532	193	5	approach	approach	NOUN
easat-1532	193	6	of	of	ADP
easat-1532	193	7	joint	joint	ADJ
easat-1532	193	8	route	route	NOUN
easat-1532	193	9	planning	planning	NOUN
easat-1532	193	10	and	and	CCONJ
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easat-1532	193	12	allocation	allocation	NOUN
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easat-1532	193	17	unmanned	unmanned	ADJ
easat-1532	193	18	logistics	logistic	NOUN
easat-1532	193	19	distribution	distribution	NOUN
easat-1532	193	20	.	.	PUNCT
easat-1532	194	1	ieee	ieee	NOUN
easat-1532	194	2	access	access	NOUN
easat-1532	194	3	,	,	PUNCT
easat-1532	194	4	2022	2022	NUM
easat-1532	194	5	,	,	PUNCT
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easat-1532	194	7	:	:	SYM
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easat-1532	194	9	-	-	SYM
easat-1532	194	10	113901	113901	NUM
easat-1532	194	11	.	.	PUNCT
easat-1532	195	1	[	[	X
easat-1532	195	2	16]chan	16]chan	NUM
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easat-1532	195	4	t	t	PROPN
easat-1532	195	5	s	s	PROPN
easat-1532	195	6	,	,	PUNCT
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easat-1532	195	9	x	x	PROPN
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easat-1532	195	20	.	.	PUNCT
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easat-1532	196	10	inventory	inventory	NOUN
easat-1532	196	11	routing	routing	NOUN
easat-1532	196	12	planning	planning	NOUN
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easat-1532	197	2	journal	journal	PROPN
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easat-1532	197	8	,	,	PUNCT
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easat-1532	197	10	):	):	PUNCT
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easat-1532	197	12	-	-	SYM
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easat-1532	198	5	a	a	DET
easat-1532	198	6	s	s	PROPN
easat-1532	198	7	,	,	PUNCT
easat-1532	198	8	farsad	farsad	PROPN
easat-1532	198	9	s	s	PART
easat-1532	198	10	,	,	PUNCT
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easat-1532	198	17	under	under	ADP
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easat-1532	198	20	and	and	CCONJ
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easat-1532	198	23	.	.	PUNCT
easat-1532	199	1	operational	operational	ADJ
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easat-1532	199	3	,	,	PUNCT
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easat-1532	199	5	,	,	PUNCT
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easat-1532	199	7	):	):	PUNCT
easat-1532	199	8	1437	1437	NUM
easat-1532	199	9	-	-	SYM
easat-1532	199	10	1460	1460	NUM
easat-1532	199	11	.	.	PUNCT
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easat-1532	200	2	18	18	NUM
easat-1532	200	3	]	]	SYM
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easat-1532	200	6	,	,	PUNCT
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easat-1532	200	8	c	c	NOUN
easat-1532	200	9	,	,	PUNCT
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easat-1532	200	15	.	.	PUNCT
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easat-1532	201	2	urban	urban	ADJ
easat-1532	201	3	distribution	distribution	NOUN
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easat-1532	201	11	:	:	PUNCT
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easat-1532	201	15	testing	testing	NOUN
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easat-1532	201	17	a	a	DET
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easat-1532	201	21	town	town	NOUN
easat-1532	201	22	.	.	PUNCT
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easat-1532	202	2	policy	policy	NOUN
easat-1532	202	3	,	,	PUNCT
easat-1532	202	4	2019	2019	NUM
easat-1532	202	5	,	,	PUNCT
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easat-1532	202	7	:	:	SYM
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easat-1532	202	9	-	-	SYM
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easat-1532	202	11	.	.	PUNCT
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