id	sid	tid	token	lemma	pos
easat-7370	1	1	edelweiss	edelweiss	PROPN
easat-7370	1	2	applied	apply	VERB
easat-7370	1	3	science	science	NOUN
easat-7370	1	4	and	and	CCONJ
easat-7370	1	5	technology	technology	NOUN
easat-7370	1	6	issn	issn	PROPN
easat-7370	1	7	:	:	PUNCT
easat-7370	1	8	2576	2576	NUM
easat-7370	1	9	-	-	SYM
easat-7370	1	10	8484	8484	NUM
easat-7370	1	11	vol	vol	NOUN
easat-7370	1	12	.	.	PROPN
easat-7370	2	1	9	9	NUM
easat-7370	2	2	,	,	PUNCT
easat-7370	2	3	no	no	INTJ
easat-7370	2	4	.	.	NOUN
easat-7370	2	5	5	5	NUM
easat-7370	2	6	,	,	PUNCT
easat-7370	2	7	2017	2017	NUM
easat-7370	2	8	-	-	SYM
easat-7370	2	9	2026	2026	NUM
easat-7370	2	10	2025	2025	NUM
easat-7370	2	11	publisher	publisher	NOUN
easat-7370	2	12	:	:	PUNCT
easat-7370	2	13	learning	learn	VERB
easat-7370	2	14	gate	gate	NOUN
easat-7370	2	15	doi	doi	PROPN
easat-7370	2	16	:	:	PUNCT
easat-7370	2	17	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	2	18	©	©	PROPN
easat-7370	2	19	2025	2025	NUM
easat-7370	2	20	by	by	ADP
easat-7370	2	21	the	the	DET
easat-7370	2	22	authors	author	NOUN
easat-7370	2	23	;	;	PUNCT
easat-7370	2	24	licensee	licensee	PROPN
easat-7370	2	25	learning	learning	NOUN
easat-7370	2	26	gate	gate	NOUN
easat-7370	3	1	©	©	PROPN
easat-7370	3	2	2025	2025	NUM
easat-7370	3	3	by	by	ADP
easat-7370	3	4	the	the	DET
easat-7370	3	5	authors	author	NOUN
easat-7370	3	6	;	;	PUNCT
easat-7370	3	7	licensee	licensee	PROPN
easat-7370	3	8	learning	learning	NOUN
easat-7370	3	9	gate	gate	NOUN
easat-7370	3	10	history	history	NOUN
easat-7370	3	11	:	:	PUNCT
easat-7370	3	12	received	receive	VERB
easat-7370	3	13	:	:	PUNCT
easat-7370	3	14	28	28	NUM
easat-7370	3	15	february	february	NOUN
easat-7370	3	16	2025	2025	NUM
easat-7370	3	17	;	;	PUNCT
easat-7370	3	18	revised	revise	VERB
easat-7370	3	19	:	:	PUNCT
easat-7370	3	20	28	28	NUM
easat-7370	3	21	april	april	PROPN
easat-7370	3	22	2025	2025	NUM
easat-7370	3	23	;	;	PUNCT
easat-7370	3	24	accepted	accept	VERB
easat-7370	3	25	:	:	PUNCT
easat-7370	3	26	5	5	NUM
easat-7370	3	27	may	may	PROPN
easat-7370	3	28	2025	2025	NUM
easat-7370	3	29	;	;	PUNCT
easat-7370	3	30	published	publish	VERB
easat-7370	3	31	:	:	PUNCT
easat-7370	3	32	20	20	NUM
easat-7370	3	33	may	may	PROPN
easat-7370	3	34	2025	2025	NUM
easat-7370	3	35	*	*	PUNCT
easat-7370	3	36	correspondence	correspondence	NOUN
easat-7370	3	37	:	:	PUNCT
easat-7370	4	1	hameedah211ou@gmail.com	hameedah211ou@gmail.com	PROPN
easat-7370	4	2	optimization	optimization	NOUN
easat-7370	4	3	of	of	ADP
easat-7370	4	4	improved	improved	ADJ
easat-7370	4	5	extended	extended	ADJ
easat-7370	4	6	kalman	kalman	NOUN
easat-7370	4	7	filter	filter	NOUN
easat-7370	4	8	for	for	ADP
easat-7370	4	9	mobile	mobile	NOUN
easat-7370	4	10	robot	robot	NOUN
easat-7370	4	11	navigation	navigation	PROPN
easat-7370	4	12	hameedah	hameedah	PROPN
easat-7370	4	13	sahib	sahib	NOUN
easat-7370	4	14	hasan1	hasan1	X
easat-7370	4	15	*	*	PROPN
easat-7370	4	16	,	,	PUNCT
easat-7370	4	17	farah	farah	PROPN
easat-7370	4	18	kamil2	kamil2	PROPN
easat-7370	4	19	,	,	PUNCT
easat-7370	4	20	maher	maher	PROPN
easat-7370	4	21	rehaif	rehaif	PROPN
easat-7370	4	22	khudhair3	khudhair3	PROPN
easat-7370	5	1	1,2,3al	1,2,3al	PROPN
easat-7370	5	2	-	-	PROPN
easat-7370	5	3	furat	furat	PROPN
easat-7370	5	4	al	al	PROPN
easat-7370	5	5	-	-	PUNCT
easat-7370	5	6	awsat	awsat	VERB
easat-7370	5	7	technical	technical	ADJ
easat-7370	5	8	university	university	NOUN
easat-7370	5	9	,	,	PUNCT
easat-7370	5	10	technical	technical	PROPN
easat-7370	5	11	institute	institute	PROPN
easat-7370	5	12	of	of	ADP
easat-7370	5	13	al	al	PROPN
easat-7370	5	14	-	-	PUNCT
easat-7370	5	15	diwaniyah	diwaniyah	PROPN
easat-7370	5	16	,	,	PUNCT
easat-7370	5	17	iraq	iraq	PROPN
easat-7370	5	18	;	;	PUNCT
easat-7370	5	19	hameedah211ou@gmail.com	hameedah211ou@gmail.com	PROPN
easat-7370	5	20	,	,	PUNCT
easat-7370	5	21	hameedah.hasan.idi123@atu.edu.iq	hameedah.hasan.idi123@atu.edu.iq	PUNCT
easat-7370	5	22	(	(	PUNCT
easat-7370	5	23	h.s.h	h.s.h	ADJ
easat-7370	5	24	.	.	PUNCT
easat-7370	5	25	)	)	PUNCT
easat-7370	5	26	.	.	PUNCT
easat-7370	6	1	abstract	abstract	ADV
easat-7370	6	2	:	:	PUNCT
easat-7370	6	3	the	the	DET
easat-7370	6	4	kalman	kalman	PROPN
easat-7370	6	5	filter	filter	NOUN
easat-7370	6	6	is	be	AUX
easat-7370	6	7	widely	widely	ADV
easat-7370	6	8	used	use	VERB
easat-7370	6	9	in	in	ADP
easat-7370	6	10	different	different	ADJ
easat-7370	6	11	applications	application	NOUN
easat-7370	6	12	,	,	PUNCT
easat-7370	6	13	such	such	ADJ
easat-7370	6	14	as	as	ADP
easat-7370	6	15	signal	signal	NOUN
easat-7370	6	16	processing	processing	NOUN
easat-7370	6	17	,	,	PUNCT
easat-7370	6	18	modem	modem	NOUN
easat-7370	6	19	control	control	NOUN
easat-7370	6	20	,	,	PUNCT
easat-7370	6	21	and	and	CCONJ
easat-7370	6	22	communication	communication	NOUN
easat-7370	6	23	.	.	PUNCT
easat-7370	7	1	it	it	PRON
easat-7370	7	2	is	be	AUX
easat-7370	7	3	instrumental	instrumental	ADJ
easat-7370	7	4	in	in	ADP
easat-7370	7	5	estimating	estimate	VERB
easat-7370	7	6	system	system	NOUN
easat-7370	7	7	states	state	NOUN
easat-7370	7	8	with	with	ADP
easat-7370	7	9	unknown	unknown	ADJ
easat-7370	7	10	statistics	statistic	NOUN
easat-7370	7	11	.	.	PUNCT
easat-7370	8	1	the	the	DET
easat-7370	8	2	application	application	NOUN
easat-7370	8	3	can	can	AUX
easat-7370	8	4	be	be	AUX
easat-7370	8	5	significant	significant	ADJ
easat-7370	8	6	in	in	ADP
easat-7370	8	7	improving	improve	VERB
easat-7370	8	8	the	the	DET
easat-7370	8	9	accuracy	accuracy	NOUN
easat-7370	8	10	and	and	CCONJ
easat-7370	8	11	precision	precision	NOUN
easat-7370	8	12	of	of	ADP
easat-7370	8	13	state	state	NOUN
easat-7370	8	14	estimation	estimation	NOUN
easat-7370	8	15	for	for	ADP
easat-7370	8	16	both	both	CCONJ
easat-7370	8	17	linear	linear	ADJ
easat-7370	8	18	and	and	CCONJ
easat-7370	8	19	non	non	ADJ
easat-7370	8	20	-	-	ADJ
easat-7370	8	21	linear	linear	ADJ
easat-7370	8	22	systems	system	NOUN
easat-7370	8	23	.	.	PUNCT
easat-7370	9	1	the	the	DET
easat-7370	9	2	extended	extend	VERB
easat-7370	9	3	kalman	kalman	NOUN
easat-7370	9	4	filter	filter	PROPN
easat-7370	9	5	(	(	PUNCT
easat-7370	9	6	ekf	ekf	PROPN
easat-7370	9	7	)	)	PUNCT
easat-7370	9	8	is	be	AUX
easat-7370	9	9	one	one	NUM
easat-7370	9	10	of	of	ADP
easat-7370	9	11	the	the	DET
easat-7370	9	12	important	important	ADJ
easat-7370	9	13	methods	method	NOUN
easat-7370	9	14	for	for	ADP
easat-7370	9	15	the	the	DET
easat-7370	9	16	non	non	ADJ
easat-7370	9	17	-	-	ADJ
easat-7370	9	18	linear	linear	ADJ
easat-7370	9	19	application	application	NOUN
easat-7370	9	20	of	of	ADP
easat-7370	9	21	the	the	DET
easat-7370	9	22	kalman	kalman	PROPN
easat-7370	9	23	filter	filter	PROPN
easat-7370	9	24	,	,	PUNCT
easat-7370	9	25	among	among	ADP
easat-7370	9	26	other	other	ADJ
easat-7370	9	27	variations	variation	NOUN
easat-7370	9	28	.	.	PUNCT
easat-7370	10	1	the	the	DET
easat-7370	10	2	resulting	result	VERB
easat-7370	10	3	expressions	expression	NOUN
easat-7370	10	4	exhibit	exhibit	VERB
easat-7370	10	5	unity	unity	NOUN
easat-7370	10	6	in	in	ADP
easat-7370	10	7	that	that	SCONJ
easat-7370	10	8	they	they	PRON
easat-7370	10	9	apply	apply	VERB
easat-7370	10	10	to	to	ADP
easat-7370	10	11	different	different	ADJ
easat-7370	10	12	situations	situation	NOUN
easat-7370	10	13	involving	involve	VERB
easat-7370	10	14	localization	localization	NOUN
easat-7370	10	15	procedures	procedure	NOUN
easat-7370	10	16	.	.	PUNCT
easat-7370	11	1	this	this	DET
easat-7370	11	2	work	work	NOUN
easat-7370	11	3	presents	present	VERB
easat-7370	11	4	the	the	DET
easat-7370	11	5	optimization	optimization	NOUN
easat-7370	11	6	of	of	ADP
easat-7370	11	7	an	an	DET
easat-7370	11	8	improved	improved	ADJ
easat-7370	11	9	ekf	ekf	NOUN
easat-7370	11	10	for	for	ADP
easat-7370	11	11	mobile	mobile	NOUN
easat-7370	11	12	robot	robot	NOUN
easat-7370	11	13	navigation	navigation	NOUN
easat-7370	11	14	by	by	ADP
easat-7370	11	15	finding	find	VERB
easat-7370	11	16	the	the	DET
easat-7370	11	17	best	good	ADJ
easat-7370	11	18	ways	way	NOUN
easat-7370	11	19	to	to	PART
easat-7370	11	20	reduce	reduce	VERB
easat-7370	11	21	the	the	DET
easat-7370	11	22	time	time	NOUN
easat-7370	11	23	taken	take	VERB
easat-7370	11	24	to	to	PART
easat-7370	11	25	complete	complete	VERB
easat-7370	11	26	the	the	DET
easat-7370	11	27	job	job	NOUN
easat-7370	11	28	.	.	PUNCT
easat-7370	12	1	keywords	keyword	NOUN
easat-7370	12	2	:	:	PUNCT
easat-7370	12	3	extended	extended	ADJ
easat-7370	12	4	kalman	kalman	PROPN
easat-7370	12	5	filter	filter	PROPN
easat-7370	12	6	ekf	ekf	PROPN
easat-7370	12	7	,	,	PUNCT
easat-7370	12	8	kalman	kalman	PROPN
easat-7370	12	9	filter	filter	PROPN
easat-7370	12	10	,	,	PUNCT
easat-7370	12	11	nonlinear	nonlinear	ADJ
easat-7370	12	12	,	,	PUNCT
easat-7370	12	13	optimization	optimization	NOUN
easat-7370	12	14	.	.	PUNCT
easat-7370	13	1	1	1	X
easat-7370	13	2	.	.	X
easat-7370	13	3	introduction	introduction	NOUN
easat-7370	13	4	in	in	ADP
easat-7370	13	5	recent	recent	ADJ
easat-7370	13	6	decades	decade	NOUN
easat-7370	13	7	,	,	PUNCT
easat-7370	13	8	the	the	DET
easat-7370	13	9	localization	localization	NOUN
easat-7370	13	10	problem	problem	NOUN
easat-7370	13	11	has	have	AUX
easat-7370	13	12	been	be	AUX
easat-7370	13	13	extensively	extensively	ADV
easat-7370	13	14	studied	study	VERB
easat-7370	13	15	,	,	PUNCT
easat-7370	13	16	and	and	CCONJ
easat-7370	13	17	many	many	ADJ
easat-7370	13	18	approaches	approach	NOUN
easat-7370	13	19	have	have	AUX
easat-7370	13	20	been	be	AUX
easat-7370	13	21	developed	develop	VERB
easat-7370	13	22	to	to	PART
easat-7370	13	23	estimate	estimate	VERB
easat-7370	13	24	robots	robot	NOUN
easat-7370	13	25	'	'	PART
easat-7370	13	26	status	status	NOUN
easat-7370	14	1	[	[	X
easat-7370	14	2	1	1	NUM
easat-7370	14	3	]	]	PUNCT
easat-7370	14	4	.	.	PUNCT
easat-7370	15	1	mobile	mobile	ADJ
easat-7370	15	2	robots	robot	NOUN
easat-7370	15	3	are	be	AUX
easat-7370	15	4	widely	widely	ADV
easat-7370	15	5	used	use	VERB
easat-7370	15	6	in	in	ADP
easat-7370	15	7	many	many	ADJ
easat-7370	15	8	fields	field	NOUN
easat-7370	15	9	,	,	PUNCT
easat-7370	15	10	including	include	VERB
easat-7370	15	11	construction	construction	NOUN
easat-7370	15	12	,	,	PUNCT
easat-7370	15	13	entertainment	entertainment	NOUN
easat-7370	15	14	,	,	PUNCT
easat-7370	15	15	medical	medical	ADJ
easat-7370	15	16	care	care	NOUN
easat-7370	15	17	,	,	PUNCT
easat-7370	15	18	planetary	planetary	ADJ
easat-7370	15	19	exploration	exploration	NOUN
easat-7370	15	20	,	,	PUNCT
easat-7370	15	21	warehouses	warehouse	NOUN
easat-7370	15	22	,	,	PUNCT
easat-7370	15	23	agriculture	agriculture	NOUN
easat-7370	15	24	,	,	PUNCT
easat-7370	15	25	industrial	industrial	ADJ
easat-7370	15	26	automation	automation	NOUN
easat-7370	15	27	,	,	PUNCT
easat-7370	15	28	and	and	CCONJ
easat-7370	15	29	product	product	NOUN
easat-7370	15	30	deliveries	delivery	NOUN
easat-7370	15	31	[	[	X
easat-7370	15	32	2	2	NUM
easat-7370	15	33	]	]	PUNCT
easat-7370	15	34	.	.	PUNCT
easat-7370	16	1	several	several	ADJ
easat-7370	16	2	research	research	NOUN
easat-7370	16	3	is	be	AUX
easat-7370	16	4	being	be	AUX
easat-7370	16	5	conducted	conduct	VERB
easat-7370	16	6	in	in	ADP
easat-7370	16	7	mobile	mobile	ADJ
easat-7370	16	8	robotics	robotic	NOUN
easat-7370	16	9	to	to	PART
easat-7370	16	10	improve	improve	VERB
easat-7370	16	11	navigation	navigation	NOUN
easat-7370	16	12	in	in	ADP
easat-7370	16	13	challenging	challenging	ADJ
easat-7370	16	14	and	and	CCONJ
easat-7370	16	15	complex	complex	ADJ
easat-7370	16	16	environments	environment	NOUN
easat-7370	17	1	[	[	X
easat-7370	17	2	3	3	NUM
easat-7370	17	3	]	]	PUNCT
easat-7370	17	4	.	.	PUNCT
easat-7370	18	1	a	a	DET
easat-7370	18	2	mobile	mobile	ADJ
easat-7370	18	3	robot	robot	NOUN
easat-7370	18	4	can	can	AUX
easat-7370	18	5	independently	independently	ADV
easat-7370	18	6	move	move	VERB
easat-7370	18	7	and	and	CCONJ
easat-7370	18	8	complete	complete	ADJ
easat-7370	18	9	tasks	task	NOUN
easat-7370	18	10	.	.	PUNCT
easat-7370	19	1	it	it	PRON
easat-7370	19	2	achieves	achieve	VERB
easat-7370	19	3	this	this	PRON
easat-7370	19	4	with	with	ADP
easat-7370	19	5	perceptual	perceptual	ADJ
easat-7370	19	6	and	and	CCONJ
easat-7370	19	7	control	control	NOUN
easat-7370	19	8	systems	system	NOUN
easat-7370	19	9	or	or	CCONJ
easat-7370	19	10	cognition	cognition	NOUN
easat-7370	19	11	units	unit	NOUN
easat-7370	19	12	coordinating	coordinate	VERB
easat-7370	19	13	all	all	DET
easat-7370	19	14	its	its	PRON
easat-7370	19	15	subsystems	subsystem	NOUN
easat-7370	19	16	that	that	PRON
easat-7370	19	17	comprise	comprise	VERB
easat-7370	19	18	the	the	DET
easat-7370	19	19	task	task	NOUN
easat-7370	19	20	[	[	X
easat-7370	19	21	4	4	NUM
easat-7370	19	22	]	]	PUNCT
easat-7370	19	23	.	.	PUNCT
easat-7370	20	1	the	the	DET
easat-7370	20	2	kalman	kalman	PROPN
easat-7370	20	3	filter	filter	PROPN
easat-7370	20	4	(	(	PUNCT
easat-7370	20	5	kf	kf	NOUN
easat-7370	20	6	)	)	PUNCT
easat-7370	20	7	can	can	AUX
easat-7370	20	8	safely	safely	ADV
easat-7370	20	9	integrate	integrate	VERB
easat-7370	20	10	visual	visual	ADJ
easat-7370	20	11	annotations	annotation	NOUN
easat-7370	20	12	for	for	ADP
easat-7370	20	13	navigational	navigational	ADJ
easat-7370	20	14	purposes	purpose	NOUN
easat-7370	20	15	with	with	ADP
easat-7370	20	16	additional	additional	ADJ
easat-7370	20	17	information	information	NOUN
easat-7370	20	18	from	from	ADP
easat-7370	20	19	the	the	DET
easat-7370	20	20	sensor	sensor	NOUN
easat-7370	20	21	and	and	CCONJ
easat-7370	20	22	inertial	inertial	ADJ
easat-7370	20	23	sensors	sensor	NOUN
easat-7370	20	24	[	[	X
easat-7370	20	25	5	5	NUM
easat-7370	20	26	,	,	PUNCT
easat-7370	20	27	6	6	NUM
easat-7370	20	28	]	]	PUNCT
easat-7370	20	29	.	.	PUNCT
easat-7370	21	1	the	the	DET
easat-7370	21	2	kf	kf	PROPN
easat-7370	21	3	primarily	primarily	ADV
easat-7370	21	4	relies	rely	VERB
easat-7370	21	5	on	on	ADP
easat-7370	21	6	an	an	DET
easat-7370	21	7	iterative	iterative	ADJ
easat-7370	21	8	approach	approach	NOUN
easat-7370	21	9	that	that	PRON
easat-7370	21	10	utilizes	utilize	VERB
easat-7370	21	11	store	store	NOUN
easat-7370	21	12	or	or	CCONJ
easat-7370	21	13	historical	historical	ADJ
easat-7370	21	14	data	datum	NOUN
easat-7370	21	15	on	on	ADP
easat-7370	21	16	noise	noise	NOUN
easat-7370	21	17	characteristics	characteristic	NOUN
easat-7370	21	18	to	to	PART
easat-7370	21	19	adjust	adjust	VERB
easat-7370	21	20	accordingly	accordingly	ADV
easat-7370	21	21	and	and	CCONJ
easat-7370	21	22	filter	filter	VERB
easat-7370	21	23	the	the	DET
easat-7370	21	24	noise	noise	NOUN
easat-7370	21	25	.	.	PUNCT
easat-7370	22	1	the	the	DET
easat-7370	22	2	kf	kf	PROPN
easat-7370	22	3	is	be	AUX
easat-7370	22	4	better	well	ADJ
easat-7370	22	5	and	and	CCONJ
easat-7370	22	6	suitable	suitable	ADJ
easat-7370	22	7	for	for	ADP
easat-7370	22	8	linear	linear	ADJ
easat-7370	22	9	stochastic	stochastic	ADJ
easat-7370	22	10	processes	process	NOUN
easat-7370	22	11	.	.	PUNCT
easat-7370	23	1	conversely	conversely	ADV
easat-7370	23	2	,	,	PUNCT
easat-7370	23	3	the	the	DET
easat-7370	23	4	extended	extended	ADJ
easat-7370	23	5	kalman	kalman	NOUN
easat-7370	23	6	filter	filter	PROPN
easat-7370	23	7	(	(	PUNCT
easat-7370	23	8	ekf	ekf	PROPN
easat-7370	23	9	)	)	PUNCT
easat-7370	23	10	can	can	AUX
easat-7370	23	11	be	be	AUX
easat-7370	23	12	applied	apply	VERB
easat-7370	23	13	to	to	ADP
easat-7370	23	14	non	non	ADJ
easat-7370	23	15	-	-	ADJ
easat-7370	23	16	linear	linear	ADJ
easat-7370	23	17	processes	process	NOUN
easat-7370	23	18	.	.	PUNCT
easat-7370	24	1	regarding	regard	VERB
easat-7370	24	2	both	both	PRON
easat-7370	24	3	noise	noise	NOUN
easat-7370	24	4	estimating	estimating	NOUN
easat-7370	24	5	and	and	CCONJ
easat-7370	24	6	process	process	NOUN
easat-7370	24	7	designs	design	NOUN
easat-7370	24	8	,	,	PUNCT
easat-7370	24	9	the	the	DET
easat-7370	24	10	ekf	ekf	NOUN
easat-7370	24	11	algorithm	algorithm	NOUN
easat-7370	24	12	can	can	AUX
easat-7370	24	13	be	be	AUX
easat-7370	24	14	widely	widely	ADV
easat-7370	24	15	applied	apply	VERB
easat-7370	24	16	in	in	ADP
easat-7370	24	17	a	a	DET
easat-7370	24	18	non	non	ADJ
easat-7370	24	19	-	-	ADJ
easat-7370	24	20	linear	linear	ADJ
easat-7370	24	21	system	system	NOUN
easat-7370	24	22	with	with	ADP
easat-7370	24	23	autonomous	autonomous	ADJ
easat-7370	24	24	noise	noise	NOUN
easat-7370	24	25	.	.	PUNCT
easat-7370	25	1	since	since	SCONJ
easat-7370	25	2	most	most	ADJ
easat-7370	25	3	systems	system	NOUN
easat-7370	25	4	in	in	ADP
easat-7370	25	5	engineering	engineering	NOUN
easat-7370	25	6	are	be	AUX
easat-7370	25	7	non	non	ADJ
easat-7370	25	8	-	-	ADJ
easat-7370	25	9	linear	linear	ADJ
easat-7370	25	10	,	,	PUNCT
easat-7370	25	11	the	the	DET
easat-7370	25	12	ekf	ekf	NOUN
easat-7370	25	13	is	be	AUX
easat-7370	25	14	given	give	VERB
easat-7370	25	15	more	more	ADJ
easat-7370	25	16	attention	attention	NOUN
easat-7370	25	17	compared	compare	VERB
easat-7370	25	18	with	with	ADP
easat-7370	25	19	kf	kf	PROPN
easat-7370	26	1	[	[	X
easat-7370	26	2	7	7	NUM
easat-7370	26	3	]	]	PUNCT
easat-7370	26	4	.	.	PUNCT
easat-7370	27	1	however	however	ADV
easat-7370	27	2	,	,	PUNCT
easat-7370	27	3	there	there	PRON
easat-7370	27	4	are	be	VERB
easat-7370	27	5	two	two	NUM
easat-7370	27	6	major	major	ADJ
easat-7370	27	7	issues	issue	NOUN
easat-7370	27	8	with	with	ADP
easat-7370	27	9	the	the	DET
easat-7370	27	10	ekf	ekf	PROPN
easat-7370	27	11	.	.	PUNCT
easat-7370	28	1	finding	find	VERB
easat-7370	28	2	the	the	DET
easat-7370	28	3	estimate	estimate	NOUN
easat-7370	28	4	noise	noise	NOUN
easat-7370	28	5	covariance	covariance	NOUN
easat-7370	28	6	matrix	matrix	NOUN
easat-7370	28	7	and	and	CCONJ
easat-7370	28	8	the	the	DET
easat-7370	28	9	process	process	NOUN
easat-7370	28	10	noise	noise	NOUN
easat-7370	28	11	covariance	covariance	NOUN
easat-7370	28	12	matrix	matrix	NOUN
easat-7370	28	13	is	be	AUX
easat-7370	28	14	challenging	challenge	VERB
easat-7370	28	15	for	for	ADP
easat-7370	28	16	the	the	DET
easat-7370	28	17	ekf	ekf	NOUN
easat-7370	28	18	due	due	ADP
easat-7370	28	19	to	to	ADP
easat-7370	28	20	its	its	PRON
easat-7370	28	21	difficulty	difficulty	NOUN
easat-7370	28	22	obtaining	obtain	VERB
easat-7370	28	23	previous	previous	ADJ
easat-7370	28	24	information	information	NOUN
easat-7370	28	25	about	about	ADP
easat-7370	28	26	the	the	DET
easat-7370	28	27	field	field	NOUN
easat-7370	28	28	of	of	ADP
easat-7370	28	29	operation	operation	NOUN
easat-7370	28	30	.	.	PUNCT
easat-7370	29	1	if	if	SCONJ
easat-7370	29	2	the	the	DET
easat-7370	29	3	ekf	ekf	NOUN
easat-7370	29	4	obtains	obtain	VERB
easat-7370	29	5	the	the	DET
easat-7370	29	6	fixed	fix	VERB
easat-7370	29	7	noise	noise	NOUN
easat-7370	29	8	covariance	covariance	NOUN
easat-7370	29	9	matrices	matrix	NOUN
easat-7370	29	10	and	and	CCONJ
easat-7370	29	11	the	the	DET
easat-7370	29	12	prior	prior	ADJ
easat-7370	29	13	information	information	NOUN
easat-7370	29	14	of	of	ADP
easat-7370	29	15	the	the	DET
easat-7370	29	16	operation	operation	NOUN
easat-7370	29	17	field	field	NOUN
easat-7370	29	18	,	,	PUNCT
easat-7370	29	19	it	it	PRON
easat-7370	29	20	is	be	AUX
easat-7370	29	21	difficult	difficult	ADJ
easat-7370	29	22	to	to	PART
easat-7370	29	23	fit	fit	VERB
easat-7370	29	24	all	all	PRON
easat-7370	29	25	of	of	ADP
easat-7370	29	26	them	they	PRON
easat-7370	29	27	[	[	X
easat-7370	29	28	7	7	NUM
easat-7370	29	29	]	]	PUNCT
easat-7370	29	30	.	.	PUNCT
easat-7370	30	1	for	for	ADP
easat-7370	30	2	issues	issue	NOUN
easat-7370	30	3	involving	involve	VERB
easat-7370	30	4	state	state	NOUN
easat-7370	30	5	estimation	estimation	NOUN
easat-7370	30	6	,	,	PUNCT
easat-7370	30	7	the	the	DET
easat-7370	30	8	extended	extended	ADJ
easat-7370	30	9	kalman	kalman	NOUN
easat-7370	30	10	filter	filter	PROPN
easat-7370	30	11	(	(	PUNCT
easat-7370	30	12	ekf	ekf	PROPN
easat-7370	30	13	)	)	PUNCT
easat-7370	30	14	has	have	AUX
easat-7370	30	15	been	be	AUX
easat-7370	30	16	a	a	DET
easat-7370	30	17	long	long	ADJ
easat-7370	30	18	attractive	attractive	ADJ
easat-7370	30	19	method	method	NOUN
easat-7370	30	20	.	.	PUNCT
easat-7370	31	1	when	when	SCONJ
easat-7370	31	2	connected	connected	ADJ
easat-7370	31	3	equations	equation	NOUN
easat-7370	31	4	have	have	AUX
easat-7370	31	5	directed	direct	VERB
easat-7370	31	6	the	the	DET
easat-7370	31	7	system	system	NOUN
easat-7370	31	8	's	's	PART
easat-7370	31	9	dynamics	dynamic	NOUN
easat-7370	31	10	for	for	ADP
easat-7370	31	11	the	the	DET
easat-7370	31	12	past	past	ADJ
easat-7370	31	13	sixty	sixty	NUM
easat-7370	31	14	years	year	NOUN
easat-7370	32	1	[	[	X
easat-7370	32	2	2	2	NUM
easat-7370	32	3	]	]	PUNCT
easat-7370	32	4	.	.	PUNCT
easat-7370	33	1	though	though	SCONJ
easat-7370	33	2	the	the	DET
easat-7370	33	3	traditional	traditional	ADJ
easat-7370	33	4	demonstration	demonstration	NOUN
easat-7370	33	5	of	of	ADP
easat-7370	33	6	ekf	ekf	NOUN
easat-7370	33	7	is	be	AUX
easat-7370	33	8	provided	provide	VERB
easat-7370	33	9	in	in	ADP
easat-7370	33	10	the	the	DET
easat-7370	33	11	global	global	ADJ
easat-7370	33	12	coordinate	coordinate	NOUN
easat-7370	33	13	,	,	PUNCT
easat-7370	33	14	numerous	numerous	ADJ
easat-7370	33	15	studies	study	NOUN
easat-7370	33	16	have	have	AUX
easat-7370	33	17	modified	modify	VERB
easat-7370	33	18	the	the	DET
easat-7370	33	19	kalman	kalman	PROPN
easat-7370	33	20	filter	filter	NOUN
easat-7370	33	21	approach	approach	NOUN
easat-7370	33	22	to	to	ADP
easat-7370	33	23	accommodate	accommodate	VERB
easat-7370	33	24	systems	system	NOUN
easat-7370	33	25	that	that	PRON
easat-7370	33	26	exist	exist	VERB
easat-7370	33	27	on	on	ADP
easat-7370	33	28	smooth	smooth	ADJ
easat-7370	33	29	manifolds	manifold	NOUN
easat-7370	33	30	.	.	PUNCT
easat-7370	34	1	it	it	PRON
easat-7370	34	2	is	be	AUX
easat-7370	34	3	2018	2018	NUM
easat-7370	34	4	edelweiss	edelweiss	PROPN
easat-7370	34	5	applied	apply	VERB
easat-7370	34	6	science	science	NOUN
easat-7370	34	7	and	and	CCONJ
easat-7370	34	8	technology	technology	NOUN
easat-7370	34	9	issn	issn	PROPN
easat-7370	34	10	:	:	PUNCT
easat-7370	34	11	2576	2576	NUM
easat-7370	34	12	-	-	SYM
easat-7370	34	13	8484	8484	NUM
easat-7370	34	14	vol	vol	NOUN
easat-7370	34	15	.	.	PROPN
easat-7370	35	1	9	9	NUM
easat-7370	35	2	,	,	PUNCT
easat-7370	35	3	no	no	INTJ
easat-7370	35	4	.	.	NOUN
easat-7370	35	5	5	5	NUM
easat-7370	35	6	:	:	SYM
easat-7370	35	7	2017	2017	NUM
easat-7370	35	8	-	-	SYM
easat-7370	35	9	2026	2026	NUM
easat-7370	35	10	,	,	PUNCT
easat-7370	35	11	2025	2025	NUM
easat-7370	35	12	doi	doi	NOUN
easat-7370	35	13	:	:	PUNCT
easat-7370	35	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	35	15	©	©	PROPN
easat-7370	35	16	2025	2025	NUM
easat-7370	35	17	by	by	ADP
easat-7370	35	18	the	the	DET
easat-7370	35	19	authors	author	NOUN
easat-7370	35	20	;	;	PUNCT
easat-7370	35	21	licensee	licensee	PROPN
easat-7370	35	22	learning	learning	NOUN
easat-7370	35	23	gate	gate	NOUN
easat-7370	35	24	possible	possible	ADJ
easat-7370	35	25	to	to	PART
easat-7370	35	26	use	use	VERB
easat-7370	35	27	the	the	DET
easat-7370	35	28	traditional	traditional	ADJ
easat-7370	35	29	extended	extend	VERB
easat-7370	35	30	kalman	kalman	NOUN
easat-7370	35	31	filter	filter	NOUN
easat-7370	35	32	with	with	ADP
easat-7370	35	33	any	any	DET
easat-7370	35	34	choice	choice	NOUN
easat-7370	35	35	of	of	ADP
easat-7370	35	36	local	local	ADJ
easat-7370	35	37	coordinates	coordinate	NOUN
easat-7370	35	38	,	,	PUNCT
easat-7370	35	39	which	which	PRON
easat-7370	35	40	gives	give	VERB
easat-7370	35	41	better	well	ADJ
easat-7370	35	42	benefit	benefit	NOUN
easat-7370	35	43	for	for	ADP
easat-7370	35	44	filter	filter	NOUN
easat-7370	35	45	operation	operation	NOUN
easat-7370	35	46	by	by	ADP
easat-7370	35	47	reducing	reduce	VERB
easat-7370	35	48	linearization	linearization	NOUN
easat-7370	35	49	error	error	NOUN
easat-7370	35	50	[	[	X
easat-7370	35	51	8	8	NUM
easat-7370	35	52	]	]	PUNCT
easat-7370	35	53	.	.	PUNCT
easat-7370	36	1	the	the	DET
easat-7370	36	2	aim	aim	NOUN
easat-7370	36	3	of	of	ADP
easat-7370	36	4	this	this	DET
easat-7370	36	5	work	work	NOUN
easat-7370	36	6	is	be	AUX
easat-7370	36	7	enhancement	enhancement	NOUN
easat-7370	36	8	of	of	ADP
easat-7370	36	9	mobile	mobile	ADJ
easat-7370	36	10	robot	robot	NOUN
easat-7370	36	11	navigation	navigation	NOUN
easat-7370	36	12	for	for	ADP
easat-7370	36	13	non	non	ADJ
easat-7370	36	14	-	-	ADJ
easat-7370	36	15	liner	liner	ADJ
easat-7370	36	16	motion	motion	NOUN
easat-7370	36	17	by	by	ADP
easat-7370	36	18	using	use	VERB
easat-7370	36	19	the	the	DET
easat-7370	36	20	improved	improved	ADJ
easat-7370	36	21	ekf	ekf	PROPN
easat-7370	36	22	.	.	PUNCT
easat-7370	37	1	the	the	DET
easat-7370	37	2	rest	rest	NOUN
easat-7370	37	3	of	of	ADP
easat-7370	37	4	this	this	DET
easat-7370	37	5	paper	paper	NOUN
easat-7370	37	6	as	as	SCONJ
easat-7370	37	7	follows	follow	VERB
easat-7370	37	8	:	:	PUNCT
easat-7370	37	9	in	in	ADP
easat-7370	37	10	section	section	NOUN
easat-7370	37	11	2	2	NUM
easat-7370	37	12	,	,	PUNCT
easat-7370	37	13	related	relate	VERB
easat-7370	37	14	work	work	NOUN
easat-7370	37	15	presents	present	VERB
easat-7370	37	16	the	the	DET
easat-7370	37	17	relevant	relevant	ADJ
easat-7370	37	18	literature	literature	PROPN
easat-7370	37	19	review	review	PROPN
easat-7370	37	20	.	.	PUNCT
easat-7370	38	1	section	section	NOUN
easat-7370	38	2	3	3	NUM
easat-7370	38	3	presents	present	VERB
easat-7370	38	4	kf	kf	PROPN
easat-7370	38	5	.	.	PROPN
easat-7370	38	6	section	section	PROPN
easat-7370	38	7	4	4	NUM
easat-7370	38	8	presents	present	VERB
easat-7370	38	9	the	the	DET
easat-7370	38	10	extended	extended	ADJ
easat-7370	38	11	kalman	kalman	NOUN
easat-7370	38	12	filter	filter	NOUN
easat-7370	38	13	configuration	configuration	NOUN
easat-7370	38	14	.	.	PUNCT
easat-7370	39	1	section	section	NOUN
easat-7370	39	2	5	5	NUM
easat-7370	39	3	presents	present	VERB
easat-7370	39	4	the	the	DET
easat-7370	39	5	ekf	ekf	NOUN
easat-7370	39	6	performance	performance	NOUN
easat-7370	39	7	.	.	PUNCT
easat-7370	40	1	section	section	NOUN
easat-7370	40	2	6	6	NUM
easat-7370	40	3	presents	present	VERB
easat-7370	40	4	the	the	DET
easat-7370	40	5	comparison	comparison	NOUN
easat-7370	40	6	between	between	ADP
easat-7370	40	7	linear	linear	PROPN
easat-7370	40	8	and	and	CCONJ
easat-7370	40	9	nonlinear	nonlinear	ADJ
easat-7370	40	10	navigation	navigation	NOUN
easat-7370	40	11	.	.	PUNCT
easat-7370	41	1	formulation	formulation	NOUN
easat-7370	41	2	is	be	AUX
easat-7370	41	3	presented	present	VERB
easat-7370	41	4	in	in	ADP
easat-7370	41	5	section	section	NOUN
easat-7370	41	6	7	7	NUM
easat-7370	41	7	.	.	PUNCT
easat-7370	42	1	finally	finally	ADV
easat-7370	42	2	,	,	PUNCT
easat-7370	42	3	the	the	DET
easat-7370	42	4	article	article	NOUN
easat-7370	42	5	’s	’s	PART
easat-7370	42	6	conclusion	conclusion	NOUN
easat-7370	42	7	presents	present	VERB
easat-7370	42	8	in	in	ADP
easat-7370	42	9	section	section	NOUN
easat-7370	42	10	8	8	NUM
easat-7370	42	11	.	.	NOUN
easat-7370	42	12	2	2	NUM
easat-7370	42	13	.	.	X
easat-7370	42	14	related	relate	VERB
easat-7370	42	15	work	work	NOUN
easat-7370	42	16	the	the	DET
easat-7370	42	17	kalman	kalman	PROPN
easat-7370	42	18	filter	filter	NOUN
easat-7370	42	19	is	be	AUX
easat-7370	42	20	an	an	DET
easat-7370	42	21	effective	effective	ADJ
easat-7370	42	22	recursive	recursive	ADJ
easat-7370	42	23	computational	computational	ADJ
easat-7370	42	24	filter	filter	NOUN
easat-7370	42	25	that	that	PRON
easat-7370	42	26	utilizes	utilize	VERB
easat-7370	42	27	noisy	noisy	ADJ
easat-7370	42	28	measurements	measurement	NOUN
easat-7370	42	29	to	to	PART
easat-7370	42	30	determine	determine	VERB
easat-7370	42	31	a	a	DET
easat-7370	42	32	system	system	NOUN
easat-7370	42	33	's	's	PART
easat-7370	42	34	internal	internal	ADJ
easat-7370	42	35	state	state	NOUN
easat-7370	42	36	.	.	PUNCT
easat-7370	43	1	it	it	PRON
easat-7370	43	2	is	be	AUX
easat-7370	43	3	essentially	essentially	ADV
easat-7370	43	4	used	use	VERB
easat-7370	43	5	for	for	ADP
easat-7370	43	6	linear	linear	PROPN
easat-7370	43	7	systems	system	NOUN
easat-7370	43	8	,	,	PUNCT
easat-7370	43	9	while	while	SCONJ
easat-7370	43	10	its	its	PRON
easat-7370	43	11	basic	basic	ADJ
easat-7370	43	12	formulation	formulation	NOUN
easat-7370	43	13	is	be	AUX
easat-7370	43	14	only	only	ADV
easat-7370	43	15	appropriate	appropriate	ADJ
easat-7370	43	16	for	for	ADP
easat-7370	43	17	linear	linear	PROPN
easat-7370	43	18	systems	system	NOUN
easat-7370	44	1	[	[	X
easat-7370	44	2	9	9	NUM
easat-7370	44	3	]	]	PUNCT
easat-7370	44	4	.	.	PUNCT
easat-7370	45	1	kf	kf	PROPN
easat-7370	45	2	derivatives	derivative	NOUN
easat-7370	45	3	deal	deal	VERB
easat-7370	45	4	with	with	ADP
easat-7370	45	5	the	the	DET
easat-7370	45	6	first	first	ADJ
easat-7370	45	7	branch	branch	NOUN
easat-7370	45	8	of	of	ADP
easat-7370	45	9	the	the	DET
easat-7370	45	10	approaches	approach	NOUN
easat-7370	45	11	that	that	PRON
easat-7370	45	12	apply	apply	VERB
easat-7370	45	13	filters	filter	NOUN
easat-7370	45	14	[	[	X
easat-7370	45	15	10	10	NUM
easat-7370	45	16	,	,	PUNCT
easat-7370	45	17	11	11	NUM
easat-7370	45	18	]	]	PUNCT
easat-7370	45	19	.	.	PUNCT
easat-7370	46	1	the	the	DET
easat-7370	46	2	kalman	kalman	PROPN
easat-7370	46	3	filter	filter	PROPN
easat-7370	46	4	,	,	PUNCT
easat-7370	46	5	known	know	VERB
easat-7370	46	6	for	for	ADP
easat-7370	46	7	its	its	PRON
easat-7370	46	8	reliability	reliability	NOUN
easat-7370	46	9	,	,	PUNCT
easat-7370	46	10	combines	combine	VERB
easat-7370	46	11	the	the	DET
easat-7370	46	12	sensory	sensory	ADJ
easat-7370	46	13	data	datum	NOUN
easat-7370	46	14	input	input	NOUN
easat-7370	46	15	and	and	CCONJ
easat-7370	46	16	estimates	estimate	VERB
easat-7370	46	17	the	the	DET
easat-7370	46	18	robot	robot	NOUN
easat-7370	46	19	's	's	PART
easat-7370	46	20	state	state	NOUN
easat-7370	47	1	[	[	X
easat-7370	47	2	12	12	NUM
easat-7370	47	3	]	]	PUNCT
easat-7370	47	4	.	.	PUNCT
easat-7370	48	1	the	the	DET
easat-7370	48	2	kalman	kalman	PROPN
easat-7370	48	3	filter	filter	NOUN
easat-7370	48	4	is	be	AUX
easat-7370	48	5	regarded	regard	VERB
easat-7370	48	6	as	as	ADP
easat-7370	48	7	the	the	DET
easat-7370	48	8	best	good	ADJ
easat-7370	48	9	estimation	estimation	NOUN
easat-7370	48	10	for	for	ADP
easat-7370	48	11	uncertain	uncertain	ADJ
easat-7370	48	12	systems	system	NOUN
easat-7370	48	13	[	[	X
easat-7370	48	14	13	13	NUM
easat-7370	48	15	]	]	PUNCT
easat-7370	48	16	.	.	PUNCT
easat-7370	49	1	while	while	SCONJ
easat-7370	49	2	the	the	DET
easat-7370	49	3	kalman	kalman	PROPN
easat-7370	49	4	filter	filter	PROPN
easat-7370	49	5	(	(	PUNCT
easat-7370	49	6	kf	kf	PROPN
easat-7370	49	7	)	)	PUNCT
easat-7370	49	8	assumes	assume	VERB
easat-7370	49	9	that	that	SCONJ
easat-7370	49	10	gaussian	gaussian	ADJ
easat-7370	49	11	noises	noise	NOUN
easat-7370	49	12	affected	affect	VERB
easat-7370	49	13	the	the	DET
easat-7370	49	14	data	datum	NOUN
easat-7370	49	15	,	,	PUNCT
easat-7370	49	16	mostly	mostly	ADV
easat-7370	49	17	in	in	ADP
easat-7370	49	18	practical	practical	ADJ
easat-7370	49	19	situations	situation	NOUN
easat-7370	49	20	.	.	PUNCT
easat-7370	50	1	kfs	kfs	PROPN
easat-7370	50	2	are	be	AUX
easat-7370	50	3	primarily	primarily	ADV
easat-7370	50	4	designed	design	VERB
easat-7370	50	5	to	to	PART
easat-7370	50	6	handle	handle	VERB
easat-7370	50	7	linear	linear	ADJ
easat-7370	50	8	system	system	NOUN
easat-7370	50	9	problems	problem	NOUN
easat-7370	50	10	in	in	ADP
easat-7370	50	11	their	their	PRON
easat-7370	50	12	most	most	ADV
easat-7370	50	13	basic	basic	ADJ
easat-7370	50	14	form	form	NOUN
easat-7370	50	15	[	[	X
easat-7370	50	16	14	14	NUM
easat-7370	50	17	]	]	PUNCT
easat-7370	50	18	.	.	PUNCT
easat-7370	51	1	however	however	ADV
easat-7370	51	2	,	,	PUNCT
easat-7370	51	3	kf	kf	PROPN
easat-7370	51	4	is	be	AUX
easat-7370	51	5	now	now	ADV
easat-7370	51	6	used	use	VERB
easat-7370	51	7	in	in	ADP
easat-7370	51	8	various	various	ADJ
easat-7370	51	9	contexts	contexts	NOUN
easat-7370	51	10	,	,	PUNCT
easat-7370	51	11	mainly	mainly	ADV
easat-7370	51	12	autonomous	autonomous	ADJ
easat-7370	51	13	robot	robot	NOUN
easat-7370	51	14	navigation	navigation	NOUN
easat-7370	51	15	.	.	PUNCT
easat-7370	52	1	it	it	PRON
easat-7370	52	2	is	be	AUX
easat-7370	52	3	a	a	DET
easat-7370	52	4	system	system	NOUN
easat-7370	52	5	of	of	ADP
easat-7370	52	6	mathematical	mathematical	ADJ
easat-7370	52	7	formulas	formula	NOUN
easat-7370	52	8	that	that	PRON
easat-7370	52	9	provides	provide	VERB
easat-7370	52	10	a	a	DET
easat-7370	52	11	practical	practical	ADJ
easat-7370	52	12	and	and	CCONJ
easat-7370	52	13	effective	effective	ADJ
easat-7370	52	14	computational	computational	ADJ
easat-7370	52	15	format	format	NOUN
easat-7370	52	16	for	for	ADP
easat-7370	52	17	estimating	estimate	VERB
easat-7370	52	18	a	a	DET
easat-7370	52	19	process	process	NOUN
easat-7370	52	20	's	's	PART
easat-7370	52	21	state	state	NOUN
easat-7370	52	22	to	to	PART
easat-7370	52	23	minimize	minimize	VERB
easat-7370	52	24	the	the	DET
easat-7370	52	25	mean	mean	ADJ
easat-7370	52	26	error	error	NOUN
easat-7370	52	27	[	[	X
easat-7370	52	28	15	15	NUM
easat-7370	52	29	]	]	PUNCT
easat-7370	52	30	.	.	PUNCT
easat-7370	53	1	kf	kf	PROPN
easat-7370	53	2	is	be	AUX
easat-7370	53	3	essential	essential	ADJ
easat-7370	53	4	in	in	ADP
easat-7370	53	5	several	several	ADJ
easat-7370	53	6	aspects	aspect	NOUN
easat-7370	53	7	,	,	PUNCT
easat-7370	53	8	including	include	VERB
easat-7370	53	9	its	its	PRON
easat-7370	53	10	estimated	estimate	VERB
easat-7370	53	11	,	,	PUNCT
easat-7370	53	12	current	current	ADJ
easat-7370	53	13	,	,	PUNCT
easat-7370	53	14	and	and	CCONJ
easat-7370	53	15	prospective	prospective	ADJ
easat-7370	53	16	states	state	NOUN
easat-7370	53	17	.	.	PUNCT
easat-7370	54	1	researchers	researcher	NOUN
easat-7370	54	2	have	have	AUX
easat-7370	54	3	demonstrated	demonstrate	VERB
easat-7370	54	4	several	several	ADJ
easat-7370	54	5	navigation	navigation	NOUN
easat-7370	54	6	-	-	PUNCT
easat-7370	54	7	related	relate	VERB
easat-7370	54	8	kalman	kalman	NOUN
easat-7370	54	9	filter	filter	NOUN
easat-7370	54	10	applications	application	NOUN
easat-7370	54	11	,	,	PUNCT
easat-7370	54	12	including	include	VERB
easat-7370	54	13	integrated	integrate	VERB
easat-7370	54	14	navigation	navigation	NOUN
easat-7370	54	15	systems	system	NOUN
easat-7370	54	16	[	[	X
easat-7370	54	17	16	16	NUM
easat-7370	54	18	]	]	PUNCT
easat-7370	54	19	and	and	CCONJ
easat-7370	54	20	inertial	inertial	ADJ
easat-7370	54	21	navigation	navigation	NOUN
easat-7370	54	22	[	[	X
easat-7370	54	23	17	17	NUM
easat-7370	54	24	]	]	PUNCT
easat-7370	54	25	.	.	PUNCT
easat-7370	55	1	navigation	navigation	NOUN
easat-7370	55	2	focuses	focus	VERB
easat-7370	55	3	on	on	ADP
easat-7370	55	4	tracking	tracking	NOUN
easat-7370	55	5	and	and	CCONJ
easat-7370	55	6	managing	manage	VERB
easat-7370	55	7	a	a	DET
easat-7370	55	8	mobile	mobile	ADJ
easat-7370	55	9	robot	robot	NOUN
easat-7370	55	10	's	's	PART
easat-7370	55	11	movements	movement	NOUN
easat-7370	55	12	[	[	X
easat-7370	55	13	9	9	NUM
easat-7370	55	14	,	,	PUNCT
easat-7370	55	15	18	18	NUM
easat-7370	55	16	]	]	PUNCT
easat-7370	55	17	.	.	PUNCT
easat-7370	56	1	mobile	mobile	NOUN
easat-7370	56	2	robot	robot	NOUN
easat-7370	56	3	navigation	navigation	NOUN
easat-7370	56	4	techniques	technique	NOUN
easat-7370	56	5	can	can	AUX
easat-7370	56	6	increase	increase	VERB
easat-7370	56	7	the	the	DET
easat-7370	56	8	accuracy	accuracy	NOUN
easat-7370	56	9	of	of	ADP
easat-7370	56	10	state	state	NOUN
easat-7370	56	11	estimates	estimate	NOUN
easat-7370	56	12	for	for	ADP
easat-7370	56	13	a	a	DET
easat-7370	56	14	linear	linear	ADJ
easat-7370	56	15	or	or	CCONJ
easat-7370	56	16	non	non	ADJ
easat-7370	56	17	-	-	ADJ
easat-7370	56	18	linear	linear	ADJ
easat-7370	56	19	system	system	NOUN
easat-7370	56	20	.	.	PUNCT
easat-7370	57	1	accurate	accurate	ADJ
easat-7370	57	2	localization	localization	NOUN
easat-7370	57	3	information	information	NOUN
easat-7370	57	4	is	be	AUX
easat-7370	57	5	necessary	necessary	ADJ
easat-7370	57	6	for	for	SCONJ
easat-7370	57	7	autonomous	autonomous	ADJ
easat-7370	57	8	mobile	mobile	ADJ
easat-7370	57	9	robots	robot	NOUN
easat-7370	57	10	to	to	PART
easat-7370	57	11	navigate	navigate	VERB
easat-7370	57	12	in	in	ADP
easat-7370	57	13	any	any	DET
easat-7370	57	14	environment	environment	NOUN
easat-7370	57	15	[	[	X
easat-7370	57	16	15	15	NUM
easat-7370	57	17	,	,	PUNCT
easat-7370	57	18	19	19	NUM
easat-7370	57	19	,	,	PUNCT
easat-7370	57	20	20	20	NUM
easat-7370	57	21	]	]	PUNCT
easat-7370	57	22	.	.	PUNCT
easat-7370	58	1	the	the	DET
easat-7370	58	2	kalman	kalman	PROPN
easat-7370	58	3	filter	filter	PROPN
easat-7370	58	4	(	(	PUNCT
easat-7370	58	5	kf	kf	NOUN
easat-7370	58	6	)	)	PUNCT
easat-7370	58	7	approach	approach	NOUN
easat-7370	58	8	is	be	AUX
easat-7370	58	9	a	a	DET
easat-7370	58	10	robust	robust	ADJ
easat-7370	58	11	mathematical	mathematical	ADJ
easat-7370	58	12	technique	technique	NOUN
easat-7370	58	13	commonly	commonly	ADV
easat-7370	58	14	used	use	VERB
easat-7370	58	15	to	to	PART
easat-7370	58	16	tackle	tackle	VERB
easat-7370	58	17	estimation	estimation	NOUN
easat-7370	58	18	problems	problem	NOUN
easat-7370	58	19	.	.	PUNCT
easat-7370	59	1	re	re	PROPN
easat-7370	59	2	kalman	kalman	PROPN
easat-7370	59	3	devised	devise	VERB
easat-7370	59	4	this	this	DET
easat-7370	59	5	technique	technique	NOUN
easat-7370	59	6	in	in	ADP
easat-7370	59	7	1960	1960	NUM
easat-7370	59	8	.	.	PUNCT
easat-7370	60	1	the	the	DET
easat-7370	60	2	kf	kf	PROPN
easat-7370	60	3	approach	approach	NOUN
easat-7370	60	4	combines	combine	VERB
easat-7370	60	5	a	a	DET
easat-7370	60	6	series	series	NOUN
easat-7370	60	7	of	of	ADP
easat-7370	60	8	equations	equation	NOUN
easat-7370	60	9	that	that	PRON
easat-7370	60	10	provide	provide	VERB
easat-7370	60	11	a	a	DET
easat-7370	60	12	recursive	recursive	ADJ
easat-7370	60	13	solution	solution	NOUN
easat-7370	60	14	to	to	PART
easat-7370	60	15	discrete	discrete	VERB
easat-7370	60	16	difficulties	difficulty	NOUN
easat-7370	60	17	.	.	PUNCT
easat-7370	61	1	the	the	DET
easat-7370	61	2	best	good	ADJ
easat-7370	61	3	example	example	NOUN
easat-7370	61	4	of	of	ADP
easat-7370	61	5	this	this	DET
easat-7370	61	6	approach	approach	NOUN
easat-7370	61	7	's	's	PART
easat-7370	61	8	output	output	NOUN
easat-7370	61	9	is	be	AUX
easat-7370	61	10	the	the	DET
easat-7370	61	11	efficient	efficient	ADJ
easat-7370	61	12	estimation	estimation	NOUN
easat-7370	61	13	of	of	ADP
easat-7370	61	14	past	past	ADJ
easat-7370	61	15	and	and	CCONJ
easat-7370	61	16	future	future	ADJ
easat-7370	61	17	positions	position	NOUN
easat-7370	61	18	;	;	PUNCT
easat-7370	61	19	mobile	mobile	ADJ
easat-7370	61	20	robots	robot	NOUN
easat-7370	61	21	'	'	PART
easat-7370	61	22	positions	position	NOUN
easat-7370	61	23	and	and	CCONJ
easat-7370	61	24	locations	location	NOUN
easat-7370	61	25	(	(	PUNCT
easat-7370	61	26	x	x	X
easat-7370	61	27	,	,	PUNCT
easat-7370	61	28	y	y	PROPN
easat-7370	61	29	,	,	PUNCT
easat-7370	61	30	and	and	CCONJ
easat-7370	61	31	u	u	NOUN
easat-7370	61	32	)	)	PUNCT
easat-7370	61	33	are	be	AUX
easat-7370	61	34	the	the	DET
easat-7370	61	35	best	good	ADJ
easat-7370	61	36	examples	example	NOUN
easat-7370	61	37	.	.	PUNCT
easat-7370	62	1	because	because	SCONJ
easat-7370	62	2	of	of	ADP
easat-7370	62	3	its	its	PRON
easat-7370	62	4	benefits	benefit	NOUN
easat-7370	62	5	of	of	ADP
easat-7370	62	6	being	be	AUX
easat-7370	62	7	more	more	ADV
easat-7370	62	8	practical	practical	ADJ
easat-7370	62	9	and	and	CCONJ
easat-7370	62	10	straightforward	straightforward	ADJ
easat-7370	62	11	,	,	PUNCT
easat-7370	62	12	the	the	DET
easat-7370	62	13	kalman	kalman	PROPN
easat-7370	62	14	filter	filter	PROPN
easat-7370	62	15	(	(	PUNCT
easat-7370	62	16	kf	kf	PROPN
easat-7370	62	17	)	)	PUNCT
easat-7370	62	18	has	have	AUX
easat-7370	62	19	emerged	emerge	VERB
easat-7370	62	20	as	as	ADP
easat-7370	62	21	one	one	NUM
easat-7370	62	22	of	of	ADP
easat-7370	62	23	the	the	DET
easat-7370	62	24	most	most	ADV
easat-7370	62	25	popular	popular	ADJ
easat-7370	62	26	estimation	estimation	NOUN
easat-7370	62	27	approaches	approach	NOUN
easat-7370	62	28	used	use	VERB
easat-7370	62	29	in	in	ADP
easat-7370	62	30	estimating	estimate	VERB
easat-7370	62	31	states	state	NOUN
easat-7370	62	32	[	[	X
easat-7370	62	33	21	21	NUM
easat-7370	62	34	,	,	PUNCT
easat-7370	62	35	22	22	NUM
easat-7370	62	36	]	]	PUNCT
easat-7370	62	37	.	.	PUNCT
easat-7370	63	1	kf	kf	PROPN
easat-7370	63	2	is	be	AUX
easat-7370	63	3	a	a	DET
easat-7370	63	4	type	type	NOUN
easat-7370	63	5	of	of	ADP
easat-7370	63	6	bayes	bayes	PROPN
easat-7370	63	7	filter	filter	NOUN
easat-7370	63	8	that	that	PRON
easat-7370	63	9	uses	use	VERB
easat-7370	63	10	the	the	DET
easat-7370	63	11	gaussians	gaussian	NOUN
easat-7370	63	12	to	to	PART
easat-7370	63	13	represent	represent	VERB
easat-7370	63	14	posteriors	posterior	NOUN
easat-7370	63	15	[	[	X
easat-7370	63	16	23	23	NUM
easat-7370	63	17	]	]	PUNCT
easat-7370	63	18	for	for	ADP
easat-7370	63	19	example	example	NOUN
easat-7370	63	20	,	,	PUNCT
easat-7370	63	21	the	the	DET
easat-7370	63	22	distributions	distribution	NOUN
easat-7370	63	23	of	of	ADP
easat-7370	63	24	unimodal	unimodal	ADJ
easat-7370	63	25	multivariate	multivariate	NOUN
easat-7370	63	26	that	that	PRON
easat-7370	63	27	can	can	AUX
easat-7370	63	28	be	be	AUX
easat-7370	63	29	effectively	effectively	ADV
easat-7370	63	30	represented	represent	VERB
easat-7370	63	31	by	by	ADP
easat-7370	63	32	reduce	reduce	VERB
easat-7370	63	33	some	some	DET
easat-7370	63	34	parameters	parameter	NOUN
easat-7370	63	35	that	that	PRON
easat-7370	63	36	used	use	VERB
easat-7370	63	37	in	in	ADP
easat-7370	63	38	the	the	DET
easat-7370	63	39	process	process	NOUN
easat-7370	63	40	.	.	PUNCT
easat-7370	64	1	the	the	DET
easat-7370	64	2	two	two	NUM
easat-7370	64	3	nonlinear	nonlinear	ADJ
easat-7370	64	4	techniques	technique	NOUN
easat-7370	64	5	that	that	PRON
easat-7370	64	6	are	be	AUX
easat-7370	64	7	most	most	ADV
easat-7370	64	8	frequently	frequently	ADV
easat-7370	64	9	employed	employ	VERB
easat-7370	64	10	in	in	ADP
easat-7370	64	11	practical	practical	ADJ
easat-7370	64	12	engineering	engineering	NOUN
easat-7370	64	13	are	be	AUX
easat-7370	64	14	the	the	DET
easat-7370	64	15	unscented	unscente	VERB
easat-7370	64	16	kalman	kalman	NOUN
easat-7370	64	17	filter	filter	PROPN
easat-7370	64	18	(	(	PUNCT
easat-7370	64	19	ukf	ukf	NOUN
easat-7370	64	20	)	)	PUNCT
easat-7370	64	21	and	and	CCONJ
easat-7370	64	22	the	the	DET
easat-7370	64	23	extended	extended	ADJ
easat-7370	64	24	kalman	kalman	NOUN
easat-7370	64	25	filter(ekf	filter(ekf	PROPN
easat-7370	64	26	)	)	PUNCT
easat-7370	65	1	[	[	X
easat-7370	65	2	24	24	NUM
easat-7370	65	3	-	-	SYM
easat-7370	65	4	26	26	NUM
easat-7370	65	5	]	]	PUNCT
easat-7370	65	6	.	.	PUNCT
easat-7370	66	1	the	the	DET
easat-7370	66	2	extended	extended	ADJ
easat-7370	66	3	kalman	kalman	NOUN
easat-7370	66	4	filter	filter	PROPN
easat-7370	66	5	(	(	PUNCT
easat-7370	66	6	ekf	ekf	PROPN
easat-7370	66	7	)	)	PUNCT
easat-7370	66	8	considers	consider	VERB
easat-7370	66	9	the	the	DET
easat-7370	66	10	most	most	ADV
easat-7370	66	11	popular	popular	ADJ
easat-7370	66	12	used	use	VERB
easat-7370	66	13	and	and	CCONJ
easat-7370	66	14	the	the	DET
easat-7370	66	15	most	most	ADV
easat-7370	66	16	well	well	ADV
easat-7370	66	17	-	-	PUNCT
easat-7370	66	18	known	know	VERB
easat-7370	66	19	.	.	PUNCT
easat-7370	67	1	it	it	PRON
easat-7370	67	2	is	be	AUX
easat-7370	67	3	frequently	frequently	ADV
easat-7370	67	4	utilized	utilize	VERB
easat-7370	67	5	the	the	DET
easat-7370	67	6	algorithm	algorithm	NOUN
easat-7370	67	7	that	that	PRON
easat-7370	67	8	applies	apply	VERB
easat-7370	67	9	the	the	DET
easat-7370	67	10	first	first	ADJ
easat-7370	67	11	-	-	PUNCT
easat-7370	67	12	order	order	NOUN
easat-7370	67	13	taylor	taylor	PROPN
easat-7370	67	14	series	series	PROPN
easat-7370	67	15	approximation	approximation	NOUN
easat-7370	67	16	to	to	ADP
easat-7370	67	17	the	the	DET
easat-7370	67	18	conventional	conventional	ADJ
easat-7370	67	19	linear	linear	PROPN
easat-7370	67	20	recursive	recursive	ADJ
easat-7370	67	21	kalman	kalman	NOUN
easat-7370	67	22	filter	filter	NOUN
easat-7370	67	23	algorithm	algorithm	NOUN
easat-7370	67	24	[	[	X
easat-7370	67	25	9	9	NUM
easat-7370	67	26	]	]	PUNCT
easat-7370	67	27	.	.	PUNCT
easat-7370	68	1	several	several	ADJ
easat-7370	68	2	algorithms	algorithm	NOUN
easat-7370	68	3	are	be	AUX
easat-7370	68	4	being	be	AUX
easat-7370	68	5	developed	develop	VERB
easat-7370	68	6	for	for	ADP
easat-7370	68	7	coordinate	coordinate	NOUN
easat-7370	68	8	position	position	NOUN
easat-7370	68	9	estimation	estimation	NOUN
easat-7370	68	10	using	use	VERB
easat-7370	68	11	the	the	DET
easat-7370	68	12	extended	extended	ADJ
easat-7370	68	13	kalman	kalman	NOUN
easat-7370	68	14	filter	filter	PROPN
easat-7370	68	15	(	(	PUNCT
easat-7370	68	16	ekf	ekf	PROPN
easat-7370	68	17	)	)	PUNCT
easat-7370	69	1	[	[	X
easat-7370	69	2	27	27	NUM
easat-7370	69	3	]	]	PUNCT
easat-7370	69	4	.	.	PUNCT
easat-7370	70	1	the	the	DET
easat-7370	70	2	ekf	ekf	NOUN
easat-7370	70	3	uses	use	VERB
easat-7370	70	4	the	the	DET
easat-7370	70	5	taylor	taylor	PROPN
easat-7370	70	6	expansion	expansion	NOUN
easat-7370	70	7	up	up	ADP
easat-7370	70	8	to	to	ADP
easat-7370	70	9	the	the	DET
easat-7370	70	10	first	first	ADJ
easat-7370	70	11	order	order	NOUN
easat-7370	70	12	to	to	PART
easat-7370	70	13	repress	repress	VERB
easat-7370	70	14	the	the	DET
easat-7370	70	15	higher	high	ADJ
easat-7370	70	16	orders	order	NOUN
easat-7370	70	17	and	and	CCONJ
easat-7370	70	18	only	only	ADJ
easat-7370	70	19	deals	deal	NOUN
easat-7370	70	20	with	with	ADP
easat-7370	70	21	the	the	DET
easat-7370	70	22	linearized	linearize	VERB
easat-7370	70	23	errors	error	NOUN
easat-7370	70	24	[	[	X
easat-7370	70	25	28	28	NUM
easat-7370	70	26	,	,	PUNCT
easat-7370	70	27	29	29	NUM
easat-7370	70	28	]	]	PUNCT
easat-7370	70	29	.	.	PUNCT
easat-7370	71	1	3	3	X
easat-7370	71	2	.	.	NUM
easat-7370	71	3	extended	extend	VERB
easat-7370	71	4	kalman	kalman	NOUN
easat-7370	71	5	filter	filter	PROPN
easat-7370	71	6	(	(	PUNCT
easat-7370	71	7	ekf	ekf	PROPN
easat-7370	71	8	)	)	PUNCT
easat-7370	71	9	ekf	ekf	NOUN
easat-7370	71	10	is	be	AUX
easat-7370	71	11	considered	consider	VERB
easat-7370	71	12	the	the	DET
easat-7370	71	13	widely	widely	ADV
easat-7370	71	14	used	use	VERB
easat-7370	71	15	approach	approach	NOUN
easat-7370	71	16	for	for	ADP
easat-7370	71	17	estimating	estimate	VERB
easat-7370	71	18	in	in	ADP
easat-7370	71	19	various	various	ADJ
easat-7370	71	20	applications	application	NOUN
easat-7370	71	21	.	.	PUNCT
easat-7370	72	1	it	it	PRON
easat-7370	72	2	is	be	AUX
easat-7370	72	3	an	an	DET
easat-7370	72	4	improved	improved	ADJ
easat-7370	72	5	variant	variant	NOUN
easat-7370	72	6	of	of	ADP
easat-7370	72	7	kf	kf	PROPN
easat-7370	72	8	.	.	PUNCT
easat-7370	73	1	the	the	DET
easat-7370	73	2	kalman	kalman	PROPN
easat-7370	73	3	filter	filter	PROPN
easat-7370	73	4	(	(	PUNCT
easat-7370	73	5	kf	kf	PROPN
easat-7370	73	6	)	)	PUNCT
easat-7370	73	7	is	be	AUX
easat-7370	73	8	the	the	DET
easat-7370	73	9	ideal	ideal	ADJ
easat-7370	73	10	and	and	CCONJ
easat-7370	73	11	best	good	ADJ
easat-7370	73	12	choice	choice	NOUN
easat-7370	73	13	when	when	SCONJ
easat-7370	73	14	the	the	DET
easat-7370	73	15	system	system	NOUN
easat-7370	73	16	under	under	ADP
easat-7370	73	17	consideration	consideration	NOUN
easat-7370	73	18	is	be	AUX
easat-7370	73	19	linear	linear	ADJ
easat-7370	73	20	and	and	CCONJ
easat-7370	73	21	gaussian	gaussian	ADJ
easat-7370	73	22	random	random	ADJ
easat-7370	73	23	variables	variable	NOUN
easat-7370	73	24	represent	represent	VERB
easat-7370	73	25	the	the	DET
easat-7370	73	26	uncertainties	uncertainty	NOUN
easat-7370	73	27	[	[	X
easat-7370	73	28	30	30	NUM
easat-7370	73	29	]	]	PUNCT
easat-7370	73	30	.	.	PUNCT
easat-7370	74	1	as	as	ADP
easat-7370	74	2	a	a	DET
easat-7370	74	3	linearized	linearize	VERB
easat-7370	74	4	system	system	NOUN
easat-7370	74	5	,	,	PUNCT
easat-7370	74	6	the	the	DET
easat-7370	74	7	ekf	ekf	NOUN
easat-7370	74	8	used	use	VERB
easat-7370	74	9	to	to	PART
easat-7370	74	10	deny	deny	VERB
easat-7370	74	11	the	the	DET
easat-7370	74	12	nonlinear	nonlinear	ADJ
easat-7370	74	13	terms	term	NOUN
easat-7370	74	14	of	of	ADP
easat-7370	74	15	its	its	PRON
easat-7370	74	16	related	related	ADJ
easat-7370	74	17	noise	noise	NOUN
easat-7370	74	18	[	[	X
easat-7370	74	19	31	31	NUM
easat-7370	74	20	,	,	PUNCT
easat-7370	74	21	32	32	NUM
easat-7370	74	22	]	]	PUNCT
easat-7370	74	23	.	.	PUNCT
easat-7370	75	1	2019	2019	NUM
easat-7370	75	2	edelweiss	edelweiss	PROPN
easat-7370	75	3	applied	apply	VERB
easat-7370	75	4	science	science	NOUN
easat-7370	75	5	and	and	CCONJ
easat-7370	75	6	technology	technology	NOUN
easat-7370	75	7	issn	issn	PROPN
easat-7370	75	8	:	:	PUNCT
easat-7370	75	9	2576	2576	NUM
easat-7370	75	10	-	-	SYM
easat-7370	75	11	8484	8484	NUM
easat-7370	75	12	vol	vol	NOUN
easat-7370	75	13	.	.	PROPN
easat-7370	76	1	9	9	NUM
easat-7370	76	2	,	,	PUNCT
easat-7370	76	3	no	no	INTJ
easat-7370	76	4	.	.	NOUN
easat-7370	76	5	5	5	NUM
easat-7370	76	6	:	:	SYM
easat-7370	76	7	2017	2017	NUM
easat-7370	76	8	-	-	SYM
easat-7370	76	9	2026	2026	NUM
easat-7370	76	10	,	,	PUNCT
easat-7370	76	11	2025	2025	NUM
easat-7370	76	12	doi	doi	NOUN
easat-7370	76	13	:	:	PUNCT
easat-7370	76	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	76	15	©	©	PROPN
easat-7370	76	16	2025	2025	NUM
easat-7370	76	17	by	by	ADP
easat-7370	76	18	the	the	DET
easat-7370	76	19	authors	author	NOUN
easat-7370	76	20	;	;	PUNCT
easat-7370	76	21	licensee	licensee	PROPN
easat-7370	76	22	learning	learning	NOUN
easat-7370	76	23	gate	gate	VERB
easat-7370	76	24	the	the	DET
easat-7370	76	25	extended	extended	ADJ
easat-7370	76	26	kalman	kalman	NOUN
easat-7370	76	27	filter	filter	PROPN
easat-7370	76	28	(	(	PUNCT
easat-7370	76	29	ekf	ekf	PROPN
easat-7370	76	30	)	)	PUNCT
easat-7370	76	31	is	be	AUX
easat-7370	76	32	a	a	DET
easat-7370	76	33	powerful	powerful	ADJ
easat-7370	76	34	navigation	navigation	NOUN
easat-7370	76	35	filter	filter	NOUN
easat-7370	76	36	that	that	PRON
easat-7370	76	37	is	be	AUX
easat-7370	76	38	adept	adept	ADJ
easat-7370	76	39	to	to	PART
easat-7370	76	40	handle	handle	VERB
easat-7370	76	41	linearized	linearize	VERB
easat-7370	76	42	errors	error	NOUN
easat-7370	76	43	and	and	CCONJ
easat-7370	76	44	restrain	restrain	VERB
easat-7370	76	45	higher	high	ADJ
easat-7370	76	46	orders	order	NOUN
easat-7370	76	47	.	.	PUNCT
easat-7370	77	1	ekf	ekf	PROPN
easat-7370	77	2	should	should	AUX
easat-7370	77	3	be	be	AUX
easat-7370	77	4	used	use	VERB
easat-7370	77	5	in	in	ADP
easat-7370	77	6	nonlinear	nonlinear	ADJ
easat-7370	77	7	systems	system	NOUN
easat-7370	77	8	due	due	ADP
easat-7370	77	9	to	to	ADP
easat-7370	77	10	its	its	PRON
easat-7370	77	11	dependence	dependence	NOUN
easat-7370	77	12	on	on	ADP
easat-7370	77	13	the	the	DET
easat-7370	77	14	first	first	ADJ
easat-7370	77	15	-	-	PUNCT
easat-7370	77	16	order	order	NOUN
easat-7370	77	17	taylor	taylor	NOUN
easat-7370	77	18	expansion	expansion	NOUN
easat-7370	77	19	.	.	PUNCT
easat-7370	78	1	in	in	ADP
easat-7370	78	2	dynamical	dynamical	ADJ
easat-7370	78	3	systems	system	NOUN
easat-7370	78	4	,	,	PUNCT
easat-7370	78	5	the	the	DET
easat-7370	78	6	extended	extended	ADJ
easat-7370	78	7	kalman	kalman	NOUN
easat-7370	78	8	filter	filter	PROPN
easat-7370	78	9	(	(	PUNCT
easat-7370	78	10	ekf	ekf	PROPN
easat-7370	78	11	)	)	PUNCT
easat-7370	78	12	is	be	AUX
easat-7370	78	13	an	an	DET
easat-7370	78	14	estimating	estimate	VERB
easat-7370	78	15	approach	approach	NOUN
easat-7370	78	16	widely	widely	ADV
easat-7370	78	17	utilized	utilize	VERB
easat-7370	78	18	in	in	ADP
easat-7370	78	19	many	many	ADJ
easat-7370	78	20	domains	domain	NOUN
easat-7370	78	21	involving	involve	VERB
easat-7370	78	22	the	the	DET
easat-7370	78	23	state	state	NOUN
easat-7370	78	24	estimation	estimation	NOUN
easat-7370	78	25	using	use	VERB
easat-7370	78	26	physical	physical	ADJ
easat-7370	78	27	sensor	sensor	NOUN
easat-7370	78	28	readings	reading	NOUN
easat-7370	78	29	[	[	X
easat-7370	78	30	24	24	NUM
easat-7370	78	31	,	,	PUNCT
easat-7370	78	32	26	26	NUM
easat-7370	78	33	,	,	PUNCT
easat-7370	78	34	33	33	NUM
easat-7370	78	35	]	]	PUNCT
easat-7370	78	36	.	.	PUNCT
easat-7370	79	1	the	the	DET
easat-7370	79	2	ekf	ekf	NOUN
easat-7370	79	3	is	be	AUX
easat-7370	79	4	most	most	ADV
easat-7370	79	5	effective	effective	ADJ
easat-7370	79	6	state	state	NOUN
easat-7370	79	7	estimation	estimation	NOUN
easat-7370	79	8	approaches	approach	NOUN
easat-7370	79	9	,	,	PUNCT
easat-7370	79	10	it	it	PRON
easat-7370	79	11	is	be	AUX
easat-7370	79	12	frequently	frequently	ADV
easat-7370	79	13	used	use	VERB
easat-7370	79	14	to	to	PART
easat-7370	79	15	estimate	estimate	VERB
easat-7370	79	16	the	the	DET
easat-7370	79	17	system	system	NOUN
easat-7370	79	18	state	state	NOUN
easat-7370	79	19	variables	variable	NOUN
easat-7370	79	20	and	and	CCONJ
easat-7370	79	21	measurement	measurement	NOUN
easat-7370	79	22	noise	noise	NOUN
easat-7370	79	23	when	when	SCONJ
easat-7370	79	24	some	some	DET
easat-7370	79	25	state	state	NOUN
easat-7370	79	26	information	information	NOUN
easat-7370	79	27	is	be	AUX
easat-7370	79	28	available	available	ADJ
easat-7370	79	29	[	[	X
easat-7370	79	30	34	34	NUM
easat-7370	79	31	]	]	PUNCT
easat-7370	79	32	.	.	PUNCT
easat-7370	80	1	since	since	SCONJ
easat-7370	80	2	the	the	DET
easat-7370	80	3	kalman	kalman	PROPN
easat-7370	80	4	filter	filter	NOUN
easat-7370	80	5	can	can	AUX
easat-7370	80	6	minimize	minimize	VERB
easat-7370	80	7	the	the	DET
easat-7370	80	8	estimated	estimate	VERB
easat-7370	80	9	mean	mean	ADJ
easat-7370	80	10	square	square	ADJ
easat-7370	80	11	error	error	NOUN
easat-7370	80	12	variance	variance	NOUN
easat-7370	80	13	,	,	PUNCT
easat-7370	80	14	it	it	PRON
easat-7370	80	15	is	be	AUX
easat-7370	80	16	a	a	DET
easat-7370	80	17	popular	popular	ADJ
easat-7370	80	18	choice	choice	NOUN
easat-7370	80	19	for	for	ADP
easat-7370	80	20	solving	solve	VERB
easat-7370	80	21	nonlinear	nonlinear	ADJ
easat-7370	80	22	systems	system	NOUN
easat-7370	80	23	'	'	PART
easat-7370	80	24	state	state	NOUN
easat-7370	80	25	variable	variable	ADJ
easat-7370	80	26	estimation	estimation	NOUN
easat-7370	80	27	problems	problem	NOUN
easat-7370	80	28	.	.	PUNCT
easat-7370	81	1	several	several	ADJ
easat-7370	81	2	engineering	engineering	NOUN
easat-7370	81	3	fields	field	NOUN
easat-7370	81	4	,	,	PUNCT
easat-7370	81	5	including	include	VERB
easat-7370	81	6	aerospace	aerospace	NOUN
easat-7370	81	7	,	,	PUNCT
easat-7370	81	8	marine	marine	PROPN
easat-7370	81	9	navigation	navigation	NOUN
easat-7370	81	10	,	,	PUNCT
easat-7370	81	11	control	control	NOUN
easat-7370	81	12	systems	system	NOUN
easat-7370	81	13	,	,	PUNCT
easat-7370	81	14	manufacturing	manufacturing	NOUN
easat-7370	81	15	,	,	PUNCT
easat-7370	81	16	and	and	CCONJ
easat-7370	81	17	many	many	ADJ
easat-7370	81	18	more	more	ADJ
easat-7370	81	19	,	,	PUNCT
easat-7370	81	20	have	have	AUX
easat-7370	81	21	effectively	effectively	ADV
easat-7370	81	22	used	use	VERB
easat-7370	81	23	linearized	linearize	VERB
easat-7370	81	24	ekf	ekf	NOUN
easat-7370	82	1	[	[	X
easat-7370	82	2	35	35	NUM
easat-7370	82	3	]	]	PUNCT
easat-7370	82	4	.	.	PUNCT
easat-7370	83	1	the	the	DET
easat-7370	83	2	kf	kf	PROPN
easat-7370	83	3	is	be	AUX
easat-7370	83	4	useful	useful	ADJ
easat-7370	83	5	for	for	ADP
easat-7370	83	6	engineering	engineering	NOUN
easat-7370	83	7	applications	application	NOUN
easat-7370	83	8	and	and	CCONJ
easat-7370	83	9	also	also	ADV
easat-7370	83	10	for	for	ADP
easat-7370	83	11	time	time	NOUN
easat-7370	83	12	series	series	PROPN
easat-7370	83	13	analysis	analysis	NOUN
easat-7370	83	14	.	.	PUNCT
easat-7370	84	1	in	in	ADP
easat-7370	84	2	order	order	NOUN
easat-7370	84	3	to	to	PART
easat-7370	84	4	improve	improve	VERB
easat-7370	84	5	localization	localization	NOUN
easat-7370	84	6	,	,	PUNCT
easat-7370	84	7	two	two	NUM
easat-7370	84	8	distinct	distinct	ADJ
easat-7370	84	9	distributed	distribute	VERB
easat-7370	84	10	and	and	CCONJ
easat-7370	84	11	centralized	centralized	ADJ
easat-7370	84	12	architectures	architecture	NOUN
easat-7370	84	13	based	base	VERB
easat-7370	84	14	on	on	ADP
easat-7370	84	15	the	the	DET
easat-7370	84	16	extended	extended	ADJ
easat-7370	84	17	kalman	kalman	NOUN
easat-7370	84	18	filter	filter	PROPN
easat-7370	84	19	(	(	PUNCT
easat-7370	84	20	ekf	ekf	PROPN
easat-7370	84	21	)	)	PUNCT
easat-7370	84	22	data	datum	NOUN
easat-7370	84	23	fusion	fusion	NOUN
easat-7370	84	24	method	method	NOUN
easat-7370	84	25	using	use	VERB
easat-7370	84	26	integrating	integrate	VERB
easat-7370	84	27	multi	multi	ADJ
easat-7370	84	28	-	-	ADJ
easat-7370	84	29	sensor	sensor	ADJ
easat-7370	84	30	data	datum	NOUN
easat-7370	84	31	[	[	X
easat-7370	84	32	35	35	NUM
easat-7370	84	33	-	-	SYM
easat-7370	84	34	37	37	NUM
easat-7370	84	35	]	]	PUNCT
easat-7370	84	36	.	.	PUNCT
easat-7370	85	1	the	the	DET
easat-7370	85	2	two	two	NUM
easat-7370	85	3	main	main	ADJ
easat-7370	85	4	approaches	approach	NOUN
easat-7370	85	5	to	to	ADP
easat-7370	85	6	implementing	implement	VERB
easat-7370	85	7	the	the	DET
easat-7370	85	8	ekf	ekf	NOUN
easat-7370	85	9	are	be	AUX
easat-7370	85	10	the	the	DET
easat-7370	85	11	error	error	NOUN
easat-7370	85	12	state	state	NOUN
easat-7370	85	13	space	space	NOUN
easat-7370	85	14	formulation	formulation	NOUN
easat-7370	85	15	(	(	PUNCT
easat-7370	85	16	indirect	indirect	ADJ
easat-7370	85	17	formulation	formulation	NOUN
easat-7370	85	18	)	)	PUNCT
easat-7370	85	19	and	and	CCONJ
easat-7370	85	20	the	the	DET
easat-7370	85	21	total	total	ADJ
easat-7370	85	22	state	state	NOUN
easat-7370	85	23	space	space	NOUN
easat-7370	85	24	formulation	formulation	NOUN
easat-7370	85	25	(	(	PUNCT
easat-7370	85	26	direct	direct	ADJ
easat-7370	85	27	formulation	formulation	NOUN
easat-7370	85	28	)	)	PUNCT
easat-7370	85	29	.	.	PUNCT
easat-7370	86	1	conversely	conversely	ADV
easat-7370	86	2	,	,	PUNCT
easat-7370	86	3	error	error	NOUN
easat-7370	86	4	state	state	NOUN
easat-7370	86	5	space	space	NOUN
easat-7370	86	6	measurement	measurement	NOUN
easat-7370	86	7	formulation	formulation	NOUN
easat-7370	86	8	is	be	AUX
easat-7370	86	9	nearly	nearly	ADV
easat-7370	86	10	independent	independent	ADJ
easat-7370	86	11	of	of	ADP
easat-7370	86	12	vehicle	vehicle	NOUN
easat-7370	86	13	motions	motion	NOUN
easat-7370	86	14	and	and	CCONJ
easat-7370	86	15	consists	consist	VERB
easat-7370	86	16	solely	solely	ADV
easat-7370	86	17	of	of	ADP
easat-7370	86	18	system	system	NOUN
easat-7370	86	19	error	error	NOUN
easat-7370	86	20	.	.	PUNCT
easat-7370	87	1	figure	figure	NOUN
easat-7370	87	2	1	1	NUM
easat-7370	87	3	.	.	NUM
easat-7370	87	4	extended	extend	VERB
easat-7370	87	5	kalman	kalman	NOUN
easat-7370	87	6	filter	filter	NOUN
easat-7370	87	7	computation	computation	NOUN
easat-7370	87	8	.	.	PUNCT
easat-7370	88	1	4	4	X
easat-7370	88	2	.	.	NUM
easat-7370	88	3	extended	extend	VERB
easat-7370	88	4	kalman	kalman	NOUN
easat-7370	88	5	filter	filter	NOUN
easat-7370	88	6	configuration	configuration	NOUN
easat-7370	88	7	when	when	SCONJ
easat-7370	88	8	dealing	deal	VERB
easat-7370	88	9	with	with	ADP
easat-7370	88	10	sequential	sequential	ADJ
easat-7370	88	11	localization	localization	NOUN
easat-7370	88	12	issues	issue	NOUN
easat-7370	88	13	in	in	ADP
easat-7370	88	14	mobile	mobile	ADJ
easat-7370	88	15	robots	robot	NOUN
easat-7370	88	16	,	,	PUNCT
easat-7370	88	17	the	the	DET
easat-7370	88	18	extended	extended	ADJ
easat-7370	88	19	kalman	kalman	NOUN
easat-7370	88	20	filter	filter	NOUN
easat-7370	88	21	has	have	AUX
easat-7370	88	22	shown	show	VERB
easat-7370	88	23	to	to	PART
easat-7370	88	24	be	be	AUX
easat-7370	88	25	a	a	DET
easat-7370	88	26	popular	popular	ADJ
easat-7370	88	27	and	and	CCONJ
easat-7370	88	28	standard	standard	ADJ
easat-7370	88	29	solution	solution	NOUN
easat-7370	88	30	[	[	X
easat-7370	88	31	38	38	NUM
easat-7370	88	32	]	]	PUNCT
easat-7370	88	33	.	.	PUNCT
easat-7370	89	1	it	it	PRON
easat-7370	89	2	solves	solve	VERB
easat-7370	89	3	the	the	DET
easat-7370	89	4	estimate	estimate	NOUN
easat-7370	89	5	problem	problem	NOUN
easat-7370	89	6	for	for	ADP
easat-7370	89	7	a	a	DET
easat-7370	89	8	nonlinear	nonlinear	ADJ
easat-7370	89	9	model	model	NOUN
easat-7370	89	10	[	[	X
easat-7370	89	11	39	39	NUM
easat-7370	89	12	]	]	PUNCT
easat-7370	89	13	.	.	PUNCT
easat-7370	90	1	the	the	DET
easat-7370	90	2	primary	primary	ADJ
easat-7370	90	3	principle	principle	NOUN
easat-7370	90	4	behind	behind	ADP
easat-7370	90	5	the	the	DET
easat-7370	90	6	extended	extended	ADJ
easat-7370	90	7	kalman	kalman	NOUN
easat-7370	90	8	filter	filter	PROPN
easat-7370	90	9	(	(	PUNCT
easat-7370	90	10	ekf	ekf	PROPN
easat-7370	90	11	)	)	PUNCT
easat-7370	90	12	configuration	configuration	NOUN
easat-7370	90	13	for	for	ADP
easat-7370	90	14	error	error	NOUN
easat-7370	90	15	state	state	NOUN
easat-7370	90	16	estimation	estimation	NOUN
easat-7370	90	17	is	be	AUX
easat-7370	90	18	to	to	PART
easat-7370	90	19	re	re	VERB
easat-7370	90	20	-	-	VERB
easat-7370	90	21	linearize	linearize	VERB
easat-7370	90	22	each	each	DET
easat-7370	90	23	estimate	estimate	NOUN
easat-7370	90	24	as	as	ADV
easat-7370	90	25	soon	soon	ADV
easat-7370	90	26	as	as	SCONJ
easat-7370	90	27	it	it	PRON
easat-7370	90	28	is	be	AUX
easat-7370	90	29	obtained	obtain	VERB
easat-7370	90	30	.	.	PUNCT
easat-7370	91	1	a	a	DET
easat-7370	91	2	best	good	ADJ
easat-7370	91	3	reference	reference	NOUN
easat-7370	91	4	state	state	NOUN
easat-7370	91	5	of	of	ADP
easat-7370	91	6	the	the	DET
easat-7370	91	7	trajectory	trajectory	NOUN
easat-7370	91	8	is	be	AUX
easat-7370	91	9	included	include	VERB
easat-7370	91	10	in	in	ADP
easat-7370	91	11	the	the	DET
easat-7370	91	12	estimation	estimation	NOUN
easat-7370	91	13	process	process	NOUN
easat-7370	91	14	when	when	SCONJ
easat-7370	91	15	it	it	PRON
easat-7370	91	16	is	be	AUX
easat-7370	91	17	a	a	DET
easat-7370	91	18	new	new	ADJ
easat-7370	91	19	state	state	NOUN
easat-7370	91	20	estimate	estimate	NOUN
easat-7370	91	21	is	be	AUX
easat-7370	91	22	created	create	VERB
easat-7370	91	23	.	.	PUNCT
easat-7370	92	1	the	the	DET
easat-7370	92	2	change	change	NOUN
easat-7370	92	3	of	of	ADP
easat-7370	92	4	the	the	DET
easat-7370	92	5	nominal	nominal	ADJ
easat-7370	92	6	path	path	NOUN
easat-7370	92	7	to	to	ADP
easat-7370	92	8	the	the	DET
easat-7370	92	9	estimated	estimate	VERB
easat-7370	92	10	path	path	NOUN
easat-7370	92	11	is	be	AUX
easat-7370	92	12	an	an	DET
easat-7370	92	13	easy	easy	ADJ
easat-7370	92	14	and	and	CCONJ
easat-7370	92	15	efficient	efficient	ADJ
easat-7370	92	16	way	way	NOUN
easat-7370	92	17	to	to	PART
easat-7370	92	18	solve	solve	VERB
easat-7370	92	19	the	the	DET
easat-7370	92	20	deviation	deviation	NOUN
easat-7370	92	21	problem	problem	NOUN
easat-7370	92	22	.	.	PUNCT
easat-7370	93	1	the	the	DET
easat-7370	93	2	extended	extended	ADJ
easat-7370	93	3	kalman	kalman	NOUN
easat-7370	93	4	filter	filter	NOUN
easat-7370	93	5	has	have	VERB
easat-7370	93	6	some	some	DET
easat-7370	93	7	similarity	similarity	NOUN
easat-7370	93	8	to	to	ADP
easat-7370	93	9	the	the	DET
easat-7370	93	10	linearized	linearize	VERB
easat-7370	93	11	kalman	kalman	NOUN
easat-7370	93	12	filter	filter	NOUN
easat-7370	93	13	,	,	PUNCT
easat-7370	93	14	except	except	SCONJ
easat-7370	93	15	that	that	SCONJ
easat-7370	93	16	the	the	DET
easat-7370	93	17	linearization	linearization	NOUN
easat-7370	93	18	occurs	occur	VERB
easat-7370	93	19	around	around	ADP
easat-7370	93	20	the	the	DET
easat-7370	93	21	filter	filter	NOUN
easat-7370	93	22	's	's	PART
easat-7370	93	23	estimated	estimate	VERB
easat-7370	93	24	trajectory	trajectory	NOUN
easat-7370	93	25	rather	rather	ADV
easat-7370	93	26	than	than	ADP
easat-7370	93	27	a	a	DET
easat-7370	93	28	precomputed	precompute	VERB
easat-7370	93	29	nominal	nominal	ADJ
easat-7370	93	30	trajectory	trajectory	NOUN
easat-7370	93	31	.	.	PUNCT
easat-7370	94	1	the	the	DET
easat-7370	94	2	extended	extended	ADJ
easat-7370	94	3	kalman	kalman	NOUN
easat-7370	94	4	filter	filter	NOUN
easat-7370	94	5	is	be	AUX
easat-7370	94	6	comparable	comparable	ADJ
easat-7370	94	7	to	to	ADP
easat-7370	94	8	a	a	DET
easat-7370	94	9	linearized	linearize	VERB
easat-7370	94	10	kalman	kalman	NOUN
easat-7370	94	11	filter	filter	NOUN
easat-7370	94	12	.	.	PUNCT
easat-7370	95	1	the	the	DET
easat-7370	95	2	only	only	ADJ
easat-7370	95	3	adjustment	adjustment	NOUN
easat-7370	95	4	needed	need	VERB
easat-7370	95	5	is	be	AUX
easat-7370	95	6	substituting	substitute	VERB
easat-7370	95	7	x^k	x^k	NOUN
easat-7370	95	8	for	for	ADP
easat-7370	95	9	x	x	PROPN
easat-7370	95	10	nom	nom	PROPN
easat-7370	95	11	k	k	PROPN
easat-7370	95	12	when	when	SCONJ
easat-7370	95	13	evaluating	evaluate	VERB
easat-7370	95	14	partial	partial	ADJ
easat-7370	95	15	derivatives	derivative	NOUN
easat-7370	95	16	.	.	PUNCT
easat-7370	96	1	in	in	ADP
easat-7370	96	2	other	other	ADJ
easat-7370	96	3	words	word	NOUN
easat-7370	96	4	,	,	PUNCT
easat-7370	96	5	since	since	SCONJ
easat-7370	96	6	the	the	DET
easat-7370	96	7	filter	filter	NOUN
easat-7370	96	8	's	's	PART
easat-7370	96	9	estimates	estimate	NOUN
easat-7370	96	10	are	be	AUX
easat-7370	96	11	based	base	VERB
easat-7370	96	12	on	on	ADP
easat-7370	96	13	measurements	measurement	NOUN
easat-7370	96	14	,	,	PUNCT
easat-7370	96	15	the	the	DET
easat-7370	96	16	partial	partial	ADJ
easat-7370	96	17	derivatives	derivative	NOUN
easat-7370	96	18	are	be	AUX
easat-7370	96	19	assessed	assess	VERB
easat-7370	96	20	along	along	ADP
easat-7370	96	21	an	an	DET
easat-7370	96	22	updated	update	VERB
easat-7370	96	23	trajectory	trajectory	NOUN
easat-7370	96	24	.	.	PUNCT
easat-7370	97	1	as	as	ADP
easat-7370	97	2	a	a	DET
easat-7370	97	3	result	result	NOUN
easat-7370	97	4	,	,	PUNCT
easat-7370	97	5	the	the	DET
easat-7370	97	6	filter	filter	NOUN
easat-7370	97	7	gain	gain	NOUN
easat-7370	97	8	sequence	sequence	NOUN
easat-7370	97	9	depends	depend	VERB
easat-7370	97	10	on	on	ADP
easat-7370	97	11	the	the	DET
easat-7370	97	12	sample	sample	NOUN
easat-7370	97	13	measurement	measurement	NOUN
easat-7370	97	14	sequence	sequence	NOUN
easat-7370	97	15	.	.	PUNCT
easat-7370	98	1	the	the	DET
easat-7370	98	2	linearization	linearization	NOUN
easat-7370	98	3	assumption	assumption	NOUN
easat-7370	98	4	is	be	AUX
easat-7370	98	5	valid	valid	ADJ
easat-7370	98	6	if	if	SCONJ
easat-7370	98	7	the	the	DET
easat-7370	98	8	problem	problem	NOUN
easat-7370	98	9	is	be	AUX
easat-7370	98	10	sufficiently	sufficiently	ADV
easat-7370	98	11	observable	observable	ADJ
easat-7370	98	12	,	,	PUNCT
easat-7370	98	13	as	as	SCONJ
easat-7370	98	14	shown	show	VERB
easat-7370	98	15	by	by	ADP
easat-7370	98	16	the	the	DET
easat-7370	98	17	covariance	covariance	NOUN
easat-7370	98	18	of	of	ADP
easat-7370	98	19	the	the	DET
easat-7370	98	20	estimation	estimation	NOUN
easat-7370	98	21	uncertainty	uncertainty	NOUN
easat-7370	98	22	.	.	PUNCT
easat-7370	99	1	this	this	PRON
easat-7370	99	2	is	be	AUX
easat-7370	99	3	because	because	SCONJ
easat-7370	99	4	the	the	DET
easat-7370	99	5	differences	difference	NOUN
easat-7370	99	6	between	between	ADP
easat-7370	99	7	both	both	DET
easat-7370	99	8	estimated	estimate	VERB
easat-7370	99	9	trajectory	trajectory	NOUN
easat-7370	99	10	and	and	CCONJ
easat-7370	99	11	actual	actual	ADJ
easat-7370	99	12	trajectory	trajectory	NOUN
easat-7370	99	13	along	along	ADP
easat-7370	99	14	which	which	PRON
easat-7370	99	15	the	the	DET
easat-7370	99	16	expansion	expansion	NOUN
easat-7370	99	17	is	be	AUX
easat-7370	99	18	made	make	VERB
easat-7370	99	19	will	will	AUX
easat-7370	99	20	remain	remain	VERB
easat-7370	99	21	minimal	minimal	ADJ
easat-7370	99	22	.	.	PUNCT
easat-7370	100	1	ekf	ekf	PROPN
easat-7370	100	2	implementation	implementation	NOUN
easat-7370	100	3	has	have	VERB
easat-7370	100	4	two	two	NUM
easat-7370	100	5	configurations	configuration	NOUN
easat-7370	100	6	,	,	PUNCT
easat-7370	100	7	such	such	ADJ
easat-7370	100	8	as	as	ADP
easat-7370	100	9	the	the	DET
easat-7370	100	10	error	error	NOUN
easat-7370	100	11	state	state	NOUN
easat-7370	100	12	estimate	estimate	NOUN
easat-7370	100	13	vs.	vs.	ADP
easat-7370	100	14	total	total	ADJ
easat-7370	100	15	state	state	NOUN
easat-7370	100	16	estimate	estimate	NOUN
easat-7370	100	17	[	[	X
easat-7370	100	18	13	13	NUM
easat-7370	100	19	]	]	PUNCT
easat-7370	100	20	.	.	PUNCT
easat-7370	101	1	2020	2020	NUM
easat-7370	101	2	edelweiss	edelweiss	PROPN
easat-7370	101	3	applied	apply	VERB
easat-7370	101	4	science	science	NOUN
easat-7370	101	5	and	and	CCONJ
easat-7370	101	6	technology	technology	NOUN
easat-7370	101	7	issn	issn	PROPN
easat-7370	101	8	:	:	PUNCT
easat-7370	101	9	2576	2576	NUM
easat-7370	101	10	-	-	SYM
easat-7370	101	11	8484	8484	NUM
easat-7370	101	12	vol	vol	NOUN
easat-7370	101	13	.	.	PROPN
easat-7370	102	1	9	9	NUM
easat-7370	102	2	,	,	PUNCT
easat-7370	102	3	no	no	INTJ
easat-7370	102	4	.	.	NOUN
easat-7370	102	5	5	5	NUM
easat-7370	102	6	:	:	SYM
easat-7370	102	7	2017	2017	NUM
easat-7370	102	8	-	-	SYM
easat-7370	102	9	2026	2026	NUM
easat-7370	102	10	,	,	PUNCT
easat-7370	102	11	2025	2025	NUM
easat-7370	102	12	doi	doi	NOUN
easat-7370	102	13	:	:	PUNCT
easat-7370	102	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	102	15	©	©	PROPN
easat-7370	102	16	2025	2025	NUM
easat-7370	102	17	by	by	ADP
easat-7370	102	18	the	the	DET
easat-7370	102	19	authors	author	NOUN
easat-7370	102	20	;	;	PUNCT
easat-7370	102	21	licensee	licensee	PROPN
easat-7370	102	22	learning	learning	NOUN
easat-7370	102	23	gate	gate	VERB
easat-7370	102	24	the	the	DET
easat-7370	102	25	ekf	ekf	PROPN
easat-7370	102	26	implementation	implementation	NOUN
easat-7370	102	27	's	's	PART
easat-7370	102	28	configuration	configuration	NOUN
easat-7370	102	29	has	have	VERB
easat-7370	102	30	an	an	DET
easat-7370	102	31	incorrect	incorrect	ADJ
easat-7370	102	32	state	state	NOUN
easat-7370	102	33	estimation	estimation	NOUN
easat-7370	102	34	,	,	PUNCT
easat-7370	102	35	as	as	SCONJ
easat-7370	102	36	shown	show	VERB
easat-7370	102	37	in	in	ADP
easat-7370	102	38	fig	fig	NOUN
easat-7370	102	39	.	.	PUNCT
easat-7370	103	1	the	the	DET
easat-7370	103	2	ekf	ekf	PROPN
easat-7370	103	3	equations	equation	NOUN
easat-7370	103	4	are	be	AUX
easat-7370	103	5	summarized	summarize	VERB
easat-7370	103	6	in	in	ADP
easat-7370	103	7	the	the	DET
easat-7370	103	8	table	table	NOUN
easat-7370	103	9	using	use	VERB
easat-7370	103	10	an	an	DET
easat-7370	103	11	error	error	NOUN
easat-7370	103	12	-	-	PUNCT
easat-7370	103	13	state	state	NOUN
easat-7370	103	14	formulation	formulation	NOUN
easat-7370	103	15	.	.	PUNCT
easat-7370	104	1	figure	figure	NOUN
easat-7370	104	2	2	2	NUM
easat-7370	104	3	.	.	NUM
easat-7370	104	4	extended	extend	VERB
easat-7370	104	5	kalman	kalman	NOUN
easat-7370	104	6	filter	filter	NOUN
easat-7370	104	7	configuration	configuration	NOUN
easat-7370	104	8	with	with	ADP
easat-7370	104	9	error	error	NOUN
easat-7370	104	10	state	state	NOUN
easat-7370	104	11	of	of	ADP
easat-7370	104	12	estimation	estimation	NOUN
easat-7370	104	13	.	.	PUNCT
easat-7370	105	1	figure	figure	NOUN
easat-7370	105	2	3	3	NUM
easat-7370	105	3	.	.	NUM
easat-7370	105	4	extended	extend	VERB
easat-7370	105	5	kalman	kalman	NOUN
easat-7370	105	6	filter	filter	NOUN
easat-7370	105	7	configuration	configuration	NOUN
easat-7370	105	8	with	with	ADP
easat-7370	105	9	total	total	ADJ
easat-7370	105	10	state	state	NOUN
easat-7370	105	11	of	of	ADP
easat-7370	105	12	estimation	estimation	NOUN
easat-7370	105	13	.	.	PUNCT
easat-7370	106	1	with	with	ADP
easat-7370	106	2	the	the	DET
easat-7370	106	3	total	total	ADJ
easat-7370	106	4	-	-	PUNCT
easat-7370	106	5	state	state	NOUN
easat-7370	106	6	of	of	ADP
easat-7370	106	7	estimation	estimation	NOUN
easat-7370	106	8	,	,	PUNCT
easat-7370	106	9	the	the	DET
easat-7370	106	10	configuration	configuration	NOUN
easat-7370	106	11	of	of	ADP
easat-7370	106	12	the	the	DET
easat-7370	106	13	extended	extended	ADJ
easat-7370	106	14	kalman	kalman	NOUN
easat-7370	106	15	filter	filter	NOUN
easat-7370	106	16	,	,	PUNCT
easat-7370	106	17	it	it	PRON
easat-7370	106	18	is	be	AUX
easat-7370	106	19	possible	possible	ADJ
easat-7370	106	20	to	to	PART
easat-7370	106	21	track	track	VERB
easat-7370	106	22	the	the	DET
easat-7370	106	23	overall	overall	ADJ
easat-7370	106	24	estimations	estimation	NOUN
easat-7370	106	25	rather	rather	ADV
easat-7370	106	26	than	than	ADP
easat-7370	106	27	the	the	DET
easat-7370	106	28	incremental	incremental	ADJ
easat-7370	106	29	ones	one	NOUN
easat-7370	106	30	using	use	VERB
easat-7370	106	31	the	the	DET
easat-7370	106	32	fundamental	fundamental	ADJ
easat-7370	106	33	state	state	NOUN
easat-7370	106	34	variables	variable	NOUN
easat-7370	106	35	.	.	PUNCT
easat-7370	107	1	the	the	DET
easat-7370	107	2	ekf	ekf	PROPN
easat-7370	107	3	's	's	PART
easat-7370	107	4	basic	basic	ADJ
easat-7370	107	5	linearized	linearize	VERB
easat-7370	107	6	measurement	measurement	NOUN
easat-7370	107	7	equation	equation	NOUN
easat-7370	107	8	expresses	express	VERB
easat-7370	107	9	that	that	SCONJ
easat-7370	107	10	the	the	DET
easat-7370	107	11	measurement	measurement	NOUN
easat-7370	107	12	given	give	VERB
easat-7370	107	13	to	to	ADP
easat-7370	107	14	the	the	DET
easat-7370	107	15	kalman	kalman	NOUN
easat-7370	107	16	filter	filter	NOUN
easat-7370	107	17	when	when	SCONJ
easat-7370	107	18	working	work	VERB
easat-7370	107	19	with	with	ADP
easat-7370	107	20	incremental	incremental	ADJ
easat-7370	107	21	state	state	NOUN
easat-7370	107	22	variables	variable	NOUN
easat-7370	107	23	is	be	AUX
easat-7370	107	24	𝑧𝑥	𝑧𝑥	NOUN
easat-7370	107	25	ℎ	ℎ	ADP
easat-7370	107	26	𝛿	𝛿	PROPN
easat-7370	107	27	𝑥𝑘	𝑥𝑘	X
easat-7370	107	28	;	;	PUNCT
easat-7370	107	29	𝑘	𝑘	X
easat-7370	107	30	rather	rather	ADV
easat-7370	107	31	than	than	ADP
easat-7370	107	32	the	the	DET
easat-7370	107	33	entire	entire	ADJ
easat-7370	107	34	measurement	measurement	NOUN
easat-7370	107	35	(	(	PUNCT
easat-7370	107	36	nonlinear	nonlinear	ADJ
easat-7370	107	37	)	)	PUNCT
easat-7370	107	38	𝑧𝑘.	𝑧𝑘.	NOUN
easat-7370	107	39	the	the	DET
easat-7370	107	40	equation	equation	NOUN
easat-7370	107	41	for	for	ADP
easat-7370	107	42	the	the	DET
easat-7370	107	43	incremental	incremental	ADJ
easat-7370	107	44	estimate	estimate	NOUN
easat-7370	107	45	can	can	AUX
easat-7370	107	46	be	be	AUX
easat-7370	107	47	updated	update	VERB
easat-7370	107	48	at	at	ADP
easat-7370	107	49	step	step	NOUN
easat-7370	107	50	k.	k.	PROPN
easat-7370	107	51	5	5	X
easat-7370	107	52	.	.	NUM
easat-7370	107	53	extended	extend	VERB
easat-7370	107	54	kalman	kalman	NOUN
easat-7370	107	55	filter	filter	NOUN
easat-7370	107	56	performance	performance	NOUN
easat-7370	107	57	using	use	VERB
easat-7370	107	58	a	a	DET
easat-7370	107	59	mathematical	mathematical	ADJ
easat-7370	107	60	model	model	NOUN
easat-7370	107	61	to	to	PART
easat-7370	107	62	depict	depict	VERB
easat-7370	107	63	the	the	DET
easat-7370	107	64	system	system	NOUN
easat-7370	107	65	is	be	AUX
easat-7370	107	66	essential	essential	ADJ
easat-7370	107	67	when	when	SCONJ
easat-7370	107	68	employing	employ	VERB
easat-7370	107	69	an	an	DET
easat-7370	107	70	ekf	ekf	PROPN
easat-7370	107	71	.	.	PUNCT
easat-7370	108	1	i	i	PRON
easat-7370	108	2	this	this	PRON
easat-7370	108	3	means	mean	VERB
easat-7370	108	4	the	the	DET
easat-7370	108	5	designer	designer	NOUN
easat-7370	108	6	for	for	ADP
easat-7370	108	7	ekfs	ekfs	NOUN
easat-7370	108	8	must	must	AUX
easat-7370	108	9	understand	understand	VERB
easat-7370	108	10	the	the	DET
easat-7370	108	11	system	system	NOUN
easat-7370	108	12	sufficiently	sufficiently	ADV
easat-7370	108	13	to	to	PART
easat-7370	108	14	explain	explain	VERB
easat-7370	108	15	its	its	PRON
easat-7370	108	16	behavior	behavior	NOUN
easat-7370	108	17	.	.	PUNCT
easat-7370	109	1	ekf	ekf	PROPN
easat-7370	109	2	is	be	AUX
easat-7370	109	3	a	a	DET
easat-7370	109	4	challenging	challenging	ADJ
easat-7370	109	5	type	type	NOUN
easat-7370	109	6	of	of	ADP
easat-7370	109	7	implementing	implement	VERB
easat-7370	109	8	a	a	DET
easat-7370	109	9	kalman	kalman	NOUN
easat-7370	109	10	filter	filter	NOUN
easat-7370	109	11	.	.	PUNCT
easat-7370	110	1	accurate	accurate	ADJ
easat-7370	110	2	modeling	modeling	NOUN
easat-7370	110	3	of	of	ADP
easat-7370	110	4	the	the	DET
easat-7370	110	5	system	system	NOUN
easat-7370	110	6	noise	noise	NOUN
easat-7370	110	7	is	be	AUX
easat-7370	110	8	another	another	DET
easat-7370	110	9	difficulty	difficulty	NOUN
easat-7370	110	10	for	for	ADP
easat-7370	110	11	kalman	kalman	PROPN
easat-7370	110	12	filter	filter	PROPN
easat-7370	110	13	.	.	PUNCT
easat-7370	111	1	the	the	DET
easat-7370	111	2	functions	function	NOUN
easat-7370	111	3	of	of	ADP
easat-7370	111	4	the	the	DET
easat-7370	111	5	preceding	precede	VERB
easat-7370	111	6	anticipated	anticipate	VERB
easat-7370	111	7	states	state	NOUN
easat-7370	111	8	are	be	AUX
easat-7370	111	9	estimated	estimate	VERB
easat-7370	111	10	when	when	SCONJ
easat-7370	111	11	nonlinear	nonlinear	ADJ
easat-7370	111	12	functions	function	NOUN
easat-7370	111	13	are	be	AUX
easat-7370	111	14	present	present	ADJ
easat-7370	111	15	.	.	PUNCT
easat-7370	112	1	the	the	DET
easat-7370	112	2	covariance	covariance	NOUN
easat-7370	112	3	of	of	ADP
easat-7370	112	4	the	the	DET
easat-7370	112	5	linear	linear	ADJ
easat-7370	112	6	system	system	NOUN
easat-7370	112	7	in	in	ADP
easat-7370	112	8	the	the	DET
easat-7370	112	9	ekf	ekf	NOUN
easat-7370	112	10	approach	approach	NOUN
easat-7370	112	11	is	be	AUX
easat-7370	112	12	obtained	obtain	VERB
easat-7370	112	13	analytically	analytically	ADV
easat-7370	112	14	by	by	ADP
easat-7370	112	15	determining	determine	VERB
easat-7370	112	16	the	the	DET
easat-7370	112	17	posterior	posterior	ADJ
easat-7370	112	18	covariance	covariance	NOUN
easat-7370	112	19	matrices	matrix	NOUN
easat-7370	112	20	following	follow	VERB
easat-7370	112	21	the	the	DET
easat-7370	112	22	linearization	linearization	NOUN
easat-7370	112	23	of	of	ADP
easat-7370	112	24	the	the	DET
easat-7370	112	25	dynamic	dynamic	ADJ
easat-7370	112	26	equations	equation	NOUN
easat-7370	112	27	.	.	PUNCT
easat-7370	113	1	the	the	DET
easat-7370	113	2	state	state	NOUN
easat-7370	113	3	distribution	distribution	NOUN
easat-7370	113	4	for	for	ADP
easat-7370	113	5	the	the	DET
easat-7370	113	6	ekf	ekf	NOUN
easat-7370	113	7	is	be	AUX
easat-7370	113	8	estimated	estimate	VERB
easat-7370	113	9	by	by	ADP
easat-7370	113	10	computing	compute	VERB
easat-7370	113	11	a	a	DET
easat-7370	113	12	generalized	generalize	VERB
easat-7370	113	13	reduced	reduce	VERB
easat-7370	113	14	value	value	NOUN
easat-7370	113	15	(	(	PUNCT
easat-7370	113	16	grv	grv	PROPN
easat-7370	113	17	)	)	PUNCT
easat-7370	113	18	.	.	PUNCT
easat-7370	114	1	in	in	ADP
easat-7370	114	2	this	this	DET
easat-7370	114	3	case	case	NOUN
easat-7370	114	4	,	,	PUNCT
easat-7370	114	5	the	the	DET
easat-7370	114	6	2021	2021	NUM
easat-7370	114	7	edelweiss	edelweiss	PROPN
easat-7370	114	8	applied	apply	VERB
easat-7370	114	9	science	science	NOUN
easat-7370	114	10	and	and	CCONJ
easat-7370	114	11	technology	technology	NOUN
easat-7370	114	12	issn	issn	PROPN
easat-7370	114	13	:	:	PUNCT
easat-7370	114	14	2576	2576	NUM
easat-7370	114	15	-	-	SYM
easat-7370	114	16	8484	8484	NUM
easat-7370	114	17	vol	vol	NOUN
easat-7370	114	18	.	.	PROPN
easat-7370	115	1	9	9	NUM
easat-7370	115	2	,	,	PUNCT
easat-7370	115	3	no	no	INTJ
easat-7370	115	4	.	.	NOUN
easat-7370	115	5	5	5	NUM
easat-7370	115	6	:	:	SYM
easat-7370	115	7	2017	2017	NUM
easat-7370	115	8	-	-	SYM
easat-7370	115	9	2026	2026	NUM
easat-7370	115	10	,	,	PUNCT
easat-7370	115	11	2025	2025	NUM
easat-7370	115	12	doi	doi	NOUN
easat-7370	115	13	:	:	PUNCT
easat-7370	115	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	115	15	©	©	PROPN
easat-7370	115	16	2025	2025	NUM
easat-7370	115	17	by	by	ADP
easat-7370	115	18	the	the	DET
easat-7370	115	19	authors	author	NOUN
easat-7370	115	20	;	;	PUNCT
easat-7370	115	21	licensee	licensee	PROPN
easat-7370	115	22	learning	learning	PROPN
easat-7370	115	23	gate	gate	PROPN
easat-7370	115	24	ekf	ekf	PROPN
easat-7370	115	25	provides	provide	VERB
easat-7370	115	26	"	"	PUNCT
easat-7370	115	27	first	first	ADJ
easat-7370	115	28	-	-	PUNCT
easat-7370	115	29	order	order	NOUN
easat-7370	115	30	"	"	PUNCT
easat-7370	115	31	approximations	approximation	NOUN
easat-7370	115	32	to	to	ADP
easat-7370	115	33	the	the	DET
easat-7370	115	34	optimal	optimal	ADJ
easat-7370	115	35	terms	term	NOUN
easat-7370	115	36	,	,	PUNCT
easat-7370	115	37	such	such	ADJ
easat-7370	115	38	as	as	ADP
easat-7370	115	39	gain	gain	NOUN
easat-7370	115	40	and	and	CCONJ
easat-7370	115	41	prediction	prediction	NOUN
easat-7370	115	42	.	.	PUNCT
easat-7370	116	1	thus	thus	ADV
easat-7370	116	2	,	,	PUNCT
easat-7370	116	3	much	much	ADJ
easat-7370	116	4	consideration	consideration	NOUN
easat-7370	116	5	is	be	AUX
easat-7370	116	6	given	give	VERB
easat-7370	116	7	to	to	ADP
easat-7370	116	8	how	how	SCONJ
easat-7370	116	9	these	these	DET
easat-7370	116	10	models	model	NOUN
easat-7370	116	11	operate	operate	VERB
easat-7370	116	12	when	when	SCONJ
easat-7370	116	13	localized	localize	VERB
easat-7370	116	14	.	.	PUNCT
easat-7370	117	1	so	so	ADV
easat-7370	117	2	,	,	PUNCT
easat-7370	117	3	applying	apply	VERB
easat-7370	117	4	linear	linear	PROPN
easat-7370	117	5	kf	kf	PROPN
easat-7370	117	6	and	and	CCONJ
easat-7370	117	7	ekf	ekf	PROPN
easat-7370	117	8	could	could	AUX
easat-7370	117	9	improve	improve	VERB
easat-7370	117	10	the	the	DET
easat-7370	117	11	navigation	navigation	NOUN
easat-7370	117	12	process	process	NOUN
easat-7370	117	13	[	[	X
easat-7370	117	14	14	14	NUM
easat-7370	117	15	]	]	SYM
easat-7370	117	16	.	.	PUNCT
easat-7370	118	1	6	6	NUM
easat-7370	118	2	.	.	X
easat-7370	118	3	comparison	comparison	NOUN
easat-7370	118	4	between	between	ADP
easat-7370	118	5	linear	linear	PROPN
easat-7370	118	6	and	and	CCONJ
easat-7370	118	7	nonlinear	nonlinear	ADJ
easat-7370	118	8	navigation	navigation	NOUN
easat-7370	118	9	table	table	NOUN
easat-7370	118	10	1	1	NUM
easat-7370	118	11	shows	show	VERB
easat-7370	118	12	the	the	DET
easat-7370	118	13	comparison	comparison	NOUN
easat-7370	118	14	between	between	ADP
easat-7370	118	15	linear	linear	PROPN
easat-7370	118	16	and	and	CCONJ
easat-7370	118	17	nonlinear	nonlinear	ADJ
easat-7370	118	18	navigation	navigation	NOUN
easat-7370	118	19	with	with	ADP
easat-7370	118	20	several	several	ADJ
easat-7370	118	21	factors	factor	NOUN
easat-7370	118	22	.	.	PUNCT
easat-7370	119	1	table	table	NOUN
easat-7370	119	2	1	1	NUM
easat-7370	119	3	.	.	PUNCT
easat-7370	119	4	comparison	comparison	NOUN
easat-7370	119	5	between	between	ADP
easat-7370	119	6	linear	linear	PROPN
easat-7370	119	7	and	and	CCONJ
easat-7370	119	8	nonlinear	nonlinear	ADJ
easat-7370	119	9	navigation	navigation	NOUN
easat-7370	119	10	.	.	PUNCT
easat-7370	120	1	type	type	NOUN
easat-7370	120	2	/	/	SYM
easat-7370	120	3	factors	factor	NOUN
easat-7370	120	4	linear	linear	VERB
easat-7370	120	5	navigation	navigation	NOUN
easat-7370	120	6	kf[40	kf[40	PROPN
easat-7370	120	7	]	]	PUNCT
easat-7370	120	8	nonlinear	nonlinear	ADJ
easat-7370	120	9	navigation	navigation	NOUN
easat-7370	120	10	ekf[41	ekf[41	PROPN
easat-7370	120	11	]	]	PUNCT
easat-7370	120	12	.	.	PUNCT
easat-7370	121	1	power	power	NOUN
easat-7370	121	2	system	system	NOUN
easat-7370	121	3	the	the	DET
easat-7370	121	4	kalman	kalman	PROPN
easat-7370	121	5	filter	filter	PROPN
easat-7370	121	6	(	(	PUNCT
easat-7370	121	7	kf	kf	PROPN
easat-7370	121	8	)	)	PUNCT
easat-7370	121	9	is	be	AUX
easat-7370	121	10	a	a	DET
easat-7370	121	11	potent	potent	ADJ
easat-7370	121	12	instrument	instrument	NOUN
easat-7370	121	13	for	for	ADP
easat-7370	121	14	estimating	estimate	VERB
easat-7370	121	15	its	its	PRON
easat-7370	121	16	current	current	ADJ
easat-7370	121	17	state	state	NOUN
easat-7370	121	18	.	.	PUNCT
easat-7370	122	1	advanced	advanced	ADJ
easat-7370	122	2	versions	version	NOUN
easat-7370	122	3	of	of	ADP
easat-7370	122	4	the	the	DET
easat-7370	122	5	filters	filter	NOUN
easat-7370	122	6	—	—	PUNCT
easat-7370	122	7	which	which	PRON
easat-7370	122	8	are	be	AUX
easat-7370	122	9	mostly	mostly	ADV
easat-7370	122	10	designed	design	VERB
easat-7370	122	11	for	for	ADP
easat-7370	122	12	linear	linear	ADJ
easat-7370	122	13	filters	filter	NOUN
easat-7370	122	14	—	—	PUNCT
easat-7370	122	15	are	be	AUX
easat-7370	122	16	constantly	constantly	ADV
easat-7370	122	17	required	require	VERB
easat-7370	122	18	.	.	PUNCT
easat-7370	123	1	when	when	SCONJ
easat-7370	123	2	it	it	PRON
easat-7370	123	3	comes	come	VERB
easat-7370	123	4	to	to	ADP
easat-7370	123	5	power	power	NOUN
easat-7370	123	6	system	system	NOUN
easat-7370	123	7	applications	application	NOUN
easat-7370	123	8	,	,	PUNCT
easat-7370	123	9	the	the	DET
easat-7370	123	10	efficacy	efficacy	NOUN
easat-7370	123	11	of	of	ADP
easat-7370	123	12	kalman	kalman	PROPN
easat-7370	123	13	filtering	filtering	PROPN
easat-7370	123	14	approach	approach	NOUN
easat-7370	123	15	in	in	ADP
easat-7370	123	16	enhancing	enhance	VERB
easat-7370	123	17	the	the	DET
easat-7370	123	18	computing	computing	NOUN
easat-7370	123	19	performance	performance	NOUN
easat-7370	123	20	of	of	ADP
easat-7370	123	21	the	the	DET
easat-7370	123	22	conventional	conventional	ADJ
easat-7370	123	23	steady	steady	ADJ
easat-7370	123	24	-	-	PUNCT
easat-7370	123	25	state	state	NOUN
easat-7370	123	26	estimate	estimate	NOUN
easat-7370	123	27	method	method	NOUN
easat-7370	123	28	is	be	AUX
easat-7370	123	29	undeniable	undeniable	ADJ
easat-7370	123	30	.	.	PUNCT
easat-7370	124	1	this	this	PRON
easat-7370	124	2	is	be	AUX
easat-7370	124	3	particularly	particularly	ADV
easat-7370	124	4	true	true	ADJ
easat-7370	124	5	when	when	SCONJ
easat-7370	124	6	a	a	DET
easat-7370	124	7	linear	linear	ADJ
easat-7370	124	8	dynamic	dynamic	ADJ
easat-7370	124	9	system	system	NOUN
easat-7370	124	10	is	be	AUX
easat-7370	124	11	under	under	ADP
easat-7370	124	12	the	the	DET
easat-7370	124	13	control	control	NOUN
easat-7370	124	14	of	of	ADP
easat-7370	124	15	non	non	ADJ
easat-7370	124	16	-	-	ADJ
easat-7370	124	17	linear	linear	ADJ
easat-7370	124	18	functions	function	NOUN
easat-7370	124	19	[	[	X
easat-7370	124	20	42	42	NUM
easat-7370	124	21	]	]	PUNCT
easat-7370	124	22	.	.	PUNCT
easat-7370	125	1	one	one	NUM
easat-7370	125	2	typical	typical	ADJ
easat-7370	125	3	way	way	NOUN
easat-7370	125	4	to	to	PART
easat-7370	125	5	build	build	VERB
easat-7370	125	6	a	a	DET
easat-7370	125	7	recursive	recursive	NOUN
easat-7370	125	8	of	of	ADP
easat-7370	125	9	the	the	DET
easat-7370	125	10	state	state	NOUN
easat-7370	125	11	estimation	estimation	NOUN
easat-7370	125	12	system	system	NOUN
easat-7370	125	13	is	be	AUX
easat-7370	125	14	by	by	ADP
easat-7370	125	15	using	use	VERB
easat-7370	125	16	kalman	kalman	PROPN
easat-7370	125	17	filter	filter	PROPN
easat-7370	125	18	(	(	PUNCT
easat-7370	125	19	kf	kf	PROPN
easat-7370	125	20	)	)	PUNCT
easat-7370	125	21	which	which	PRON
easat-7370	125	22	have	have	VERB
easat-7370	125	23	numerous	numerous	ADJ
easat-7370	125	24	variations	variation	NOUN
easat-7370	125	25	[	[	X
easat-7370	125	26	19	19	NUM
easat-7370	125	27	]	]	PUNCT
easat-7370	125	28	.	.	PUNCT
easat-7370	126	1	these	these	DET
easat-7370	126	2	systems	system	NOUN
easat-7370	126	3	use	use	VERB
easat-7370	126	4	a	a	DET
easat-7370	126	5	kinematic	kinematic	ADJ
easat-7370	126	6	model	model	NOUN
easat-7370	126	7	of	of	ADP
easat-7370	126	8	the	the	DET
easat-7370	126	9	system	system	NOUN
easat-7370	126	10	and	and	CCONJ
easat-7370	126	11	the	the	DET
easat-7370	126	12	measurement	measurement	NOUN
easat-7370	126	13	variance	variance	NOUN
easat-7370	126	14	with	with	ADP
easat-7370	126	15	the	the	DET
easat-7370	126	16	inputs	input	NOUN
easat-7370	126	17	to	to	PART
easat-7370	126	18	estimate	estimate	VERB
easat-7370	126	19	an	an	DET
easat-7370	126	20	updated	update	VERB
easat-7370	126	21	state	state	NOUN
easat-7370	127	1	[	[	X
easat-7370	127	2	42	42	NUM
easat-7370	127	3	,	,	PUNCT
easat-7370	127	4	43	43	NUM
easat-7370	127	5	]	]	PUNCT
easat-7370	127	6	.	.	PUNCT
easat-7370	128	1	when	when	SCONJ
easat-7370	128	2	it	it	PRON
easat-7370	128	3	comes	come	VERB
easat-7370	128	4	to	to	ADP
easat-7370	128	5	the	the	DET
easat-7370	128	6	fluctuations	fluctuation	NOUN
easat-7370	128	7	,	,	PUNCT
easat-7370	128	8	the	the	DET
easat-7370	128	9	extended	extended	ADJ
easat-7370	128	10	kalman	kalman	NOUN
easat-7370	128	11	filter	filter	NOUN
easat-7370	128	12	consider	consider	VERB
easat-7370	128	13	as	as	ADP
easat-7370	128	14	nonlinear	nonlinear	ADJ
easat-7370	128	15	type	type	NOUN
easat-7370	128	16	that	that	PRON
easat-7370	128	17	used	use	VERB
easat-7370	128	18	to	to	PART
easat-7370	128	19	estimate	estimate	VERB
easat-7370	128	20	the	the	DET
easat-7370	128	21	process	process	NOUN
easat-7370	128	22	and	and	CCONJ
easat-7370	128	23	all	all	DET
easat-7370	128	24	the	the	DET
easat-7370	128	25	determination	determination	NOUN
easat-7370	128	26	related	relate	VERB
easat-7370	128	27	to	to	ADP
easat-7370	128	28	its	its	PRON
easat-7370	128	29	process	process	NOUN
easat-7370	128	30	that	that	PRON
easat-7370	128	31	be	be	AUX
easat-7370	128	32	linearized	linearize	VERB
easat-7370	128	33	[	[	X
easat-7370	128	34	19	19	NUM
easat-7370	128	35	]	]	PUNCT
easat-7370	128	36	.	.	PUNCT
easat-7370	129	1	use	use	VERB
easat-7370	129	2	the	the	DET
easat-7370	129	3	actual	actual	ADJ
easat-7370	129	4	systems	system	NOUN
easat-7370	129	5	assist	assist	VERB
easat-7370	129	6	as	as	ADP
easat-7370	129	7	models	model	NOUN
easat-7370	129	8	for	for	ADP
easat-7370	129	9	each	each	PRON
easat-7370	129	10	of	of	ADP
easat-7370	129	11	these	these	DET
easat-7370	129	12	estimators	estimator	NOUN
easat-7370	129	13	.	.	PUNCT
easat-7370	130	1	this	this	DET
easat-7370	130	2	non	non	ADJ
easat-7370	130	3	-	-	ADJ
easat-7370	130	4	linear	linear	ADJ
easat-7370	130	5	filter	filter	NOUN
easat-7370	130	6	linearizes	linearize	NOUN
easat-7370	130	7	concerning	concern	VERB
easat-7370	130	8	the	the	DET
easat-7370	130	9	covariance	covariance	NOUN
easat-7370	130	10	and	and	CCONJ
easat-7370	130	11	mean	mean	VERB
easat-7370	130	12	at	at	ADP
easat-7370	130	13	present	present	ADJ
easat-7370	130	14	.	.	PUNCT
easat-7370	131	1	for	for	ADP
easat-7370	131	2	gps	gps	PROPN
easat-7370	131	3	and	and	CCONJ
easat-7370	131	4	the	the	DET
easat-7370	131	5	estimation	estimation	NOUN
easat-7370	131	6	for	for	ADP
easat-7370	131	7	nonlinear	nonlinear	ADJ
easat-7370	131	8	systems	system	NOUN
easat-7370	131	9	,	,	PUNCT
easat-7370	131	10	the	the	DET
easat-7370	131	11	ekf	ekf	NOUN
easat-7370	131	12	may	may	AUX
easat-7370	131	13	consider	consider	VERB
easat-7370	131	14	as	as	ADP
easat-7370	131	15	the	the	DET
easat-7370	131	16	standard	standard	ADJ
easat-7370	131	17	type	type	NOUN
easat-7370	131	18	.	.	PUNCT
easat-7370	132	1	application	application	NOUN
easat-7370	132	2	kalman	kalman	PROPN
easat-7370	132	3	filtering	filtering	PROPN
easat-7370	132	4	,	,	PUNCT
easat-7370	132	5	a	a	DET
easat-7370	132	6	crucial	crucial	ADJ
easat-7370	132	7	tool	tool	NOUN
easat-7370	132	8	,	,	PUNCT
easat-7370	132	9	is	be	AUX
easat-7370	132	10	widely	widely	ADV
easat-7370	132	11	used	use	VERB
easat-7370	132	12	for	for	ADP
easat-7370	132	13	state	state	NOUN
easat-7370	132	14	estimation	estimation	NOUN
easat-7370	132	15	and	and	CCONJ
easat-7370	132	16	forecasting	forecasting	NOUN
easat-7370	132	17	system	system	NOUN
easat-7370	132	18	applications	application	NOUN
easat-7370	132	19	in	in	ADP
easat-7370	132	20	the	the	DET
easat-7370	132	21	weather	weather	NOUN
easat-7370	132	22	,	,	PUNCT
easat-7370	132	23	stock	stock	NOUN
easat-7370	132	24	market	market	NOUN
easat-7370	132	25	,	,	PUNCT
easat-7370	132	26	and	and	CCONJ
easat-7370	132	27	other	other	ADJ
easat-7370	132	28	industries	industry	NOUN
easat-7370	132	29	.	.	PUNCT
easat-7370	133	1	ekf	ekf	PROPN
easat-7370	133	2	might	might	AUX
easat-7370	133	3	not	not	PART
easat-7370	133	4	relish	relish	VERB
easat-7370	133	5	the	the	DET
easat-7370	133	6	status	status	NOUN
easat-7370	133	7	of	of	ADP
easat-7370	133	8	being	be	AUX
easat-7370	133	9	the	the	DET
easat-7370	133	10	standard	standard	ADJ
easat-7370	133	11	filter	filter	NOUN
easat-7370	133	12	[	[	X
easat-7370	133	13	44	44	NUM
easat-7370	133	14	]	]	PUNCT
easat-7370	133	15	.	.	PUNCT
easat-7370	134	1	effective	effective	ADJ
easat-7370	134	2	kf	kf	PROPN
easat-7370	134	3	quickly	quickly	ADV
easat-7370	134	4	and	and	CCONJ
easat-7370	134	5	effectively	effectively	ADV
easat-7370	134	6	solves	solve	VERB
easat-7370	134	7	the	the	DET
easat-7370	134	8	challenge	challenge	NOUN
easat-7370	134	9	of	of	ADP
easat-7370	134	10	processing	process	VERB
easat-7370	134	11	noisy	noisy	ADJ
easat-7370	134	12	data	datum	NOUN
easat-7370	134	13	with	with	ADP
easat-7370	134	14	errors	error	NOUN
easat-7370	134	15	and	and	CCONJ
easat-7370	134	16	imperfections	imperfection	NOUN
easat-7370	134	17	.	.	PUNCT
easat-7370	135	1	the	the	DET
easat-7370	135	2	extended	extended	ADJ
easat-7370	135	3	kalman	kalman	NOUN
easat-7370	135	4	filter	filter	PROPN
easat-7370	135	5	(	(	PUNCT
easat-7370	135	6	ekf	ekf	PROPN
easat-7370	135	7	)	)	PUNCT
easat-7370	135	8	provides	provide	VERB
easat-7370	135	9	firstand	firstand	NOUN
easat-7370	135	10	higher	high	ADJ
easat-7370	135	11	-	-	PUNCT
easat-7370	135	12	order	order	NOUN
easat-7370	135	13	linearization	linearization	NOUN
easat-7370	135	14	approximations	approximation	NOUN
easat-7370	135	15	for	for	ADP
easat-7370	135	16	nonlinear	nonlinear	ADJ
easat-7370	135	17	systems	system	NOUN
easat-7370	135	18	[	[	X
easat-7370	135	19	14	14	NUM
easat-7370	135	20	,	,	PUNCT
easat-7370	135	21	45	45	NUM
easat-7370	135	22	]	]	PUNCT
easat-7370	135	23	.	.	PUNCT
easat-7370	136	1	error	error	NOUN
easat-7370	136	2	for	for	ADP
easat-7370	136	3	real	real	ADJ
easat-7370	136	4	-	-	PUNCT
easat-7370	136	5	time	time	NOUN
easat-7370	136	6	estimates	estimate	NOUN
easat-7370	136	7	,	,	PUNCT
easat-7370	136	8	kf	kf	PROPN
easat-7370	136	9	is	be	AUX
easat-7370	136	10	useful	useful	ADJ
easat-7370	136	11	because	because	SCONJ
easat-7370	136	12	it	it	PRON
easat-7370	136	13	is	be	AUX
easat-7370	136	14	quick	quick	ADJ
easat-7370	136	15	and	and	CCONJ
easat-7370	136	16	takes	take	VERB
easat-7370	136	17	little	little	ADJ
easat-7370	136	18	memory	memory	NOUN
easat-7370	136	19	.	.	PUNCT
easat-7370	137	1	it	it	PRON
easat-7370	137	2	simply	simply	ADV
easat-7370	137	3	needs	need	VERB
easat-7370	137	4	to	to	PART
easat-7370	137	5	store	store	VERB
easat-7370	137	6	the	the	DET
easat-7370	137	7	history	history	NOUN
easat-7370	137	8	of	of	ADP
easat-7370	137	9	the	the	DET
easat-7370	137	10	prior	prior	ADJ
easat-7370	137	11	state	state	NOUN
easat-7370	138	1	[	[	X
easat-7370	138	2	45	45	NUM
easat-7370	138	3	,	,	PUNCT
easat-7370	138	4	46	46	NUM
easat-7370	138	5	]	]	PUNCT
easat-7370	138	6	.	.	PUNCT
easat-7370	139	1	the	the	DET
easat-7370	139	2	ekf	ekf	NOUN
easat-7370	139	3	is	be	AUX
easat-7370	139	4	a	a	DET
easat-7370	139	5	suitable	suitable	ADJ
easat-7370	139	6	option	option	NOUN
easat-7370	139	7	in	in	ADP
easat-7370	139	8	cases	case	NOUN
easat-7370	139	9	where	where	SCONJ
easat-7370	139	10	the	the	DET
easat-7370	139	11	measurement	measurement	NOUN
easat-7370	139	12	error	error	NOUN
easat-7370	139	13	values	value	NOUN
easat-7370	139	14	are	be	AUX
easat-7370	139	15	precisely	precisely	ADV
easat-7370	139	16	resilient	resilient	ADJ
easat-7370	139	17	,	,	PUNCT
easat-7370	139	18	especially	especially	ADV
easat-7370	139	19	when	when	SCONJ
easat-7370	139	20	measurements	measurement	NOUN
easat-7370	139	21	are	be	AUX
easat-7370	139	22	prone	prone	ADJ
easat-7370	139	23	to	to	ADP
easat-7370	139	24	significant	significant	ADJ
easat-7370	139	25	errors	error	NOUN
easat-7370	139	26	[	[	X
easat-7370	139	27	15	15	NUM
easat-7370	139	28	]	]	PUNCT
easat-7370	139	29	.	.	PUNCT
easat-7370	140	1	determination	determination	NOUN
easat-7370	140	2	identifying	identify	VERB
easat-7370	140	3	and	and	CCONJ
easat-7370	140	4	differentiating	differentiate	VERB
easat-7370	140	5	arbitrary	arbitrary	ADJ
easat-7370	140	6	signals	signal	NOUN
easat-7370	140	7	[	[	X
easat-7370	140	8	15	15	NUM
easat-7370	140	9	]	]	PUNCT
easat-7370	140	10	.	.	PUNCT
easat-7370	141	1	the	the	DET
easat-7370	141	2	ekf	ekf	PROPN
easat-7370	141	3	's	's	PART
easat-7370	141	4	position	position	NOUN
easat-7370	141	5	determination	determination	NOUN
easat-7370	141	6	accuracy	accuracy	NOUN
easat-7370	141	7	is	be	AUX
easat-7370	141	8	a	a	DET
easat-7370	141	9	critical	critical	ADJ
easat-7370	141	10	factor	factor	NOUN
easat-7370	141	11	,	,	PUNCT
easat-7370	141	12	always	always	ADV
easat-7370	141	13	needing	need	VERB
easat-7370	141	14	to	to	PART
easat-7370	141	15	be	be	AUX
easat-7370	141	16	higher	high	ADJ
easat-7370	141	17	than	than	ADP
easat-7370	141	18	the	the	DET
easat-7370	141	19	glsa	glsa	NOUN
easat-7370	141	20	or	or	CCONJ
easat-7370	141	21	gra	gra	PROPN
easat-7370	141	22	accuracy	accuracy	NOUN
easat-7370	142	1	[	[	X
easat-7370	142	2	47	47	NUM
easat-7370	142	3	,	,	PUNCT
easat-7370	142	4	48	48	NUM
easat-7370	142	5	]	]	PUNCT
easat-7370	142	6	.	.	PUNCT
easat-7370	143	1	capacity	capacity	NOUN
easat-7370	143	2	the	the	DET
easat-7370	143	3	capacity	capacity	NOUN
easat-7370	143	4	of	of	ADP
easat-7370	143	5	linear	linear	PROPN
easat-7370	143	6	kalman	kalman	PROPN
easat-7370	143	7	filtering	filter	VERB
easat-7370	143	8	to	to	PART
easat-7370	143	9	handle	handle	VERB
easat-7370	143	10	partially	partially	ADV
easat-7370	143	11	deterministic	deterministic	ADJ
easat-7370	143	12	data	datum	NOUN
easat-7370	143	13	when	when	SCONJ
easat-7370	143	14	process	process	NOUN
easat-7370	143	15	noise	noise	NOUN
easat-7370	143	16	is	be	AUX
easat-7370	143	17	absent	absent	ADJ
easat-7370	143	18	.	.	PUNCT
easat-7370	144	1	based	base	VERB
easat-7370	144	2	on	on	ADP
easat-7370	144	3	linearization	linearization	NOUN
easat-7370	144	4	,	,	PUNCT
easat-7370	144	5	the	the	DET
easat-7370	144	6	extended	extended	ADJ
easat-7370	144	7	kalman	kalman	NOUN
easat-7370	144	8	filter	filter	PROPN
easat-7370	144	9	(	(	PUNCT
easat-7370	144	10	ekf	ekf	PROPN
easat-7370	144	11	)	)	PUNCT
easat-7370	144	12	extends	extend	VERB
easat-7370	144	13	the	the	DET
easat-7370	144	14	kf	kf	PROPN
easat-7370	144	15	to	to	ADP
easat-7370	144	16	the	the	DET
easat-7370	144	17	nonlinear	nonlinear	ADJ
easat-7370	144	18	case	case	NOUN
easat-7370	144	19	.	.	PUNCT
easat-7370	145	1	the	the	DET
easat-7370	145	2	highly	highly	ADV
easat-7370	145	3	"	"	PUNCT
easat-7370	145	4	linear	linear	ADJ
easat-7370	145	5	"	"	PUNCT
easat-7370	145	6	form	form	NOUN
easat-7370	145	7	is	be	AUX
easat-7370	145	8	unsuitable	unsuitable	ADJ
easat-7370	145	9	when	when	SCONJ
easat-7370	145	10	considering	consider	VERB
easat-7370	145	11	singular	singular	ADJ
easat-7370	145	12	covariance	covariance	NOUN
easat-7370	145	13	matrices	matrix	NOUN
easat-7370	145	14	and	and	CCONJ
easat-7370	145	15	nonlinear	nonlinear	ADJ
easat-7370	145	16	dynamics	dynamic	NOUN
easat-7370	145	17	[	[	X
easat-7370	145	18	48	48	NUM
easat-7370	145	19	]	]	PUNCT
easat-7370	145	20	.	.	PUNCT
easat-7370	146	1	7	7	X
easat-7370	146	2	.	.	X
easat-7370	146	3	formulation	formulation	NOUN
easat-7370	146	4	in	in	ADP
easat-7370	146	5	the	the	DET
easat-7370	146	6	ekf	ekf	PROPN
easat-7370	146	7	,	,	PUNCT
easat-7370	146	8	the	the	DET
easat-7370	146	9	observation	observation	NOUN
easat-7370	146	10	state	state	NOUN
easat-7370	146	11	space	space	NOUN
easat-7370	146	12	model	model	NOUN
easat-7370	146	13	and	and	CCONJ
easat-7370	146	14	state	state	NOUN
easat-7370	146	15	transition	transition	NOUN
easat-7370	146	16	model	model	NOUN
easat-7370	146	17	may	may	AUX
easat-7370	146	18	contain	contain	VERB
easat-7370	146	19	many	many	ADJ
easat-7370	146	20	nonlinear	nonlinear	ADJ
easat-7370	146	21	functions	function	NOUN
easat-7370	146	22	rather	rather	ADV
easat-7370	146	23	than	than	ADP
easat-7370	146	24	linear	linear	ADJ
easat-7370	146	25	functions	function	NOUN
easat-7370	146	26	of	of	ADP
easat-7370	146	27	the	the	DET
easat-7370	146	28	state	state	NOUN
easat-7370	146	29	.	.	PUNCT
easat-7370	147	1	𝑥𝑘	𝑥𝑘	X
easat-7370	148	1	=	=	PRON
easat-7370	148	2	𝑓(𝑥𝑘−1	𝑓(𝑥𝑘−1	PROPN
easat-7370	148	3	,	,	PUNCT
easat-7370	148	4	𝑢𝑘−1	𝑢𝑘−1	PROPN
easat-7370	148	5	)	)	PUNCT
easat-7370	149	1	+	+	NUM
easat-7370	149	2	𝑤𝑘−1	𝑤𝑘−1	NOUN
easat-7370	149	3	𝑧𝑘	𝑧𝑘	NOUN
easat-7370	149	4	=	=	PUNCT
easat-7370	149	5	ℎ(𝑥𝑘	ℎ(𝑥𝑘	X
easat-7370	149	6	)	)	PUNCT
easat-7370	150	1	+	+	CCONJ
easat-7370	150	2	𝑣𝑘	𝑣𝑘	ADP
easat-7370	150	3	the	the	DET
easat-7370	150	4	process	process	NOUN
easat-7370	150	5	noises	noise	VERB
easat-7370	150	6	,	,	PUNCT
easat-7370	150	7	denoted	denote	VERB
easat-7370	150	8	by	by	ADP
easat-7370	150	9	wk	wk	NOUN
easat-7370	150	10	and	and	CCONJ
easat-7370	150	11	the	the	DET
easat-7370	150	12	observation	observation	NOUN
easat-7370	150	13	noise	noise	NOUN
easat-7370	150	14	by	by	ADP
easat-7370	150	15	vk	vk	NOUN
easat-7370	150	16	,	,	PUNCT
easat-7370	150	17	zero	zero	NUM
easat-7370	150	18	mean	mean	NOUN
easat-7370	150	19	multivariate	multivariate	NOUN
easat-7370	150	20	gaussian	gaussian	NOUN
easat-7370	150	21	noises	noise	NOUN
easat-7370	150	22	with	with	ADP
easat-7370	150	23	covariance	covariance	NOUN
easat-7370	150	24	are	be	AUX
easat-7370	150	25	qk	qk	NOUN
easat-7370	150	26	and	and	CCONJ
easat-7370	150	27	rk	rk	NOUN
easat-7370	150	28	,	,	PUNCT
easat-7370	150	29	respectively	respectively	ADV
easat-7370	150	30	.	.	PUNCT
easat-7370	151	1	additionally	additionally	ADV
easat-7370	151	2	,	,	PUNCT
easat-7370	151	3	the	the	DET
easat-7370	151	4	expected	expect	VERB
easat-7370	151	5	state	state	NOUN
easat-7370	151	6	is	be	AUX
easat-7370	151	7	used	use	VERB
easat-7370	151	8	to	to	ADP
easat-7370	151	9	2022	2022	NUM
easat-7370	151	10	edelweiss	edelweiss	PROPN
easat-7370	151	11	applied	apply	VERB
easat-7370	151	12	science	science	NOUN
easat-7370	151	13	and	and	CCONJ
easat-7370	151	14	technology	technology	NOUN
easat-7370	151	15	issn	issn	PROPN
easat-7370	151	16	:	:	PUNCT
easat-7370	151	17	2576	2576	NUM
easat-7370	151	18	-	-	SYM
easat-7370	151	19	8484	8484	NUM
easat-7370	151	20	vol	vol	NOUN
easat-7370	151	21	.	.	PROPN
easat-7370	152	1	9	9	NUM
easat-7370	152	2	,	,	PUNCT
easat-7370	152	3	no	no	INTJ
easat-7370	152	4	.	.	NOUN
easat-7370	152	5	5	5	NUM
easat-7370	152	6	:	:	SYM
easat-7370	152	7	2017	2017	NUM
easat-7370	152	8	-	-	SYM
easat-7370	152	9	2026	2026	NUM
easat-7370	152	10	,	,	PUNCT
easat-7370	152	11	2025	2025	NUM
easat-7370	152	12	doi	doi	NOUN
easat-7370	152	13	:	:	PUNCT
easat-7370	152	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	152	15	©	©	PROPN
easat-7370	152	16	2025	2025	NUM
easat-7370	152	17	by	by	ADP
easat-7370	152	18	the	the	DET
easat-7370	152	19	authors	author	NOUN
easat-7370	152	20	;	;	PUNCT
easat-7370	152	21	licensee	licensee	PROPN
easat-7370	152	22	learning	learning	PROPN
easat-7370	152	23	gate	gate	PROPN
easat-7370	152	24	compute	compute	PROPN
easat-7370	152	25	the	the	DET
easat-7370	152	26	predicted	predict	VERB
easat-7370	152	27	measurement	measurement	NOUN
easat-7370	152	28	,	,	PUNCT
easat-7370	152	29	and	and	CCONJ
easat-7370	152	30	the	the	DET
easat-7370	152	31	functions	function	NOUN
easat-7370	152	32	f	f	PROPN
easat-7370	152	33	and	and	CCONJ
easat-7370	152	34	h	h	NOUN
easat-7370	152	35	assist	assist	VERB
easat-7370	152	36	in	in	ADP
easat-7370	152	37	estimating	estimate	VERB
easat-7370	152	38	the	the	DET
easat-7370	152	39	anticipated	anticipated	ADJ
easat-7370	152	40	state	state	NOUN
easat-7370	152	41	by	by	ADP
easat-7370	152	42	utilizing	utilize	VERB
easat-7370	152	43	the	the	DET
easat-7370	152	44	prior	prior	ADJ
easat-7370	152	45	estimate	estimate	NOUN
easat-7370	152	46	.	.	PUNCT
easat-7370	153	1	however	however	ADV
easat-7370	153	2	,	,	PUNCT
easat-7370	153	3	f	f	PROPN
easat-7370	153	4	and	and	CCONJ
easat-7370	153	5	h	h	NOUN
easat-7370	153	6	can	can	AUX
easat-7370	153	7	not	not	PART
easat-7370	153	8	be	be	AUX
easat-7370	153	9	applied	apply	VERB
easat-7370	153	10	straight	straight	ADV
easat-7370	153	11	to	to	ADP
easat-7370	153	12	the	the	DET
easat-7370	153	13	covariance	covariance	NOUN
easat-7370	153	14	.	.	PUNCT
easat-7370	154	1	thus	thus	ADV
easat-7370	154	2	,	,	PUNCT
easat-7370	154	3	the	the	DET
easat-7370	154	4	computation	computation	NOUN
easat-7370	154	5	of	of	ADP
easat-7370	154	6	a	a	DET
easat-7370	154	7	matrix	matrix	NOUN
easat-7370	154	8	of	of	ADP
easat-7370	154	9	partial	partial	ADJ
easat-7370	154	10	derivatives	derivative	NOUN
easat-7370	154	11	,	,	PUNCT
easat-7370	154	12	or	or	CCONJ
easat-7370	154	13	the	the	DET
easat-7370	154	14	jacobian	jacobian	ADJ
easat-7370	154	15	,	,	PUNCT
easat-7370	154	16	is	be	AUX
easat-7370	154	17	necessary	necessary	ADJ
easat-7370	154	18	.	.	PUNCT
easat-7370	155	1	the	the	DET
easat-7370	155	2	jacobian	jacobian	PROPN
easat-7370	155	3	is	be	AUX
easat-7370	155	4	computed	compute	VERB
easat-7370	155	5	at	at	ADP
easat-7370	155	6	each	each	DET
easat-7370	155	7	time	time	NOUN
easat-7370	155	8	step	step	NOUN
easat-7370	155	9	using	use	VERB
easat-7370	155	10	the	the	DET
easat-7370	155	11	current	current	ADJ
easat-7370	155	12	expected	expect	VERB
easat-7370	155	13	states	state	NOUN
easat-7370	155	14	as	as	ADP
easat-7370	155	15	guidance	guidance	NOUN
easat-7370	155	16	.	.	PUNCT
easat-7370	156	1	these	these	DET
easat-7370	156	2	matrices	matrix	NOUN
easat-7370	156	3	are	be	AUX
easat-7370	156	4	employed	employ	VERB
easat-7370	156	5	in	in	ADP
easat-7370	156	6	the	the	DET
easat-7370	156	7	kf	kf	PROPN
easat-7370	156	8	equations	equation	NOUN
easat-7370	156	9	.	.	PUNCT
easat-7370	157	1	in	in	ADP
easat-7370	157	2	actuality	actuality	NOUN
easat-7370	157	3	,	,	PUNCT
easat-7370	157	4	the	the	DET
easat-7370	157	5	non	non	ADJ
easat-7370	157	6	-	-	ADJ
easat-7370	157	7	linear	linear	ADJ
easat-7370	157	8	function	function	NOUN
easat-7370	157	9	around	around	ADP
easat-7370	157	10	the	the	DET
easat-7370	157	11	current	current	ADJ
easat-7370	157	12	estimate	estimate	NOUN
easat-7370	157	13	is	be	AUX
easat-7370	157	14	linearized	linearize	VERB
easat-7370	157	15	by	by	ADP
easat-7370	157	16	this	this	DET
easat-7370	157	17	method	method	NOUN
easat-7370	157	18	.	.	PUNCT
easat-7370	158	1	7.1	7.1	NUM
easat-7370	158	2	.	.	PUNCT
easat-7370	159	1	the	the	DET
easat-7370	159	2	predict	predict	NOUN
easat-7370	159	3	and	and	CCONJ
easat-7370	159	4	the	the	DET
easat-7370	159	5	update	update	NOUN
easat-7370	159	6	equations	equation	NOUN
easat-7370	159	7	1the	1the	PROPN
easat-7370	159	8	predicted	predict	VERB
easat-7370	159	9	state	state	NOUN
easat-7370	159	10	𝑥𝑘(𝑘−1	𝑥𝑘(𝑘−1	PROPN
easat-7370	159	11	)	)	PUNCT
easat-7370	159	12	=	=	SYM
easat-7370	160	1	𝑓(𝑥ℎ−1/𝑘−1.𝑢𝑘−1	𝑓(𝑥ℎ−1/𝑘−1.𝑢𝑘−1	PROPN
easat-7370	160	2	)	)	PUNCT
easat-7370	160	3	athe	athe	PROPN
easat-7370	160	4	predicted	predict	VERB
easat-7370	160	5	estimate	estimate	NOUN
easat-7370	160	6	of	of	ADP
easat-7370	160	7	covariance	covariance	NOUN
easat-7370	160	8	𝑃𝑘|𝑘−1	𝑃𝑘|𝑘−1	NOUN
easat-7370	160	9	=	=	SYM
easat-7370	160	10	𝐹𝑘−1𝑃𝑘−1|𝑘−1𝐹𝑘−1	𝐹𝑘−1𝑃𝑘−1|𝑘−1𝐹𝑘−1	PROPN
easat-7370	161	1	+	+	NUM
easat-7370	161	2	𝑄𝑘−1	𝑄𝑘−1	PROPN
easat-7370	161	3	bthe	bthe	DET
easat-7370	161	4	innovation	innovation	NOUN
easat-7370	161	5	or	or	CCONJ
easat-7370	161	6	the	the	DET
easat-7370	161	7	measurement	measurement	NOUN
easat-7370	161	8	residual	residual	ADJ
easat-7370	161	9	𝑥𝑘	𝑥𝑘	X
easat-7370	161	10	=	=	SYM
easat-7370	161	11	(	(	PUNCT
easat-7370	161	12	𝑧𝑘	𝑧𝑘	PROPN
easat-7370	161	13	−	−	PROPN
easat-7370	161	14	ℎ(𝑥𝑘|𝑘−1	ℎ(𝑥𝑘|𝑘−1	PROPN
easat-7370	161	15	)	)	PUNCT
easat-7370	161	16	cthe	cthe	ADJ
easat-7370	161	17	innovation	innovation	NOUN
easat-7370	161	18	(	(	PUNCT
easat-7370	161	19	or	or	CCONJ
easat-7370	161	20	the	the	DET
easat-7370	161	21	residual	residual	ADJ
easat-7370	161	22	)	)	PUNCT
easat-7370	161	23	covariance	covariance	NOUN
easat-7370	161	24	𝑆𝑘	𝑆𝑘	PROPN
easat-7370	161	25	=	=	SYM
easat-7370	161	26	𝐻𝑘	𝐻𝑘	PROPN
easat-7370	161	27	𝑃𝑘|𝑘−1	𝑃𝑘|𝑘−1	NOUN
easat-7370	161	28	𝐻𝐾	𝐻𝐾	PROPN
easat-7370	161	29	𝑇	𝑇	PROPN
easat-7370	161	30	+	+	CCONJ
easat-7370	161	31	𝑅𝑘	𝑅𝑘	PRON
easat-7370	161	32	dthe	dthe	ADJ
easat-7370	161	33	optimal	optimal	ADJ
easat-7370	161	34	the	the	DET
easat-7370	161	35	kalman	kalman	NOUN
easat-7370	161	36	gain	gain	VERB
easat-7370	161	37	𝐾𝑘	𝐾𝑘	PROPN
easat-7370	161	38	=	=	PUNCT
easat-7370	161	39	𝑃𝑘|𝑘−1	𝑃𝑘|𝑘−1	NOUN
easat-7370	161	40	𝐻𝐾	𝐻𝐾	PROPN
easat-7370	161	41	𝑇	𝑇	PROPN
easat-7370	161	42	𝑆𝐾	𝑆𝐾	PROPN
easat-7370	161	43	−1	−1	NOUN
easat-7370	161	44	2the	2the	PROPN
easat-7370	161	45	update	update	NOUN
easat-7370	161	46	step	step	NOUN
easat-7370	161	47	athe	athe	PROPN
easat-7370	161	48	updated	update	VERB
easat-7370	161	49	state	state	NOUN
easat-7370	161	50	of	of	ADP
easat-7370	161	51	the	the	DET
easat-7370	161	52	estimation	estimation	NOUN
easat-7370	161	53	𝑥𝑘|𝑘	𝑥𝑘|𝑘	NOUN
easat-7370	161	54	=	=	PUNCT
easat-7370	162	1	𝑥𝑘|𝑘−1	𝑥𝑘|𝑘−1	PROPN
easat-7370	162	2	+	+	ADJ
easat-7370	162	3	𝐾𝑘	𝐾𝑘	PROPN
easat-7370	162	4	�	�	NOUN
easat-7370	162	5	̌	̌	NUM
easat-7370	162	6	�	�	PROPN
easat-7370	162	7	𝑘	𝑘	NOUN
easat-7370	162	8	bthe	bthe	DET
easat-7370	162	9	updated	update	VERB
easat-7370	162	10	estimation	estimation	NOUN
easat-7370	162	11	covariance	covariance	NOUN
easat-7370	162	12	𝑃𝑘|𝑘	𝑃𝑘|𝑘	NOUN
easat-7370	162	13	=	=	PUNCT
easat-7370	162	14	(	(	PUNCT
easat-7370	162	15	1	1	NUM
easat-7370	162	16	−	−	NOUN
easat-7370	162	17	𝐾𝑘𝐻𝑘)𝑃𝑘|𝑘−1	𝐾𝑘𝐻𝑘)𝑃𝑘|𝑘−1	NUM
easat-7370	162	18	where	where	SCONJ
easat-7370	162	19	the	the	DET
easat-7370	162	20	following	follow	VERB
easat-7370	162	21	jacobians	jacobian	NOUN
easat-7370	162	22	are	be	AUX
easat-7370	162	23	defined	define	VERB
easat-7370	162	24	as	as	ADP
easat-7370	162	25	the	the	DET
easat-7370	162	26	state	state	NOUN
easat-7370	162	27	transition	transition	NOUN
easat-7370	162	28	and	and	CCONJ
easat-7370	162	29	the	the	DET
easat-7370	162	30	observation	observation	NOUN
easat-7370	162	31	matrices	matrix	NOUN
easat-7370	162	32	.	.	PUNCT
easat-7370	163	1	𝐾𝑘−1	𝐾𝑘−1	NOUN
easat-7370	163	2	=	=	PUNCT
easat-7370	164	1	𝜕𝑓	𝜕𝑓	ADJ
easat-7370	164	2	𝜕𝑥	𝜕𝑥	NOUN
easat-7370	164	3	|𝑥𝑘−1|𝑘−1,𝑈𝑘−1	|𝑥𝑘−1|𝑘−1,𝑈𝑘−1	VERB
easat-7370	164	4	𝐻𝑘	𝐻𝑘	PROPN
easat-7370	164	5	=	=	PUNCT
easat-7370	164	6	𝜕ℎ	𝜕ℎ	ADP
easat-7370	164	7	𝜕𝑥	𝜕𝑥	ADJ
easat-7370	164	8	|𝑥𝑘|𝑘−|	|𝑥𝑘|𝑘−|	PROPN
easat-7370	164	9	2023	2023	NUM
easat-7370	164	10	edelweiss	edelweiss	PROPN
easat-7370	164	11	applied	apply	VERB
easat-7370	164	12	science	science	NOUN
easat-7370	164	13	and	and	CCONJ
easat-7370	164	14	technology	technology	NOUN
easat-7370	164	15	issn	issn	PROPN
easat-7370	164	16	:	:	PUNCT
easat-7370	164	17	2576	2576	NUM
easat-7370	164	18	-	-	SYM
easat-7370	164	19	8484	8484	NUM
easat-7370	164	20	vol	vol	NOUN
easat-7370	164	21	.	.	PROPN
easat-7370	165	1	9	9	NUM
easat-7370	165	2	,	,	PUNCT
easat-7370	165	3	no	no	INTJ
easat-7370	165	4	.	.	NOUN
easat-7370	165	5	5	5	NUM
easat-7370	165	6	:	:	SYM
easat-7370	165	7	2017	2017	NUM
easat-7370	165	8	-	-	SYM
easat-7370	165	9	2026	2026	NUM
easat-7370	165	10	,	,	PUNCT
easat-7370	165	11	2025	2025	NUM
easat-7370	165	12	doi	doi	NOUN
easat-7370	165	13	:	:	PUNCT
easat-7370	165	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	165	15	©	©	PROPN
easat-7370	165	16	2025	2025	NUM
easat-7370	165	17	by	by	ADP
easat-7370	165	18	the	the	DET
easat-7370	165	19	authors	author	NOUN
easat-7370	165	20	;	;	PUNCT
easat-7370	166	1	licensee	licensee	PROPN
easat-7370	166	2	learning	learn	VERB
easat-7370	166	3	gate	gate	NOUN
easat-7370	166	4	figure	figure	NOUN
easat-7370	166	5	4	4	NUM
easat-7370	166	6	.	.	PUNCT
easat-7370	166	7	flow	flow	VERB
easat-7370	166	8	chart	chart	NOUN
easat-7370	166	9	of	of	ADP
easat-7370	166	10	improved	improved	ADJ
easat-7370	166	11	ekf	ekf	PROPN
easat-7370	166	12	.	.	PUNCT
easat-7370	167	1	2024	2024	NUM
easat-7370	167	2	edelweiss	edelweiss	PROPN
easat-7370	167	3	applied	apply	VERB
easat-7370	167	4	science	science	NOUN
easat-7370	167	5	and	and	CCONJ
easat-7370	167	6	technology	technology	NOUN
easat-7370	167	7	issn	issn	PROPN
easat-7370	167	8	:	:	PUNCT
easat-7370	167	9	2576	2576	NUM
easat-7370	167	10	-	-	SYM
easat-7370	167	11	8484	8484	NUM
easat-7370	167	12	vol	vol	NOUN
easat-7370	167	13	.	.	PROPN
easat-7370	168	1	9	9	NUM
easat-7370	168	2	,	,	PUNCT
easat-7370	168	3	no	no	INTJ
easat-7370	168	4	.	.	NOUN
easat-7370	168	5	5	5	NUM
easat-7370	168	6	:	:	SYM
easat-7370	168	7	2017	2017	NUM
easat-7370	168	8	-	-	SYM
easat-7370	168	9	2026	2026	NUM
easat-7370	168	10	,	,	PUNCT
easat-7370	168	11	2025	2025	NUM
easat-7370	168	12	doi	doi	NOUN
easat-7370	168	13	:	:	PUNCT
easat-7370	168	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	168	15	©	©	PROPN
easat-7370	168	16	2025	2025	NUM
easat-7370	168	17	by	by	ADP
easat-7370	168	18	the	the	DET
easat-7370	168	19	authors	author	NOUN
easat-7370	168	20	;	;	PUNCT
easat-7370	168	21	licensee	licensee	PROPN
easat-7370	168	22	learning	learn	VERB
easat-7370	168	23	gate	gate	NOUN
easat-7370	168	24	table	table	NOUN
easat-7370	168	25	2	2	NUM
easat-7370	168	26	.	.	X
easat-7370	168	27	enhancement	enhancement	NOUN
easat-7370	168	28	of	of	ADP
easat-7370	168	29	use	use	NOUN
easat-7370	168	30	extended	extend	VERB
easat-7370	168	31	kalman	kalman	NOUN
easat-7370	168	32	filter	filter	NOUN
easat-7370	168	33	.	.	PUNCT
easat-7370	169	1	factors	factor	NOUN
easat-7370	169	2	ekf	ekf	VERB
easat-7370	169	3	accurate	accurate	ADJ
easat-7370	169	4	more	more	ADV
easat-7370	169	5	accurate	accurate	ADJ
easat-7370	169	6	than	than	ADP
easat-7370	169	7	other	other	ADJ
easat-7370	169	8	localization	localization	NOUN
easat-7370	169	9	approaches	approach	NOUN
easat-7370	169	10	.	.	PUNCT
easat-7370	170	1	the	the	DET
easat-7370	170	2	ekf	ekf	NOUN
easat-7370	170	3	maintains	maintain	VERB
easat-7370	170	4	the	the	DET
easat-7370	170	5	recursive	recursive	ADJ
easat-7370	170	6	update	update	NOUN
easat-7370	170	7	version	version	NOUN
easat-7370	170	8	of	of	ADP
easat-7370	170	9	the	the	DET
easat-7370	170	10	kalman	kalman	PROPN
easat-7370	170	11	filter	filter	PROPN
easat-7370	170	12	,	,	PUNCT
easat-7370	170	13	which	which	PRON
easat-7370	170	14	is	be	AUX
easat-7370	170	15	computationally	computationally	ADV
easat-7370	170	16	effective	effective	ADJ
easat-7370	170	17	[	[	X
easat-7370	170	18	19	19	NUM
easat-7370	170	19	]	]	PUNCT
easat-7370	170	20	.	.	PUNCT
easat-7370	171	1	estimation	estimation	NOUN
easat-7370	171	2	an	an	DET
easat-7370	171	3	improvement	improvement	NOUN
easat-7370	171	4	in	in	ADP
easat-7370	171	5	prediction	prediction	NOUN
easat-7370	171	6	error	error	NOUN
easat-7370	171	7	estimation	estimation	NOUN
easat-7370	171	8	and	and	CCONJ
easat-7370	171	9	the	the	DET
easat-7370	171	10	estimated	estimate	VERB
easat-7370	171	11	noise	noise	NOUN
easat-7370	171	12	covariance	covariance	NOUN
easat-7370	171	13	matrix	matrix	NOUN
easat-7370	171	14	.	.	PUNCT
easat-7370	172	1	suggested	suggest	VERB
easat-7370	172	2	algorithm	algorithm	NOUN
easat-7370	172	3	by	by	ADP
easat-7370	172	4	modifying	modify	VERB
easat-7370	172	5	an	an	DET
easat-7370	172	6	array	array	NOUN
easat-7370	172	7	's	's	PART
easat-7370	172	8	geometry	geometry	NOUN
easat-7370	172	9	,	,	PUNCT
easat-7370	172	10	the	the	DET
easat-7370	172	11	suggested	suggest	VERB
easat-7370	172	12	algorithm	algorithm	NOUN
easat-7370	172	13	's	's	PART
easat-7370	172	14	accuracy	accuracy	NOUN
easat-7370	172	15	could	could	AUX
easat-7370	172	16	be	be	AUX
easat-7370	172	17	further	far	ADV
easat-7370	172	18	increased	increase	VERB
easat-7370	172	19	.	.	PUNCT
easat-7370	173	1	use	use	VERB
easat-7370	173	2	the	the	DET
easat-7370	173	3	extended	extend	VERB
easat-7370	173	4	kalman	kalman	NOUN
easat-7370	173	5	filter	filter	NOUN
easat-7370	173	6	is	be	AUX
easat-7370	173	7	a	a	DET
easat-7370	173	8	valuable	valuable	ADJ
easat-7370	173	9	tool	tool	NOUN
easat-7370	173	10	when	when	SCONJ
easat-7370	173	11	dealing	deal	VERB
easat-7370	173	12	with	with	ADP
easat-7370	173	13	nonlinear	nonlinear	ADJ
easat-7370	173	14	systems	system	NOUN
easat-7370	173	15	.	.	PUNCT
easat-7370	174	1	table	table	NOUN
easat-7370	174	2	2	2	NUM
easat-7370	174	3	shows	show	VERB
easat-7370	174	4	the	the	DET
easat-7370	174	5	enhancement	enhancement	NOUN
easat-7370	174	6	of	of	ADP
easat-7370	174	7	ekf	ekf	NOUN
easat-7370	174	8	in	in	ADP
easat-7370	174	9	different	different	ADJ
easat-7370	174	10	factors	factor	NOUN
easat-7370	174	11	where	where	SCONJ
easat-7370	174	12	ekf	ekf	NOUN
easat-7370	174	13	is	be	AUX
easat-7370	174	14	more	more	ADV
easat-7370	174	15	accurate	accurate	ADJ
easat-7370	174	16	compared	compare	VERB
easat-7370	174	17	with	with	ADP
easat-7370	174	18	other	other	ADJ
easat-7370	174	19	navigation	navigation	NOUN
easat-7370	174	20	processes	process	NOUN
easat-7370	174	21	.	.	PUNCT
easat-7370	175	1	8	8	X
easat-7370	175	2	.	.	X
easat-7370	175	3	conclusion	conclusion	NOUN
easat-7370	175	4	ekf	ekf	NOUN
easat-7370	175	5	is	be	AUX
easat-7370	175	6	a	a	DET
easat-7370	175	7	good	good	ADJ
easat-7370	175	8	solution	solution	NOUN
easat-7370	175	9	for	for	ADP
easat-7370	175	10	issues	issue	NOUN
easat-7370	175	11	involving	involve	VERB
easat-7370	175	12	estimation	estimation	NOUN
easat-7370	175	13	process	process	NOUN
easat-7370	175	14	.	.	PUNCT
easat-7370	176	1	this	this	DET
easat-7370	176	2	paper	paper	NOUN
easat-7370	176	3	presents	present	VERB
easat-7370	176	4	an	an	DET
easat-7370	176	5	improved	improved	ADJ
easat-7370	176	6	navigation	navigation	NOUN
easat-7370	176	7	method	method	NOUN
easat-7370	176	8	according	accord	VERB
easat-7370	176	9	to	to	ADP
easat-7370	176	10	the	the	DET
easat-7370	176	11	extended	extended	ADJ
easat-7370	176	12	kalman	kalman	NOUN
easat-7370	176	13	filter	filter	NOUN
easat-7370	176	14	which	which	PRON
easat-7370	176	15	enhances	enhance	VERB
easat-7370	176	16	the	the	DET
easat-7370	176	17	navigation	navigation	NOUN
easat-7370	176	18	process	process	NOUN
easat-7370	176	19	.	.	PUNCT
easat-7370	177	1	this	this	DET
easat-7370	177	2	work	work	NOUN
easat-7370	177	3	aims	aim	VERB
easat-7370	177	4	to	to	PART
easat-7370	177	5	investigate	investigate	VERB
easat-7370	177	6	a	a	DET
easat-7370	177	7	mobile	mobile	ADJ
easat-7370	177	8	robot	robot	NOUN
easat-7370	177	9	localization	localization	NOUN
easat-7370	177	10	method	method	NOUN
easat-7370	177	11	that	that	PRON
easat-7370	177	12	uses	use	VERB
easat-7370	177	13	the	the	DET
easat-7370	177	14	ekf	ekf	NOUN
easat-7370	177	15	to	to	PART
easat-7370	177	16	determine	determine	VERB
easat-7370	177	17	an	an	DET
easat-7370	177	18	accurate	accurate	ADJ
easat-7370	177	19	mobile	mobile	ADJ
easat-7370	177	20	robot	robot	NOUN
easat-7370	177	21	location	location	NOUN
easat-7370	177	22	.	.	PUNCT
easat-7370	178	1	the	the	DET
easat-7370	178	2	resulting	result	VERB
easat-7370	178	3	expressions	expression	NOUN
easat-7370	178	4	exhibit	exhibit	VERB
easat-7370	178	5	unity	unity	NOUN
easat-7370	178	6	in	in	ADP
easat-7370	178	7	that	that	SCONJ
easat-7370	178	8	they	they	PRON
easat-7370	178	9	apply	apply	VERB
easat-7370	178	10	to	to	ADP
easat-7370	178	11	different	different	ADJ
easat-7370	178	12	situations	situation	NOUN
easat-7370	178	13	involving	involve	VERB
easat-7370	178	14	investigating	investigate	VERB
easat-7370	178	15	localization	localization	NOUN
easat-7370	178	16	procedures	procedure	NOUN
easat-7370	178	17	.	.	PUNCT
easat-7370	179	1	the	the	DET
easat-7370	179	2	combined	combined	ADJ
easat-7370	179	3	observation	observation	NOUN
easat-7370	179	4	can	can	AUX
easat-7370	179	5	approximately	approximately	ADV
easat-7370	179	6	eliminate	eliminate	VERB
easat-7370	179	7	measurement	measurement	NOUN
easat-7370	179	8	errors	error	NOUN
easat-7370	179	9	and	and	CCONJ
easat-7370	179	10	improve	improve	VERB
easat-7370	179	11	the	the	DET
easat-7370	179	12	accuracy	accuracy	NOUN
easat-7370	179	13	of	of	ADP
easat-7370	179	14	cooperative	cooperative	ADJ
easat-7370	179	15	navigation	navigation	NOUN
easat-7370	179	16	.	.	PUNCT
easat-7370	180	1	references	reference	NOUN
easat-7370	180	2	[	[	X
easat-7370	180	3	1	1	X
easat-7370	180	4	]	]	PUNCT
easat-7370	180	5	e.	e.	PROPN
easat-7370	180	6	colle	colle	PROPN
easat-7370	180	7	and	and	CCONJ
easat-7370	180	8	s.	s.	PROPN
easat-7370	180	9	galerne	galerne	PROPN
easat-7370	180	10	,	,	PUNCT
easat-7370	180	11	"	"	PUNCT
easat-7370	180	12	a	a	DET
easat-7370	180	13	robust	robust	ADJ
easat-7370	180	14	set	set	NOUN
easat-7370	180	15	approach	approach	NOUN
easat-7370	180	16	for	for	ADP
easat-7370	180	17	mobile	mobile	ADJ
easat-7370	180	18	robot	robot	NOUN
easat-7370	180	19	localization	localization	NOUN
easat-7370	180	20	in	in	ADP
easat-7370	180	21	ambient	ambient	ADJ
easat-7370	180	22	environment	environment	NOUN
easat-7370	180	23	,	,	PUNCT
easat-7370	180	24	"	"	PUNCT
easat-7370	180	25	autonomous	autonomous	ADJ
easat-7370	180	26	robots	robot	NOUN
easat-7370	180	27	,	,	PUNCT
easat-7370	180	28	vol	vol	NOUN
easat-7370	180	29	.	.	PROPN
easat-7370	180	30	43	43	NUM
easat-7370	180	31	,	,	PUNCT
easat-7370	180	32	pp	pp	ADJ
easat-7370	180	33	.	.	PUNCT
easat-7370	181	1	557	557	NUM
easat-7370	181	2	-	-	SYM
easat-7370	181	3	573	573	NUM
easat-7370	181	4	,	,	PUNCT
easat-7370	181	5	2019	2019	NUM
easat-7370	181	6	.	.	PUNCT
easat-7370	182	1	[	[	X
easat-7370	182	2	2	2	NUM
easat-7370	182	3	]	]	PUNCT
easat-7370	182	4	a.	a.	NOUN
easat-7370	182	5	de	de	PROPN
easat-7370	182	6	oliveira	oliveira	PROPN
easat-7370	182	7	júnior	júnior	PROPN
easat-7370	182	8	,	,	PUNCT
easat-7370	182	9	l.	l.	PROPN
easat-7370	182	10	piardi	piardi	PROPN
easat-7370	182	11	,	,	PUNCT
easat-7370	182	12	e.	e.	PROPN
easat-7370	182	13	g.	g.	PROPN
easat-7370	182	14	bertogna	bertogna	PROPN
easat-7370	182	15	,	,	PUNCT
easat-7370	182	16	and	and	CCONJ
easat-7370	182	17	p.	p.	PROPN
easat-7370	182	18	leitão	leitão	PROPN
easat-7370	182	19	,	,	PUNCT
easat-7370	182	20	"	"	PUNCT
easat-7370	182	21	improving	improve	VERB
easat-7370	182	22	the	the	DET
easat-7370	182	23	mobile	mobile	ADJ
easat-7370	182	24	robots	robot	NOUN
easat-7370	182	25	indoor	indoor	ADJ
easat-7370	182	26	localization	localization	NOUN
easat-7370	182	27	system	system	NOUN
easat-7370	182	28	by	by	ADP
easat-7370	182	29	combining	combine	VERB
easat-7370	182	30	slam	slam	NOUN
easat-7370	182	31	with	with	ADP
easat-7370	182	32	fiducial	fiducial	ADJ
easat-7370	182	33	markers	marker	NOUN
easat-7370	182	34	,	,	PUNCT
easat-7370	182	35	"	"	PUNCT
easat-7370	182	36	in	in	ADP
easat-7370	182	37	2021	2021	NUM
easat-7370	182	38	latin	latin	ADJ
easat-7370	182	39	american	american	ADJ
easat-7370	182	40	robotics	robotic	NOUN
easat-7370	182	41	symposium	symposium	NOUN
easat-7370	182	42	(	(	PUNCT
easat-7370	182	43	lars	lars	PROPN
easat-7370	182	44	)	)	PUNCT
easat-7370	182	45	,	,	PUNCT
easat-7370	182	46	2021	2021	NUM
easat-7370	182	47	brazilian	brazilian	ADJ
easat-7370	182	48	symposium	symposium	NOUN
easat-7370	182	49	on	on	ADP
easat-7370	182	50	robotics	robotic	NOUN
easat-7370	182	51	(	(	PUNCT
easat-7370	182	52	sbr	sbr	NOUN
easat-7370	182	53	)	)	PUNCT
easat-7370	182	54	,	,	PUNCT
easat-7370	182	55	and	and	CCONJ
easat-7370	182	56	2021	2021	NUM
easat-7370	182	57	workshop	workshop	NOUN
easat-7370	182	58	on	on	ADP
easat-7370	182	59	robotics	robotic	NOUN
easat-7370	182	60	in	in	ADP
easat-7370	182	61	education	education	NOUN
easat-7370	182	62	(	(	PUNCT
easat-7370	182	63	wre	wre	PROPN
easat-7370	182	64	)	)	PUNCT
easat-7370	182	65	,	,	PUNCT
easat-7370	182	66	2021	2021	NUM
easat-7370	182	67	:	:	PUNCT
easat-7370	182	68	ieee	ieee	NOUN
easat-7370	182	69	,	,	PUNCT
easat-7370	182	70	pp	pp	ADP
easat-7370	182	71	.	.	PUNCT
easat-7370	182	72	234	234	NUM
easat-7370	182	73	-	-	SYM
easat-7370	182	74	239	239	NUM
easat-7370	182	75	.	.	PUNCT
easat-7370	183	1	[	[	X
easat-7370	183	2	3	3	X
easat-7370	183	3	]	]	PUNCT
easat-7370	183	4	s.	s.	PROPN
easat-7370	183	5	j.	j.	PROPN
easat-7370	183	6	al	al	PROPN
easat-7370	183	7	-	-	PROPN
easat-7370	183	8	kamil	kamil	PROPN
easat-7370	183	9	and	and	CCONJ
easat-7370	183	10	r.	r.	PROPN
easat-7370	183	11	szabolcsi	szabolcsi	PROPN
easat-7370	183	12	,	,	PUNCT
easat-7370	183	13	"	"	PUNCT
easat-7370	183	14	enhancing	enhance	VERB
easat-7370	183	15	mobile	mobile	ADJ
easat-7370	183	16	robot	robot	NOUN
easat-7370	183	17	navigation	navigation	NOUN
easat-7370	183	18	:	:	PUNCT
easat-7370	183	19	optimization	optimization	NOUN
easat-7370	183	20	of	of	ADP
easat-7370	183	21	trajectories	trajectory	NOUN
easat-7370	183	22	through	through	ADP
easat-7370	183	23	machine	machine	NOUN
easat-7370	183	24	learning	learn	VERB
easat-7370	183	25	techniques	technique	NOUN
easat-7370	183	26	for	for	ADP
easat-7370	183	27	improved	improved	ADJ
easat-7370	183	28	path	path	NOUN
easat-7370	183	29	planning	planning	NOUN
easat-7370	183	30	efficiency	efficiency	NOUN
easat-7370	183	31	,	,	PUNCT
easat-7370	183	32	"	"	PUNCT
easat-7370	183	33	mathematics	mathematic	NOUN
easat-7370	183	34	,	,	PUNCT
easat-7370	183	35	vol	vol	NOUN
easat-7370	183	36	.	.	PROPN
easat-7370	183	37	12	12	NUM
easat-7370	183	38	,	,	PUNCT
easat-7370	183	39	no	no	INTJ
easat-7370	183	40	.	.	NOUN
easat-7370	183	41	12	12	NUM
easat-7370	183	42	,	,	PUNCT
easat-7370	183	43	p.	p.	NOUN
easat-7370	183	44	1787	1787	NUM
easat-7370	183	45	,	,	PUNCT
easat-7370	183	46	2024	2024	NUM
easat-7370	183	47	.	.	PUNCT
easat-7370	184	1	https://doi.org/10.3390/math12121787	https://doi.org/10.3390/math12121787	ADJ
easat-7370	184	2	[	[	X
easat-7370	184	3	4	4	NUM
easat-7370	184	4	]	]	X
easat-7370	184	5	f.	f.	PROPN
easat-7370	184	6	rubio	rubio	PROPN
easat-7370	184	7	,	,	PUNCT
easat-7370	184	8	f.	f.	PROPN
easat-7370	184	9	valero	valero	PROPN
easat-7370	184	10	,	,	PUNCT
easat-7370	184	11	and	and	CCONJ
easat-7370	184	12	c.	c.	PROPN
easat-7370	184	13	llopis	llopis	PROPN
easat-7370	184	14	-	-	PUNCT
easat-7370	184	15	albert	albert	PROPN
easat-7370	184	16	,	,	PUNCT
easat-7370	184	17	"	"	PUNCT
easat-7370	184	18	a	a	DET
easat-7370	184	19	review	review	NOUN
easat-7370	184	20	of	of	ADP
easat-7370	184	21	mobile	mobile	ADJ
easat-7370	184	22	robots	robot	NOUN
easat-7370	184	23	:	:	PUNCT
easat-7370	184	24	concepts	concept	NOUN
easat-7370	184	25	,	,	PUNCT
easat-7370	184	26	methods	method	NOUN
easat-7370	184	27	,	,	PUNCT
easat-7370	184	28	theoretical	theoretical	ADJ
easat-7370	184	29	framework	framework	NOUN
easat-7370	184	30	,	,	PUNCT
easat-7370	184	31	and	and	CCONJ
easat-7370	184	32	applications	application	NOUN
easat-7370	184	33	,	,	PUNCT
easat-7370	184	34	"	"	PUNCT
easat-7370	184	35	international	international	ADJ
easat-7370	184	36	journal	journal	NOUN
easat-7370	184	37	of	of	ADP
easat-7370	184	38	advanced	advanced	ADJ
easat-7370	184	39	robotic	robotic	ADJ
easat-7370	184	40	systems	system	NOUN
easat-7370	184	41	,	,	PUNCT
easat-7370	184	42	vol	vol	NOUN
easat-7370	184	43	.	.	PROPN
easat-7370	184	44	16	16	NUM
easat-7370	184	45	,	,	PUNCT
easat-7370	184	46	no	no	INTJ
easat-7370	184	47	.	.	NOUN
easat-7370	184	48	2	2	NUM
easat-7370	184	49	,	,	PUNCT
easat-7370	184	50	p.	p.	NOUN
easat-7370	184	51	1729881419839596	1729881419839596	NUM
easat-7370	184	52	,	,	PUNCT
easat-7370	184	53	2019	2019	NUM
easat-7370	184	54	.	.	PUNCT
easat-7370	185	1	[	[	X
easat-7370	185	2	5	5	X
easat-7370	185	3	]	]	PUNCT
easat-7370	185	4	s.	s.	PROPN
easat-7370	185	5	ashraf	ashraf	PROPN
easat-7370	185	6	,	,	PUNCT
easat-7370	185	7	m.	m.	NOUN
easat-7370	185	8	gao	gao	PROPN
easat-7370	185	9	,	,	PUNCT
easat-7370	185	10	z.	z.	PROPN
easat-7370	185	11	chen	chen	PROPN
easat-7370	185	12	,	,	PUNCT
easat-7370	185	13	s.	s.	PROPN
easat-7370	185	14	k.	k.	PROPN
easat-7370	185	15	haider	haider	PROPN
easat-7370	185	16	,	,	PUNCT
easat-7370	185	17	and	and	CCONJ
easat-7370	185	18	z.	z.	PROPN
easat-7370	185	19	raza	raza	PROPN
easat-7370	185	20	,	,	PUNCT
easat-7370	185	21	"	"	PUNCT
easat-7370	185	22	efficient	efficient	ADJ
easat-7370	185	23	node	node	NOUN
easat-7370	185	24	monitoring	monitoring	NOUN
easat-7370	185	25	mechanism	mechanism	NOUN
easat-7370	185	26	in	in	ADP
easat-7370	185	27	wsn	wsn	NOUN
easat-7370	185	28	using	use	VERB
easat-7370	185	29	contikimac	contikimac	NOUN
easat-7370	185	30	protocol	protocol	NOUN
easat-7370	185	31	,	,	PUNCT
easat-7370	185	32	"	"	PUNCT
easat-7370	185	33	international	international	ADJ
easat-7370	185	34	journal	journal	NOUN
easat-7370	185	35	of	of	ADP
easat-7370	185	36	advanced	advanced	ADJ
easat-7370	185	37	computer	computer	NOUN
easat-7370	185	38	science	science	NOUN
easat-7370	185	39	and	and	CCONJ
easat-7370	185	40	applications	application	NOUN
easat-7370	185	41	,	,	PUNCT
easat-7370	185	42	vol	vol	NOUN
easat-7370	185	43	.	.	PROPN
easat-7370	185	44	8	8	NUM
easat-7370	185	45	,	,	PUNCT
easat-7370	185	46	no	no	INTJ
easat-7370	185	47	.	.	NOUN
easat-7370	185	48	11	11	NUM
easat-7370	185	49	,	,	PUNCT
easat-7370	185	50	2017	2017	NUM
easat-7370	185	51	.	.	PUNCT
easat-7370	186	1	https://doi.org/10.14569/ijacsa.2017.081152	https://doi.org/10.14569/ijacsa.2017.081152	PROPN
easat-7370	187	1	[	[	X
easat-7370	187	2	6	6	NUM
easat-7370	187	3	]	]	X
easat-7370	187	4	i.	i.	PROPN
easat-7370	187	5	ullah	ullah	PROPN
easat-7370	187	6	,	,	PUNCT
easat-7370	187	7	j.	j.	PROPN
easat-7370	187	8	chen	chen	PROPN
easat-7370	187	9	,	,	PUNCT
easat-7370	187	10	x.	x.	PROPN
easat-7370	187	11	su	su	PROPN
easat-7370	187	12	,	,	PUNCT
easat-7370	187	13	c.	c.	PROPN
easat-7370	187	14	esposito	esposito	PROPN
easat-7370	187	15	,	,	PUNCT
easat-7370	187	16	and	and	CCONJ
easat-7370	187	17	c.	c.	PROPN
easat-7370	187	18	choi	choi	NOUN
easat-7370	187	19	,	,	PUNCT
easat-7370	187	20	"	"	PUNCT
easat-7370	187	21	localization	localization	NOUN
easat-7370	187	22	and	and	CCONJ
easat-7370	187	23	detection	detection	NOUN
easat-7370	187	24	of	of	ADP
easat-7370	187	25	targets	target	NOUN
easat-7370	187	26	in	in	ADP
easat-7370	187	27	underwater	underwater	ADJ
easat-7370	187	28	wireless	wireless	ADJ
easat-7370	187	29	sensor	sensor	NOUN
easat-7370	187	30	using	use	VERB
easat-7370	187	31	distance	distance	NOUN
easat-7370	187	32	and	and	CCONJ
easat-7370	187	33	angle	angle	NOUN
easat-7370	187	34	based	base	VERB
easat-7370	187	35	algorithms	algorithm	NOUN
easat-7370	187	36	,	,	PUNCT
easat-7370	187	37	"	"	PUNCT
easat-7370	187	38	ieee	ieee	NOUN
easat-7370	187	39	access	access	NOUN
easat-7370	187	40	,	,	PUNCT
easat-7370	187	41	vol	vol	NOUN
easat-7370	187	42	.	.	PROPN
easat-7370	187	43	7	7	NUM
easat-7370	187	44	,	,	PUNCT
easat-7370	187	45	pp	pp	ADJ
easat-7370	187	46	.	.	PUNCT
easat-7370	187	47	45693	45693	NUM
easat-7370	187	48	-	-	SYM
easat-7370	187	49	45704	45704	NUM
easat-7370	187	50	,	,	PUNCT
easat-7370	187	51	2019	2019	NUM
easat-7370	187	52	.	.	PUNCT
easat-7370	188	1	[	[	X
easat-7370	188	2	7	7	NUM
easat-7370	188	3	]	]	X
easat-7370	188	4	i.	i.	PROPN
easat-7370	188	5	ullah	ullah	PROPN
easat-7370	188	6	,	,	PUNCT
easat-7370	188	7	s.	s.	PROPN
easat-7370	188	8	qian	qian	PROPN
easat-7370	188	9	,	,	PUNCT
easat-7370	188	10	z.	z.	PROPN
easat-7370	188	11	deng	deng	PROPN
easat-7370	188	12	,	,	PUNCT
easat-7370	188	13	and	and	CCONJ
easat-7370	188	14	j.-h	j.-h	PROPN
easat-7370	188	15	.	.	PUNCT
easat-7370	189	1	lee	lee	PROPN
easat-7370	189	2	,	,	PUNCT
easat-7370	189	3	"	"	PUNCT
easat-7370	189	4	extended	extended	ADJ
easat-7370	189	5	kalman	kalman	NOUN
easat-7370	189	6	filter	filter	NOUN
easat-7370	189	7	-	-	PUNCT
easat-7370	189	8	based	base	VERB
easat-7370	189	9	localization	localization	NOUN
easat-7370	189	10	algorithm	algorithm	NOUN
easat-7370	189	11	by	by	ADP
easat-7370	189	12	edge	edge	NOUN
easat-7370	189	13	computing	computing	NOUN
easat-7370	189	14	in	in	ADP
easat-7370	189	15	wireless	wireless	ADJ
easat-7370	189	16	sensor	sensor	NOUN
easat-7370	189	17	networks	network	NOUN
easat-7370	189	18	,	,	PUNCT
easat-7370	189	19	"	"	PUNCT
easat-7370	189	20	digital	digital	ADJ
easat-7370	189	21	communications	communication	NOUN
easat-7370	189	22	and	and	CCONJ
easat-7370	189	23	networks	network	NOUN
easat-7370	189	24	,	,	PUNCT
easat-7370	189	25	vol	vol	NOUN
easat-7370	189	26	.	.	PROPN
easat-7370	189	27	7	7	NUM
easat-7370	189	28	,	,	PUNCT
easat-7370	189	29	no	no	INTJ
easat-7370	189	30	.	.	NOUN
easat-7370	189	31	2	2	NUM
easat-7370	189	32	,	,	PUNCT
easat-7370	189	33	pp	pp	ADJ
easat-7370	189	34	.	.	PUNCT
easat-7370	190	1	187	187	NUM
easat-7370	190	2	-	-	SYM
easat-7370	190	3	195	195	NUM
easat-7370	190	4	,	,	PUNCT
easat-7370	190	5	2021	2021	NUM
easat-7370	190	6	.	.	PUNCT
easat-7370	191	1	https://doi.org/10.1016/j.dcan.2020.08.002	https://doi.org/10.1016/j.dcan.2020.08.002	NOUN
easat-7370	192	1	[	[	X
easat-7370	192	2	8	8	NUM
easat-7370	192	3	]	]	X
easat-7370	192	4	y.	y.	PROPN
easat-7370	192	5	ge	ge	PROPN
easat-7370	192	6	,	,	PUNCT
easat-7370	192	7	p.	p.	NOUN
easat-7370	192	8	van	van	PROPN
easat-7370	192	9	goor	goor	PROPN
easat-7370	192	10	,	,	PUNCT
easat-7370	192	11	and	and	CCONJ
easat-7370	192	12	r.	r.	PROPN
easat-7370	192	13	mahony	mahony	PROPN
easat-7370	192	14	,	,	PUNCT
easat-7370	192	15	"	"	PUNCT
easat-7370	192	16	a	a	DET
easat-7370	192	17	note	note	NOUN
easat-7370	192	18	on	on	ADP
easat-7370	192	19	the	the	DET
easat-7370	192	20	extended	extended	ADJ
easat-7370	192	21	kalman	kalman	NOUN
easat-7370	192	22	filter	filter	NOUN
easat-7370	192	23	on	on	ADP
easat-7370	192	24	a	a	DET
easat-7370	192	25	manifold	manifold	NOUN
easat-7370	192	26	,	,	PUNCT
easat-7370	192	27	"	"	PUNCT
easat-7370	192	28	in	in	ADP
easat-7370	192	29	2023	2023	NUM
easat-7370	192	30	62nd	62nd	NOUN
easat-7370	192	31	ieee	ieee	NOUN
easat-7370	192	32	conference	conference	NOUN
easat-7370	192	33	on	on	ADP
easat-7370	192	34	decision	decision	NOUN
easat-7370	192	35	and	and	CCONJ
easat-7370	192	36	control	control	NOUN
easat-7370	192	37	(	(	PUNCT
easat-7370	192	38	cdc	cdc	PROPN
easat-7370	192	39	)	)	PUNCT
easat-7370	192	40	,	,	PUNCT
easat-7370	192	41	2023	2023	NUM
easat-7370	192	42	:	:	PUNCT
easat-7370	192	43	ieee	ieee	NOUN
easat-7370	192	44	,	,	PUNCT
easat-7370	192	45	pp	pp	ADJ
easat-7370	192	46	.	.	PUNCT
easat-7370	193	1	7687	7687	NUM
easat-7370	193	2	-	-	SYM
easat-7370	193	3	7694	7694	NUM
easat-7370	193	4	.	.	PUNCT
easat-7370	194	1	[	[	X
easat-7370	194	2	9	9	NUM
easat-7370	194	3	]	]	PUNCT
easat-7370	194	4	l.	l.	PROPN
easat-7370	194	5	he	he	PRON
easat-7370	194	6	,	,	PUNCT
easat-7370	194	7	h.	h.	PROPN
easat-7370	194	8	zhou	zhou	PROPN
easat-7370	194	9	,	,	PUNCT
easat-7370	194	10	and	and	CCONJ
easat-7370	194	11	g.	g.	PROPN
easat-7370	194	12	zhang	zhang	PROPN
easat-7370	194	13	,	,	PUNCT
easat-7370	194	14	"	"	PUNCT
easat-7370	194	15	improving	improve	VERB
easat-7370	194	16	extended	extended	ADJ
easat-7370	194	17	kalman	kalman	NOUN
easat-7370	194	18	filter	filter	NOUN
easat-7370	194	19	algorithm	algorithm	NOUN
easat-7370	194	20	in	in	ADP
easat-7370	194	21	satellite	satellite	PROPN
easat-7370	194	22	autonomous	autonomous	ADJ
easat-7370	194	23	navigation	navigation	NOUN
easat-7370	194	24	,	,	PUNCT
easat-7370	194	25	"	"	PUNCT
easat-7370	194	26	proceedings	proceeding	NOUN
easat-7370	194	27	of	of	ADP
easat-7370	194	28	the	the	DET
easat-7370	194	29	institution	institution	NOUN
easat-7370	194	30	of	of	ADP
easat-7370	194	31	mechanical	mechanical	ADJ
easat-7370	194	32	engineers	engineer	NOUN
easat-7370	194	33	,	,	PUNCT
easat-7370	194	34	part	part	NOUN
easat-7370	194	35	g	g	NOUN
easat-7370	194	36	:	:	PUNCT
easat-7370	194	37	journal	journal	PROPN
easat-7370	194	38	of	of	ADP
easat-7370	194	39	aerospace	aerospace	PROPN
easat-7370	194	40	engineering	engineering	NOUN
easat-7370	194	41	,	,	PUNCT
easat-7370	194	42	vol	vol	NOUN
easat-7370	194	43	.	.	PROPN
easat-7370	194	44	231	231	NUM
easat-7370	194	45	,	,	PUNCT
easat-7370	194	46	no	no	INTJ
easat-7370	194	47	.	.	NOUN
easat-7370	194	48	4	4	NUM
easat-7370	194	49	,	,	PUNCT
easat-7370	194	50	pp	pp	ADJ
easat-7370	194	51	.	.	PUNCT
easat-7370	194	52	743759	743759	NUM
easat-7370	194	53	,	,	PUNCT
easat-7370	194	54	2017	2017	NUM
easat-7370	194	55	.	.	PUNCT
easat-7370	195	1	[	[	X
easat-7370	195	2	10	10	NUM
easat-7370	195	3	]	]	X
easat-7370	195	4	g.	g.	PROPN
easat-7370	195	5	bresson	bresson	PROPN
easat-7370	195	6	,	,	PUNCT
easat-7370	195	7	z.	z.	PROPN
easat-7370	195	8	alsayed	alsayed	PROPN
easat-7370	195	9	,	,	PUNCT
easat-7370	195	10	l.	l.	PROPN
easat-7370	195	11	yu	yu	PROPN
easat-7370	195	12	,	,	PUNCT
easat-7370	195	13	and	and	CCONJ
easat-7370	195	14	s.	s.	PROPN
easat-7370	195	15	glaser	glaser	PROPN
easat-7370	195	16	,	,	PUNCT
easat-7370	195	17	"	"	PUNCT
easat-7370	195	18	simultaneous	simultaneous	ADJ
easat-7370	195	19	localization	localization	NOUN
easat-7370	195	20	and	and	CCONJ
easat-7370	195	21	mapping	mapping	NOUN
easat-7370	195	22	:	:	PUNCT
easat-7370	195	23	a	a	DET
easat-7370	195	24	survey	survey	NOUN
easat-7370	195	25	of	of	ADP
easat-7370	195	26	current	current	ADJ
easat-7370	195	27	trends	trend	NOUN
easat-7370	195	28	in	in	ADP
easat-7370	195	29	autonomous	autonomous	ADJ
easat-7370	195	30	driving	driving	NOUN
easat-7370	195	31	,	,	PUNCT
easat-7370	195	32	"	"	PUNCT
easat-7370	195	33	ieee	ieee	NOUN
easat-7370	195	34	transactions	transaction	NOUN
easat-7370	195	35	on	on	ADP
easat-7370	195	36	intelligent	intelligent	ADJ
easat-7370	195	37	vehicles	vehicle	NOUN
easat-7370	195	38	,	,	PUNCT
easat-7370	195	39	vol	vol	NOUN
easat-7370	195	40	.	.	PROPN
easat-7370	195	41	2	2	NUM
easat-7370	195	42	,	,	PUNCT
easat-7370	195	43	no	no	INTJ
easat-7370	195	44	.	.	NOUN
easat-7370	195	45	3	3	NUM
easat-7370	195	46	,	,	PUNCT
easat-7370	195	47	pp	pp	ADJ
easat-7370	195	48	.	.	PUNCT
easat-7370	196	1	194	194	NUM
easat-7370	196	2	-	-	SYM
easat-7370	196	3	220	220	NUM
easat-7370	196	4	,	,	PUNCT
easat-7370	196	5	2017	2017	NUM
easat-7370	196	6	.	.	PUNCT
easat-7370	197	1	[	[	X
easat-7370	197	2	11	11	NUM
easat-7370	197	3	]	]	X
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easat-7370	197	9	,	,	PUNCT
easat-7370	197	10	f.	f.	PROPN
easat-7370	197	11	qiu	qiu	PROPN
easat-7370	197	12	,	,	PUNCT
easat-7370	197	13	z.	z.	PROPN
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easat-7370	197	15	,	,	PUNCT
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easat-7370	197	17	h.	h.	PROPN
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easat-7370	197	19	,	,	PUNCT
easat-7370	197	20	"	"	PUNCT
easat-7370	197	21	ibike	ibike	ADJ
easat-7370	197	22	:	:	PUNCT
easat-7370	197	23	intelligent	intelligent	ADJ
easat-7370	197	24	public	public	ADJ
easat-7370	197	25	bicycle	bicycle	NOUN
easat-7370	197	26	services	service	NOUN
easat-7370	197	27	assisted	assist	VERB
easat-7370	197	28	by	by	ADP
easat-7370	197	29	data	datum	NOUN
easat-7370	197	30	analytics	analytic	NOUN
easat-7370	197	31	,	,	PUNCT
easat-7370	197	32	"	"	PUNCT
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easat-7370	197	34	generation	generation	NOUN
easat-7370	197	35	computer	computer	NOUN
easat-7370	197	36	systems	system	NOUN
easat-7370	197	37	,	,	PUNCT
easat-7370	197	38	vol	vol	NOUN
easat-7370	197	39	.	.	PROPN
easat-7370	198	1	95	95	NUM
easat-7370	198	2	,	,	PUNCT
easat-7370	199	1	pp	pp	ADJ
easat-7370	199	2	.	.	PUNCT
easat-7370	200	1	187	187	NUM
easat-7370	200	2	-	-	SYM
easat-7370	200	3	197	197	NUM
easat-7370	200	4	,	,	PUNCT
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easat-7370	200	6	.	.	PUNCT
easat-7370	201	1	[	[	X
easat-7370	201	2	12	12	NUM
easat-7370	201	3	]	]	X
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easat-7370	201	11	multi	multi	ADJ
easat-7370	201	12	-	-	ADJ
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easat-7370	201	14	mobile	mobile	ADJ
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easat-7370	201	18	diverse	diverse	ADJ
easat-7370	201	19	environments	environment	NOUN
easat-7370	201	20	,	,	PUNCT
easat-7370	201	21	"	"	PUNCT
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easat-7370	201	25	:	:	PUNCT
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easat-7370	201	27	world	world	PROPN
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easat-7370	201	30	17	17	NUM
easat-7370	201	31	,	,	PUNCT
easat-7370	201	32	2014	2014	NUM
easat-7370	201	33	:	:	PUNCT
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easat-7370	201	35	,	,	PUNCT
easat-7370	201	36	pp	pp	PROPN
easat-7370	201	37	.	.	PUNCT
easat-7370	202	1	468	468	NUM
easat-7370	202	2	-	-	SYM
easat-7370	202	3	479	479	NUM
easat-7370	202	4	.	.	PUNCT
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easat-7370	203	2	13	13	NUM
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easat-7370	204	7	&	&	CCONJ
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easat-7370	204	9	,	,	PUNCT
easat-7370	204	10	2014	2014	NUM
easat-7370	204	11	.	.	PUNCT
easat-7370	205	1	[	[	X
easat-7370	205	2	14	14	NUM
easat-7370	205	3	]	]	X
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easat-7370	205	21	mapping	mapping	NOUN
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easat-7370	205	24	kalman	kalman	PROPN
easat-7370	205	25	filter	filter	PROPN
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easat-7370	205	28	kalman	kalman	NOUN
easat-7370	205	29	filter	filter	NOUN
easat-7370	205	30	,	,	PUNCT
easat-7370	205	31	"	"	PUNCT
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easat-7370	205	33	communications	communication	NOUN
easat-7370	205	34	and	and	CCONJ
easat-7370	205	35	mobile	mobile	NOUN
easat-7370	205	36	computing	computing	NOUN
easat-7370	205	37	,	,	PUNCT
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easat-7370	205	41	,	,	PUNCT
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easat-7370	205	45	,	,	PUNCT
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easat-7370	205	48	,	,	PUNCT
easat-7370	205	49	2020	2020	NUM
easat-7370	205	50	.	.	PUNCT
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easat-7370	206	2	15	15	NUM
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easat-7370	206	18	kalman	kalman	NOUN
easat-7370	206	19	filter	filter	NOUN
easat-7370	206	20	,	,	PUNCT
easat-7370	206	21	"	"	PUNCT
easat-7370	206	22	advances	advance	NOUN
easat-7370	206	23	in	in	ADP
easat-7370	206	24	mechanical	mechanical	ADJ
easat-7370	206	25	engineering	engineering	NOUN
easat-7370	206	26	,	,	PUNCT
easat-7370	206	27	vol	vol	NOUN
easat-7370	206	28	.	.	PROPN
easat-7370	206	29	8	8	NUM
easat-7370	206	30	,	,	PUNCT
easat-7370	206	31	no	no	INTJ
easat-7370	206	32	.	.	NOUN
easat-7370	206	33	11	11	NUM
easat-7370	206	34	,	,	PUNCT
easat-7370	206	35	p.	p.	NOUN
easat-7370	206	36	1687814016680142	1687814016680142	NUM
easat-7370	206	37	,	,	PUNCT
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easat-7370	206	39	.	.	PUNCT
easat-7370	207	1	https://doi.org/10.3390/math12121787	https://doi.org/10.3390/math12121787	PROPN
easat-7370	207	2	https://doi.org/10.14569/ijacsa.2017.081152	https://doi.org/10.14569/ijacsa.2017.081152	PROPN
easat-7370	207	3	https://doi.org/10.1016/j.dcan.2020.08.002	https://doi.org/10.1016/j.dcan.2020.08.002	NOUN
easat-7370	207	4	2025	2025	NUM
easat-7370	207	5	edelweiss	edelweiss	PROPN
easat-7370	207	6	applied	apply	VERB
easat-7370	207	7	science	science	NOUN
easat-7370	207	8	and	and	CCONJ
easat-7370	207	9	technology	technology	NOUN
easat-7370	207	10	issn	issn	PROPN
easat-7370	207	11	:	:	PUNCT
easat-7370	207	12	2576	2576	NUM
easat-7370	207	13	-	-	SYM
easat-7370	207	14	8484	8484	NUM
easat-7370	207	15	vol	vol	NOUN
easat-7370	207	16	.	.	PROPN
easat-7370	208	1	9	9	NUM
easat-7370	208	2	,	,	PUNCT
easat-7370	208	3	no	no	INTJ
easat-7370	208	4	.	.	NOUN
easat-7370	208	5	5	5	NUM
easat-7370	208	6	:	:	SYM
easat-7370	208	7	2017	2017	NUM
easat-7370	208	8	-	-	SYM
easat-7370	208	9	2026	2026	NUM
easat-7370	208	10	,	,	PUNCT
easat-7370	208	11	2025	2025	NUM
easat-7370	208	12	doi	doi	NOUN
easat-7370	208	13	:	:	PUNCT
easat-7370	208	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	208	15	©	©	PROPN
easat-7370	208	16	2025	2025	NUM
easat-7370	208	17	by	by	ADP
easat-7370	208	18	the	the	DET
easat-7370	208	19	authors	author	NOUN
easat-7370	208	20	;	;	PUNCT
easat-7370	208	21	licensee	licensee	PROPN
easat-7370	208	22	learning	learning	NOUN
easat-7370	208	23	gate	gate	NOUN
easat-7370	209	1	[	[	X
easat-7370	209	2	16	16	NUM
easat-7370	209	3	]	]	PUNCT
easat-7370	209	4	s.	s.	PROPN
easat-7370	209	5	bogatin	bogatin	PROPN
easat-7370	209	6	,	,	PUNCT
easat-7370	209	7	k.	k.	PROPN
easat-7370	209	8	foppe	foppe	PROPN
easat-7370	209	9	,	,	PUNCT
easat-7370	209	10	p.	p.	NOUN
easat-7370	209	11	wasmeier	wasmeier	NOUN
easat-7370	209	12	,	,	PUNCT
easat-7370	209	13	t.	t.	PROPN
easat-7370	209	14	a.	a.	PROPN
easat-7370	209	15	wunderlich	wunderlich	PROPN
easat-7370	209	16	,	,	PUNCT
easat-7370	209	17	t.	t.	NOUN
easat-7370	209	18	schäfer	schäfer	NOUN
easat-7370	209	19	,	,	PUNCT
easat-7370	209	20	and	and	CCONJ
easat-7370	209	21	d.	d.	PROPN
easat-7370	209	22	kogoj	kogoj	PROPN
easat-7370	209	23	,	,	PUNCT
easat-7370	209	24	"	"	PUNCT
easat-7370	209	25	evaluation	evaluation	NOUN
easat-7370	209	26	of	of	ADP
easat-7370	209	27	linear	linear	PROPN
easat-7370	209	28	kalman	kalman	PROPN
easat-7370	209	29	filter	filter	NOUN
easat-7370	209	30	processing	process	VERB
easat-7370	209	31	geodetic	geodetic	ADJ
easat-7370	209	32	kinematic	kinematic	ADJ
easat-7370	209	33	measurements	measurement	NOUN
easat-7370	209	34	,	,	PUNCT
easat-7370	209	35	"	"	PUNCT
easat-7370	209	36	measurement	measurement	NOUN
easat-7370	209	37	,	,	PUNCT
easat-7370	209	38	vol	vol	NOUN
easat-7370	209	39	.	.	PROPN
easat-7370	209	40	41	41	NUM
easat-7370	209	41	,	,	PUNCT
easat-7370	209	42	no	no	INTJ
easat-7370	209	43	.	.	NOUN
easat-7370	209	44	5	5	NUM
easat-7370	209	45	,	,	PUNCT
easat-7370	209	46	pp	pp	ADJ
easat-7370	209	47	.	.	PUNCT
easat-7370	210	1	561	561	NUM
easat-7370	210	2	-	-	SYM
easat-7370	210	3	578	578	NUM
easat-7370	210	4	,	,	PUNCT
easat-7370	210	5	2008	2008	NUM
easat-7370	210	6	.	.	PUNCT
easat-7370	211	1	[	[	X
easat-7370	211	2	17	17	NUM
easat-7370	211	3	]	]	PUNCT
easat-7370	211	4	j.	j.	PROPN
easat-7370	211	5	ali	ali	PROPN
easat-7370	211	6	and	and	CCONJ
easat-7370	211	7	m.	m.	PROPN
easat-7370	211	8	ushaq	ushaq	PROPN
easat-7370	211	9	,	,	PUNCT
easat-7370	211	10	"	"	PUNCT
easat-7370	211	11	a	a	DET
easat-7370	211	12	consistent	consistent	ADJ
easat-7370	211	13	and	and	CCONJ
easat-7370	211	14	robust	robust	ADJ
easat-7370	211	15	kalman	kalman	NOUN
easat-7370	211	16	filter	filter	NOUN
easat-7370	211	17	design	design	NOUN
easat-7370	211	18	for	for	ADP
easat-7370	211	19	in	in	ADP
easat-7370	211	20	-	-	PUNCT
easat-7370	211	21	motion	motion	NOUN
easat-7370	211	22	alignment	alignment	NOUN
easat-7370	211	23	of	of	ADP
easat-7370	211	24	inertial	inertial	ADJ
easat-7370	211	25	navigation	navigation	NOUN
easat-7370	211	26	system	system	NOUN
easat-7370	211	27	,	,	PUNCT
easat-7370	211	28	"	"	PUNCT
easat-7370	211	29	measurement	measurement	NOUN
easat-7370	211	30	,	,	PUNCT
easat-7370	211	31	vol	vol	NOUN
easat-7370	211	32	.	.	PROPN
easat-7370	212	1	42	42	NUM
easat-7370	212	2	,	,	PUNCT
easat-7370	212	3	no	no	INTJ
easat-7370	212	4	.	.	NOUN
easat-7370	212	5	4	4	NUM
easat-7370	212	6	,	,	PUNCT
easat-7370	212	7	pp	pp	ADJ
easat-7370	212	8	.	.	PUNCT
easat-7370	213	1	577	577	NUM
easat-7370	213	2	-	-	SYM
easat-7370	213	3	582	582	NUM
easat-7370	213	4	,	,	PUNCT
easat-7370	213	5	2009	2009	NUM
easat-7370	213	6	.	.	PUNCT
easat-7370	214	1	https://doi.org/10.1016/j.measurement.2008.10.002	https://doi.org/10.1016/j.measurement.2008.10.002	PROPN
easat-7370	215	1	[	[	X
easat-7370	215	2	18	18	NUM
easat-7370	215	3	]	]	PUNCT
easat-7370	215	4	h.	h.	PROPN
easat-7370	215	5	s.	s.	PROPN
easat-7370	215	6	h.	h.	PROPN
easat-7370	215	7	hameedah__sahib__hameedah	hameedah__sahib__hameedah	PROPN
easat-7370	215	8	,	,	PUNCT
easat-7370	215	9	"	"	PUNCT
easat-7370	215	10	navigation	navigation	NOUN
easat-7370	215	11	of	of	ADP
easat-7370	215	12	mobile	mobile	ADJ
easat-7370	215	13	robot	robot	NOUN
easat-7370	215	14	motion	motion	NOUN
easat-7370	215	15	,	,	PUNCT
easat-7370	215	16	"	"	PUNCT
easat-7370	215	17	journal	journal	NOUN
easat-7370	215	18	of	of	ADP
easat-7370	215	19	optimization	optimization	NOUN
easat-7370	215	20	in	in	ADP
easat-7370	215	21	industrial	industrial	ADJ
easat-7370	215	22	engineering	engineering	NOUN
easat-7370	215	23	,	,	PUNCT
easat-7370	215	24	vol	vol	NOUN
easat-7370	215	25	.	.	PROPN
easat-7370	215	26	36	36	NUM
easat-7370	215	27	,	,	PUNCT
easat-7370	215	28	no	no	INTJ
easat-7370	215	29	.	.	NOUN
easat-7370	215	30	1	1	NUM
easat-7370	215	31	,	,	PUNCT
easat-7370	215	32	pp	pp	ADJ
easat-7370	215	33	.	.	PUNCT
easat-7370	215	34	175–82	175–82	NOUN
easat-7370	215	35	,	,	PUNCT
easat-7370	215	36	2024	2024	NUM
easat-7370	215	37	.	.	PUNCT
easat-7370	216	1	[	[	X
easat-7370	216	2	19	19	NUM
easat-7370	216	3	]	]	X
easat-7370	216	4	v.	v.	ADP
easat-7370	216	5	awasthi	awasthi	ADV
easat-7370	216	6	and	and	CCONJ
easat-7370	216	7	k.	k.	PROPN
easat-7370	216	8	raj	raj	PROPN
easat-7370	216	9	,	,	PUNCT
easat-7370	216	10	"	"	PUNCT
easat-7370	216	11	improving	improve	VERB
easat-7370	216	12	the	the	DET
easat-7370	216	13	mobile	mobile	ADJ
easat-7370	216	14	robots	robot	NOUN
easat-7370	216	15	indoor	indoor	ADJ
easat-7370	216	16	localization	localization	NOUN
easat-7370	216	17	system	system	NOUN
easat-7370	216	18	by	by	ADP
easat-7370	216	19	combining	combine	VERB
easat-7370	216	20	slam	slam	NOUN
easat-7370	216	21	with	with	ADP
easat-7370	216	22	fiducial	fiducial	ADJ
easat-7370	216	23	markers	marker	NOUN
easat-7370	216	24	,	,	PUNCT
easat-7370	216	25	"	"	PUNCT
easat-7370	216	26	current	current	ADJ
easat-7370	216	27	approaches	approach	NOUN
easat-7370	216	28	in	in	ADP
easat-7370	216	29	science	science	NOUN
easat-7370	216	30	and	and	CCONJ
easat-7370	216	31	technology	technology	NOUN
easat-7370	216	32	research	research	NOUN
easat-7370	216	33	,	,	PUNCT
easat-7370	216	34	vol	vol	NOUN
easat-7370	216	35	.	.	PUNCT
easat-7370	217	1	august	august	PROPN
easat-7370	217	2	,	,	PUNCT
easat-7370	217	3	pp	pp	PROPN
easat-7370	217	4	.	.	PUNCT
easat-7370	218	1	1–14	1–14	PROPN
easat-7370	218	2	,	,	PUNCT
easat-7370	218	3	2021	2021	NUM
easat-7370	218	4	.	.	PUNCT
easat-7370	219	1	[	[	X
easat-7370	219	2	20	20	NUM
easat-7370	219	3	]	]	X
easat-7370	219	4	f.	f.	PROPN
easat-7370	219	5	kamil	kamil	PROPN
easat-7370	219	6	,	,	PUNCT
easat-7370	219	7	t.	t.	PROPN
easat-7370	219	8	s.	s.	PROPN
easat-7370	219	9	hong	hong	PROPN
easat-7370	219	10	,	,	PUNCT
easat-7370	219	11	w.	w.	PROPN
easat-7370	219	12	khaksar	khaksar	PROPN
easat-7370	219	13	,	,	PUNCT
easat-7370	219	14	m.	m.	PROPN
easat-7370	219	15	y.	y.	PROPN
easat-7370	219	16	moghrabiah	moghrabiah	PROPN
easat-7370	219	17	,	,	PUNCT
easat-7370	219	18	n.	n.	PROPN
easat-7370	219	19	zulkifli	zulkifli	PROPN
easat-7370	219	20	,	,	PUNCT
easat-7370	219	21	and	and	CCONJ
easat-7370	219	22	s.	s.	PROPN
easat-7370	219	23	a.	a.	PROPN
easat-7370	219	24	ahmad	ahmad	PROPN
easat-7370	219	25	,	,	PUNCT
easat-7370	219	26	"	"	PUNCT
easat-7370	219	27	new	new	ADJ
easat-7370	219	28	robot	robot	NOUN
easat-7370	219	29	navigation	navigation	NOUN
easat-7370	219	30	algorithm	algorithm	NOUN
easat-7370	219	31	for	for	ADP
easat-7370	219	32	arbitrary	arbitrary	ADJ
easat-7370	219	33	unknown	unknown	ADJ
easat-7370	219	34	dynamic	dynamic	ADJ
easat-7370	219	35	environments	environment	NOUN
easat-7370	219	36	based	base	VERB
easat-7370	219	37	on	on	ADP
easat-7370	219	38	future	future	ADJ
easat-7370	219	39	prediction	prediction	NOUN
easat-7370	219	40	and	and	CCONJ
easat-7370	219	41	priority	priority	NOUN
easat-7370	219	42	behavior	behavior	NOUN
easat-7370	219	43	,	,	PUNCT
easat-7370	219	44	"	"	PUNCT
easat-7370	219	45	expert	expert	NOUN
easat-7370	219	46	systems	system	NOUN
easat-7370	219	47	with	with	ADP
easat-7370	219	48	applications	application	NOUN
easat-7370	219	49	,	,	PUNCT
easat-7370	219	50	vol	vol	NOUN
easat-7370	219	51	.	.	PROPN
easat-7370	219	52	86	86	NUM
easat-7370	219	53	,	,	PUNCT
easat-7370	219	54	pp	pp	ADJ
easat-7370	219	55	.	.	PUNCT
easat-7370	219	56	274	274	NUM
easat-7370	219	57	-	-	SYM
easat-7370	219	58	291	291	NUM
easat-7370	219	59	,	,	PUNCT
easat-7370	219	60	2017	2017	NUM
easat-7370	219	61	.	.	PUNCT
easat-7370	220	1	[	[	X
easat-7370	220	2	21	21	NUM
easat-7370	220	3	]	]	PUNCT
easat-7370	220	4	m.	m.	NOUN
easat-7370	220	5	c.	c.	PROPN
easat-7370	220	6	santos	santos	PROPN
easat-7370	220	7	,	,	PUNCT
easat-7370	220	8	l.	l.	PROPN
easat-7370	220	9	v.	v.	CCONJ
easat-7370	220	10	santana	santana	PROPN
easat-7370	220	11	,	,	PUNCT
easat-7370	220	12	m.	m.	NOUN
easat-7370	220	13	m.	m.	NOUN
easat-7370	220	14	martins	martins	PROPN
easat-7370	220	15	,	,	PUNCT
easat-7370	220	16	a.	a.	PROPN
easat-7370	220	17	s.	s.	PROPN
easat-7370	220	18	brandao	brandao	PROPN
easat-7370	220	19	,	,	PUNCT
easat-7370	220	20	and	and	CCONJ
easat-7370	220	21	m.	m.	PROPN
easat-7370	220	22	sarcinelli	sarcinelli	PROPN
easat-7370	220	23	-	-	PUNCT
easat-7370	220	24	filho	filho	PROPN
easat-7370	220	25	,	,	PUNCT
easat-7370	220	26	"	"	PUNCT
easat-7370	220	27	estimating	estimate	VERB
easat-7370	220	28	and	and	CCONJ
easat-7370	220	29	controlling	control	VERB
easat-7370	220	30	uav	uav	PROPN
easat-7370	220	31	position	position	NOUN
easat-7370	220	32	using	use	VERB
easat-7370	220	33	rgb	rgb	PROPN
easat-7370	220	34	-	-	PUNCT
easat-7370	220	35	d	d	PROPN
easat-7370	220	36	/	/	SYM
easat-7370	220	37	imu	imu	NOUN
easat-7370	220	38	data	datum	NOUN
easat-7370	220	39	fusion	fusion	NOUN
easat-7370	220	40	with	with	ADP
easat-7370	220	41	decentralized	decentralized	ADJ
easat-7370	220	42	information	information	NOUN
easat-7370	220	43	/	/	SYM
easat-7370	220	44	kalman	kalman	PROPN
easat-7370	220	45	filter	filter	PROPN
easat-7370	220	46	,	,	PUNCT
easat-7370	220	47	"	"	PUNCT
easat-7370	220	48	in	in	ADP
easat-7370	220	49	2015	2015	NUM
easat-7370	220	50	ieee	ieee	NOUN
easat-7370	220	51	international	international	ADJ
easat-7370	220	52	conference	conference	NOUN
easat-7370	220	53	on	on	ADP
easat-7370	220	54	industrial	industrial	ADJ
easat-7370	220	55	technology	technology	NOUN
easat-7370	220	56	(	(	PUNCT
easat-7370	220	57	icit	icit	PROPN
easat-7370	220	58	)	)	PUNCT
easat-7370	220	59	,	,	PUNCT
easat-7370	220	60	2015	2015	NUM
easat-7370	220	61	:	:	PUNCT
easat-7370	220	62	ieee	ieee	NOUN
easat-7370	220	63	,	,	PUNCT
easat-7370	220	64	pp	pp	ADP
easat-7370	220	65	.	.	PUNCT
easat-7370	220	66	232	232	NUM
easat-7370	220	67	-	-	SYM
easat-7370	220	68	239	239	NUM
easat-7370	220	69	.	.	PUNCT
easat-7370	221	1	[	[	X
easat-7370	221	2	22	22	NUM
easat-7370	221	3	]	]	PUNCT
easat-7370	221	4	j.	j.	PROPN
easat-7370	221	5	feng	feng	PROPN
easat-7370	221	6	,	,	PUNCT
easat-7370	221	7	z.	z.	PROPN
easat-7370	221	8	wang	wang	PROPN
easat-7370	221	9	,	,	PUNCT
easat-7370	221	10	and	and	CCONJ
easat-7370	221	11	m.	m.	PROPN
easat-7370	221	12	zeng	zeng	PROPN
easat-7370	221	13	,	,	PUNCT
easat-7370	221	14	"	"	PUNCT
easat-7370	221	15	distributed	distribute	VERB
easat-7370	221	16	weighted	weight	VERB
easat-7370	221	17	robust	robust	ADJ
easat-7370	221	18	kalman	kalman	NOUN
easat-7370	221	19	filter	filter	NOUN
easat-7370	221	20	fusion	fusion	NOUN
easat-7370	221	21	for	for	ADP
easat-7370	221	22	uncertain	uncertain	ADJ
easat-7370	221	23	systems	system	NOUN
easat-7370	221	24	with	with	ADP
easat-7370	221	25	autocorrelated	autocorrelated	ADJ
easat-7370	221	26	and	and	CCONJ
easat-7370	221	27	cross	cross	ADJ
easat-7370	221	28	-	-	ADJ
easat-7370	221	29	correlated	correlate	VERB
easat-7370	221	30	noises	noise	NOUN
easat-7370	221	31	,	,	PUNCT
easat-7370	221	32	"	"	PUNCT
easat-7370	221	33	information	information	NOUN
easat-7370	221	34	fusion	fusion	NOUN
easat-7370	221	35	,	,	PUNCT
easat-7370	221	36	vol	vol	NOUN
easat-7370	221	37	.	.	PROPN
easat-7370	222	1	14	14	NUM
easat-7370	222	2	,	,	PUNCT
easat-7370	222	3	no	no	INTJ
easat-7370	222	4	.	.	NOUN
easat-7370	222	5	1	1	NUM
easat-7370	222	6	,	,	PUNCT
easat-7370	222	7	pp	pp	ADJ
easat-7370	222	8	.	.	PUNCT
easat-7370	223	1	78	78	NUM
easat-7370	223	2	-	-	SYM
easat-7370	223	3	86	86	NUM
easat-7370	223	4	,	,	PUNCT
easat-7370	223	5	2013	2013	NUM
easat-7370	223	6	.	.	PUNCT
easat-7370	224	1	[	[	X
easat-7370	224	2	23	23	NUM
easat-7370	224	3	]	]	X
easat-7370	224	4	j.	j.	PROPN
easat-7370	224	5	aulinas	aulinas	PROPN
easat-7370	224	6	,	,	PUNCT
easat-7370	224	7	y.	y.	PROPN
easat-7370	224	8	petillot	petillot	PROPN
easat-7370	224	9	,	,	PUNCT
easat-7370	224	10	j.	j.	PROPN
easat-7370	224	11	salvi	salvi	PROPN
easat-7370	224	12	,	,	PUNCT
easat-7370	224	13	and	and	CCONJ
easat-7370	224	14	x.	x.	NOUN
easat-7370	224	15	lladó	lladó	NOUN
easat-7370	224	16	,	,	PUNCT
easat-7370	224	17	"	"	PUNCT
easat-7370	224	18	the	the	DET
easat-7370	224	19	slam	slam	NOUN
easat-7370	224	20	problem	problem	NOUN
easat-7370	224	21	:	:	PUNCT
easat-7370	224	22	a	a	DET
easat-7370	224	23	survey	survey	NOUN
easat-7370	224	24	,	,	PUNCT
easat-7370	224	25	"	"	PUNCT
easat-7370	224	26	artificial	artificial	ADJ
easat-7370	224	27	intelligence	intelligence	NOUN
easat-7370	224	28	research	research	NOUN
easat-7370	224	29	and	and	CCONJ
easat-7370	224	30	development	development	NOUN
easat-7370	224	31	,	,	PUNCT
easat-7370	224	32	pp	pp	ADJ
easat-7370	224	33	.	.	PUNCT
easat-7370	225	1	363	363	NUM
easat-7370	225	2	-	-	SYM
easat-7370	225	3	371	371	NUM
easat-7370	225	4	,	,	PUNCT
easat-7370	225	5	2008	2008	NUM
easat-7370	225	6	.	.	PUNCT
easat-7370	226	1	[	[	X
easat-7370	226	2	24	24	NUM
easat-7370	226	3	]	]	X
easat-7370	226	4	y.	y.	PROPN
easat-7370	226	5	zhang	zhang	PROPN
easat-7370	226	6	,	,	PUNCT
easat-7370	226	7	j.	j.	PROPN
easat-7370	226	8	wang	wang	PROPN
easat-7370	226	9	,	,	PUNCT
easat-7370	226	10	q.	q.	PROPN
easat-7370	226	11	sun	sun	PROPN
easat-7370	226	12	,	,	PUNCT
easat-7370	226	13	and	and	CCONJ
easat-7370	226	14	w.	w.	PROPN
easat-7370	226	15	gao	gao	PROPN
easat-7370	226	16	,	,	PUNCT
easat-7370	226	17	"	"	PUNCT
easat-7370	226	18	adaptive	adaptive	ADJ
easat-7370	226	19	cubature	cubature	NOUN
easat-7370	226	20	kalman	kalman	NOUN
easat-7370	226	21	filter	filter	NOUN
easat-7370	226	22	based	base	VERB
easat-7370	226	23	on	on	ADP
easat-7370	226	24	the	the	DET
easat-7370	226	25	variance	variance	NOUN
easat-7370	226	26	-	-	PUNCT
easat-7370	226	27	covariance	covariance	NOUN
easat-7370	226	28	components	component	NOUN
easat-7370	226	29	estimation	estimation	NOUN
easat-7370	226	30	,	,	PUNCT
easat-7370	226	31	"	"	PUNCT
easat-7370	226	32	the	the	DET
easat-7370	226	33	journal	journal	NOUN
easat-7370	226	34	of	of	ADP
easat-7370	226	35	global	global	ADJ
easat-7370	226	36	positioning	positioning	NOUN
easat-7370	226	37	systems	system	NOUN
easat-7370	226	38	,	,	PUNCT
easat-7370	226	39	vol	vol	NOUN
easat-7370	226	40	.	.	PROPN
easat-7370	226	41	15	15	NUM
easat-7370	226	42	,	,	PUNCT
easat-7370	226	43	pp	pp	ADJ
easat-7370	226	44	.	.	PUNCT
easat-7370	227	1	1	1	NUM
easat-7370	227	2	-	-	SYM
easat-7370	227	3	9	9	NUM
easat-7370	227	4	,	,	PUNCT
easat-7370	227	5	2017	2017	NUM
easat-7370	227	6	.	.	PUNCT
easat-7370	228	1	[	[	X
easat-7370	228	2	25	25	NUM
easat-7370	228	3	]	]	PUNCT
easat-7370	228	4	w.	w.	PROPN
easat-7370	228	5	gao	gao	PROPN
easat-7370	228	6	,	,	PUNCT
easat-7370	228	7	y.	y.	PROPN
easat-7370	228	8	zhang	zhang	PROPN
easat-7370	228	9	,	,	PUNCT
easat-7370	228	10	and	and	CCONJ
easat-7370	228	11	j.	j.	PROPN
easat-7370	228	12	wang	wang	PROPN
easat-7370	228	13	,	,	PUNCT
easat-7370	228	14	"	"	PUNCT
easat-7370	228	15	a	a	DET
easat-7370	228	16	strapdown	strapdown	ADJ
easat-7370	228	17	interial	interial	ADJ
easat-7370	228	18	navigation	navigation	NOUN
easat-7370	228	19	system	system	NOUN
easat-7370	228	20	/	/	SYM
easat-7370	228	21	beidou	beidou	NOUN
easat-7370	228	22	/	/	SYM
easat-7370	228	23	doppler	doppler	NOUN
easat-7370	228	24	velocity	velocity	NOUN
easat-7370	228	25	log	log	VERB
easat-7370	228	26	integrated	integrate	VERB
easat-7370	228	27	navigation	navigation	NOUN
easat-7370	228	28	algorithm	algorithm	NOUN
easat-7370	228	29	based	base	VERB
easat-7370	228	30	on	on	ADP
easat-7370	228	31	a	a	DET
easat-7370	228	32	cubature	cubature	ADJ
easat-7370	228	33	kalman	kalman	NOUN
easat-7370	228	34	filter	filter	NOUN
easat-7370	228	35	,	,	PUNCT
easat-7370	228	36	"	"	PUNCT
easat-7370	228	37	sensors	sensor	NOUN
easat-7370	228	38	,	,	PUNCT
easat-7370	228	39	vol	vol	NOUN
easat-7370	228	40	.	.	PROPN
easat-7370	229	1	14	14	NUM
easat-7370	229	2	,	,	PUNCT
easat-7370	229	3	no	no	INTJ
easat-7370	229	4	.	.	NOUN
easat-7370	229	5	1	1	NUM
easat-7370	229	6	,	,	PUNCT
easat-7370	229	7	pp	pp	ADJ
easat-7370	229	8	.	.	PUNCT
easat-7370	230	1	1511	1511	NUM
easat-7370	230	2	-	-	SYM
easat-7370	230	3	1527	1527	NUM
easat-7370	230	4	,	,	PUNCT
easat-7370	230	5	2014	2014	NUM
easat-7370	230	6	.	.	PUNCT
easat-7370	231	1	[	[	X
easat-7370	231	2	26	26	NUM
easat-7370	231	3	]	]	PUNCT
easat-7370	231	4	a.	a.	NOUN
easat-7370	231	5	vaccarella	vaccarella	PROPN
easat-7370	231	6	,	,	PUNCT
easat-7370	231	7	e.	e.	PROPN
easat-7370	231	8	de	de	PROPN
easat-7370	231	9	momi	momi	PROPN
easat-7370	231	10	,	,	PUNCT
easat-7370	231	11	a.	a.	NOUN
easat-7370	231	12	enquobahrie	enquobahrie	PROPN
easat-7370	231	13	,	,	PUNCT
easat-7370	231	14	and	and	CCONJ
easat-7370	231	15	g.	g.	PROPN
easat-7370	231	16	ferrigno	ferrigno	PROPN
easat-7370	231	17	,	,	PUNCT
easat-7370	231	18	"	"	PUNCT
easat-7370	231	19	unscented	unscente	VERB
easat-7370	231	20	kalman	kalman	NOUN
easat-7370	231	21	filter	filter	NOUN
easat-7370	231	22	based	base	VERB
easat-7370	231	23	sensor	sensor	NOUN
easat-7370	231	24	fusion	fusion	NOUN
easat-7370	231	25	for	for	ADP
easat-7370	231	26	robust	robust	ADJ
easat-7370	231	27	optical	optical	ADJ
easat-7370	231	28	and	and	CCONJ
easat-7370	231	29	electromagnetic	electromagnetic	ADJ
easat-7370	231	30	tracking	tracking	NOUN
easat-7370	231	31	in	in	ADP
easat-7370	231	32	surgical	surgical	ADJ
easat-7370	231	33	navigation	navigation	NOUN
easat-7370	231	34	,	,	PUNCT
easat-7370	231	35	"	"	PUNCT
easat-7370	231	36	ieee	ieee	NOUN
easat-7370	231	37	transactions	transaction	NOUN
easat-7370	231	38	on	on	ADP
easat-7370	231	39	instrumentation	instrumentation	NOUN
easat-7370	231	40	and	and	CCONJ
easat-7370	231	41	measurement	measurement	NOUN
easat-7370	231	42	,	,	PUNCT
easat-7370	231	43	vol	vol	NOUN
easat-7370	231	44	.	.	PROPN
easat-7370	231	45	62	62	NUM
easat-7370	231	46	,	,	PUNCT
easat-7370	231	47	no	no	INTJ
easat-7370	231	48	.	.	NOUN
easat-7370	231	49	7	7	NUM
easat-7370	231	50	,	,	PUNCT
easat-7370	231	51	pp	pp	ADJ
easat-7370	231	52	.	.	PUNCT
easat-7370	231	53	2067	2067	NUM
easat-7370	231	54	-	-	SYM
easat-7370	231	55	2081	2081	NUM
easat-7370	231	56	,	,	PUNCT
easat-7370	231	57	2013	2013	NUM
easat-7370	231	58	.	.	PUNCT
easat-7370	232	1	[	[	X
easat-7370	232	2	27	27	NUM
easat-7370	232	3	]	]	X
easat-7370	232	4	g.	g.	PROPN
easat-7370	232	5	s.	s.	PROPN
easat-7370	232	6	ramos	ramos	PROPN
easat-7370	232	7	,	,	PUNCT
easat-7370	232	8	d.	d.	PROPN
easat-7370	232	9	b.	b.	PROPN
easat-7370	232	10	haddad	haddad	PROPN
easat-7370	232	11	,	,	PUNCT
easat-7370	232	12	a.	a.	PROPN
easat-7370	232	13	l.	l.	PROPN
easat-7370	232	14	barros	barros	PROPN
easat-7370	232	15	,	,	PUNCT
easat-7370	232	16	l.	l.	PROPN
easat-7370	232	17	de	de	PROPN
easat-7370	232	18	melo	melo	PROPN
easat-7370	232	19	honorio	honorio	PROPN
easat-7370	232	20	,	,	PUNCT
easat-7370	232	21	and	and	CCONJ
easat-7370	232	22	m.	m.	PROPN
easat-7370	232	23	f.	f.	PROPN
easat-7370	232	24	pinto	pinto	PROPN
easat-7370	232	25	,	,	PUNCT
easat-7370	232	26	"	"	PUNCT
easat-7370	232	27	ekf	ekf	NOUN
easat-7370	232	28	-	-	PUNCT
easat-7370	232	29	based	base	VERB
easat-7370	232	30	vision	vision	NOUN
easat-7370	232	31	-	-	PUNCT
easat-7370	232	32	assisted	assist	VERB
easat-7370	232	33	target	target	NOUN
easat-7370	232	34	tracking	tracking	NOUN
easat-7370	232	35	and	and	CCONJ
easat-7370	232	36	approaching	approach	VERB
easat-7370	232	37	for	for	ADP
easat-7370	232	38	autonomous	autonomous	ADJ
easat-7370	232	39	uav	uav	PROPN
easat-7370	232	40	in	in	ADP
easat-7370	232	41	offshore	offshore	ADJ
easat-7370	232	42	mooring	mooring	NOUN
easat-7370	232	43	tasks	task	NOUN
easat-7370	232	44	,	,	PUNCT
easat-7370	232	45	"	"	PUNCT
easat-7370	232	46	ieee	ieee	NOUN
easat-7370	232	47	journal	journal	NOUN
easat-7370	232	48	on	on	ADP
easat-7370	232	49	miniaturization	miniaturization	NOUN
easat-7370	232	50	for	for	ADP
easat-7370	232	51	air	air	NOUN
easat-7370	232	52	and	and	CCONJ
easat-7370	232	53	space	space	NOUN
easat-7370	232	54	systems	system	NOUN
easat-7370	232	55	,	,	PUNCT
easat-7370	232	56	vol	vol	NOUN
easat-7370	232	57	.	.	PROPN
easat-7370	233	1	3	3	NUM
easat-7370	233	2	,	,	PUNCT
easat-7370	233	3	no	no	INTJ
easat-7370	233	4	.	.	NOUN
easat-7370	233	5	2	2	NUM
easat-7370	233	6	,	,	PUNCT
easat-7370	233	7	pp	pp	ADJ
easat-7370	233	8	.	.	PUNCT
easat-7370	234	1	53	53	NUM
easat-7370	234	2	-	-	SYM
easat-7370	234	3	66	66	NUM
easat-7370	234	4	,	,	PUNCT
easat-7370	234	5	2022	2022	NUM
easat-7370	234	6	.	.	PUNCT
easat-7370	235	1	[	[	X
easat-7370	235	2	28	28	NUM
easat-7370	235	3	]	]	X
easat-7370	235	4	a.	a.	NOUN
easat-7370	235	5	mahmoud	mahmoud	PROPN
easat-7370	235	6	,	,	PUNCT
easat-7370	235	7	a.	a.	NOUN
easat-7370	235	8	noureldin	noureldin	PROPN
easat-7370	235	9	,	,	PUNCT
easat-7370	235	10	and	and	CCONJ
easat-7370	235	11	h.	h.	PROPN
easat-7370	235	12	s.	s.	PROPN
easat-7370	235	13	hassanein	hassanein	PROPN
easat-7370	235	14	,	,	PUNCT
easat-7370	235	15	"	"	PUNCT
easat-7370	235	16	integrated	integrated	ADJ
easat-7370	235	17	positioning	positioning	NOUN
easat-7370	235	18	for	for	ADP
easat-7370	235	19	connected	connected	ADJ
easat-7370	235	20	vehicles	vehicle	NOUN
easat-7370	235	21	,	,	PUNCT
easat-7370	235	22	"	"	PUNCT
easat-7370	235	23	ieee	ieee	NOUN
easat-7370	235	24	transactions	transaction	NOUN
easat-7370	235	25	on	on	ADP
easat-7370	235	26	intelligent	intelligent	ADJ
easat-7370	235	27	transportation	transportation	NOUN
easat-7370	235	28	systems	system	NOUN
easat-7370	235	29	,	,	PUNCT
easat-7370	235	30	vol	vol	NOUN
easat-7370	235	31	.	.	PROPN
easat-7370	235	32	21	21	NUM
easat-7370	235	33	,	,	PUNCT
easat-7370	235	34	no	no	INTJ
easat-7370	235	35	.	.	NOUN
easat-7370	235	36	1	1	NUM
easat-7370	235	37	,	,	PUNCT
easat-7370	235	38	pp	pp	ADJ
easat-7370	235	39	.	.	PUNCT
easat-7370	236	1	397	397	NUM
easat-7370	236	2	-	-	SYM
easat-7370	236	3	409	409	NUM
easat-7370	236	4	,	,	PUNCT
easat-7370	236	5	2019	2019	NUM
easat-7370	236	6	.	.	PUNCT
easat-7370	237	1	[	[	X
easat-7370	237	2	29	29	NUM
easat-7370	237	3	]	]	X
easat-7370	237	4	u.	u.	PROPN
easat-7370	237	5	iqbal	iqbal	PROPN
easat-7370	237	6	,	,	PUNCT
easat-7370	237	7	a.	a.	PROPN
easat-7370	237	8	abosekeen	abosekeen	PROPN
easat-7370	237	9	,	,	PUNCT
easat-7370	237	10	j.	j.	PROPN
easat-7370	237	11	georgy	georgy	PROPN
easat-7370	237	12	,	,	PUNCT
easat-7370	237	13	a.	a.	PROPN
easat-7370	237	14	umar	umar	PROPN
easat-7370	237	15	,	,	PUNCT
easat-7370	237	16	a.	a.	NOUN
easat-7370	237	17	noureldin	noureldin	PROPN
easat-7370	237	18	,	,	PUNCT
easat-7370	237	19	and	and	CCONJ
easat-7370	237	20	m.	m.	PROPN
easat-7370	237	21	j.	j.	PROPN
easat-7370	237	22	korenberg	korenberg	PROPN
easat-7370	237	23	,	,	PUNCT
easat-7370	237	24	"	"	PUNCT
easat-7370	237	25	implementation	implementation	NOUN
easat-7370	237	26	of	of	ADP
easat-7370	237	27	parallel	parallel	ADJ
easat-7370	237	28	cascade	cascade	NOUN
easat-7370	237	29	identification	identification	NOUN
easat-7370	237	30	at	at	ADP
easat-7370	237	31	various	various	ADJ
easat-7370	237	32	phases	phase	NOUN
easat-7370	237	33	for	for	ADP
easat-7370	237	34	integrated	integrated	ADJ
easat-7370	237	35	navigation	navigation	NOUN
easat-7370	237	36	system	system	NOUN
easat-7370	237	37	,	,	PUNCT
easat-7370	237	38	"	"	PUNCT
easat-7370	237	39	future	future	ADJ
easat-7370	237	40	internet	internet	NOUN
easat-7370	237	41	,	,	PUNCT
easat-7370	237	42	vol	vol	NOUN
easat-7370	237	43	.	.	PROPN
easat-7370	237	44	13	13	NUM
easat-7370	237	45	,	,	PUNCT
easat-7370	237	46	no	no	INTJ
easat-7370	237	47	.	.	NOUN
easat-7370	237	48	8	8	NUM
easat-7370	237	49	,	,	PUNCT
easat-7370	237	50	p.	p.	NOUN
easat-7370	237	51	191	191	NUM
easat-7370	237	52	,	,	PUNCT
easat-7370	237	53	2021	2021	NUM
easat-7370	237	54	.	.	PUNCT
easat-7370	238	1	[	[	X
easat-7370	238	2	30	30	NUM
easat-7370	238	3	]	]	X
easat-7370	238	4	a.	a.	NOUN
easat-7370	238	5	eman	eman	PROPN
easat-7370	238	6	and	and	CCONJ
easat-7370	238	7	h.	h.	PROPN
easat-7370	238	8	ramdane	ramdane	PROPN
easat-7370	238	9	,	,	PUNCT
easat-7370	238	10	"	"	PUNCT
easat-7370	238	11	mobile	mobile	ADJ
easat-7370	238	12	robot	robot	NOUN
easat-7370	238	13	localization	localization	NOUN
easat-7370	238	14	using	use	VERB
easat-7370	238	15	extended	extended	ADJ
easat-7370	238	16	kalman	kalman	NOUN
easat-7370	238	17	filter	filter	NOUN
easat-7370	238	18	,	,	PUNCT
easat-7370	238	19	"	"	PUNCT
easat-7370	238	20	in	in	ADP
easat-7370	238	21	2020	2020	NUM
easat-7370	238	22	3rd	3rd	ADJ
easat-7370	238	23	international	international	ADJ
easat-7370	238	24	conference	conference	NOUN
easat-7370	238	25	on	on	ADP
easat-7370	238	26	computer	computer	NOUN
easat-7370	238	27	applications	application	NOUN
easat-7370	238	28	&	&	CCONJ
easat-7370	238	29	information	information	NOUN
easat-7370	238	30	security	security	PROPN
easat-7370	238	31	(	(	PUNCT
easat-7370	238	32	iccais	iccais	PROPN
easat-7370	238	33	)	)	PUNCT
easat-7370	238	34	,	,	PUNCT
easat-7370	238	35	2020	2020	NUM
easat-7370	238	36	:	:	PUNCT
easat-7370	238	37	ieee	ieee	NOUN
easat-7370	238	38	,	,	PUNCT
easat-7370	238	39	pp	pp	ADJ
easat-7370	238	40	.	.	PUNCT
easat-7370	239	1	1	1	NUM
easat-7370	239	2	-	-	SYM
easat-7370	239	3	5	5	NUM
easat-7370	239	4	.	.	PUNCT
easat-7370	240	1	[	[	X
easat-7370	240	2	31	31	NUM
easat-7370	240	3	]	]	X
easat-7370	240	4	r.	r.	PROPN
easat-7370	240	5	sharaf	sharaf	PROPN
easat-7370	240	6	,	,	PUNCT
easat-7370	240	7	a.	a.	PROPN
easat-7370	240	8	noureldin	noureldin	PROPN
easat-7370	240	9	,	,	PUNCT
easat-7370	240	10	a.	a.	NOUN
easat-7370	240	11	osman	osman	PROPN
easat-7370	240	12	,	,	PUNCT
easat-7370	240	13	and	and	CCONJ
easat-7370	240	14	n.	n.	PROPN
easat-7370	240	15	el	el	PROPN
easat-7370	240	16	-	-	PUNCT
easat-7370	240	17	sheimy	sheimy	NOUN
easat-7370	240	18	,	,	PUNCT
easat-7370	240	19	"	"	PUNCT
easat-7370	240	20	online	online	ADJ
easat-7370	240	21	ins	in	NOUN
easat-7370	240	22	/	/	SYM
easat-7370	240	23	gps	gps	NOUN
easat-7370	240	24	integration	integration	NOUN
easat-7370	240	25	with	with	ADP
easat-7370	240	26	a	a	DET
easat-7370	240	27	radial	radial	ADJ
easat-7370	240	28	basis	basis	NOUN
easat-7370	240	29	function	function	NOUN
easat-7370	240	30	neural	neural	ADJ
easat-7370	240	31	network	network	NOUN
easat-7370	240	32	,	,	PUNCT
easat-7370	240	33	"	"	PUNCT
easat-7370	240	34	ieee	ieee	NOUN
easat-7370	240	35	aerospace	aerospace	NOUN
easat-7370	240	36	and	and	CCONJ
easat-7370	240	37	electronic	electronic	ADJ
easat-7370	240	38	systems	system	NOUN
easat-7370	240	39	magazine	magazine	NOUN
easat-7370	240	40	,	,	PUNCT
easat-7370	240	41	vol	vol	NOUN
easat-7370	240	42	.	.	PROPN
easat-7370	240	43	20	20	NUM
easat-7370	240	44	,	,	PUNCT
easat-7370	240	45	no	no	INTJ
easat-7370	240	46	.	.	NOUN
easat-7370	240	47	3	3	NUM
easat-7370	240	48	,	,	PUNCT
easat-7370	240	49	pp	pp	ADJ
easat-7370	240	50	.	.	PUNCT
easat-7370	241	1	8	8	NUM
easat-7370	241	2	-	-	SYM
easat-7370	241	3	14	14	NUM
easat-7370	241	4	,	,	PUNCT
easat-7370	241	5	2005	2005	NUM
easat-7370	241	6	.	.	PUNCT
easat-7370	242	1	[	[	X
easat-7370	242	2	32	32	NUM
easat-7370	242	3	]	]	PUNCT
easat-7370	242	4	a.	a.	NOUN
easat-7370	242	5	pirsiavash	pirsiavash	PROPN
easat-7370	242	6	,	,	PUNCT
easat-7370	242	7	ab	ab	PROPN
easat-7370	242	8	,	,	PUNCT
easat-7370	242	9	and	and	CCONJ
easat-7370	242	10	gl	gl	NOUN
easat-7370	242	11	,	,	PUNCT
easat-7370	242	12	"	"	PUNCT
easat-7370	242	13	characterization	characterization	NOUN
easat-7370	242	14	of	of	ADP
easat-7370	242	15	signal	signal	ADJ
easat-7370	242	16	quality	quality	NOUN
easat-7370	242	17	monitoring	monitoring	NOUN
easat-7370	242	18	techniques	technique	NOUN
easat-7370	242	19	for	for	ADP
easat-7370	242	20	multipath	multipath	NOUN
easat-7370	242	21	detection	detection	NOUN
easat-7370	242	22	in	in	ADP
easat-7370	242	23	gnss	gnss	NOUN
easat-7370	242	24	applications	application	NOUN
easat-7370	242	25	,	,	PUNCT
easat-7370	242	26	"	"	PUNCT
easat-7370	242	27	sensors	sensor	NOUN
easat-7370	242	28	,	,	PUNCT
easat-7370	242	29	vol	vol	NOUN
easat-7370	242	30	.	.	PROPN
easat-7370	242	31	17	17	NUM
easat-7370	242	32	,	,	PUNCT
easat-7370	242	33	p.	p.	NOUN
easat-7370	242	34	1579	1579	NUM
easat-7370	242	35	,	,	PUNCT
easat-7370	242	36	2017	2017	NUM
easat-7370	242	37	.	.	PUNCT
easat-7370	243	1	https://doi.org/10.3390/s17071579	https://doi.org/10.3390/s17071579	NUM
easat-7370	244	1	[	[	X
easat-7370	244	2	33	33	NUM
easat-7370	244	3	]	]	X
easat-7370	244	4	y.	y.	PROPN
easat-7370	244	5	hao	hao	PROPN
easat-7370	244	6	,	,	PUNCT
easat-7370	244	7	a.	a.	PROPN
easat-7370	244	8	xu	xu	PROPN
easat-7370	244	9	,	,	PUNCT
easat-7370	244	10	x.	x.	PROPN
easat-7370	244	11	sui	sui	PROPN
easat-7370	244	12	,	,	PUNCT
easat-7370	244	13	and	and	CCONJ
easat-7370	244	14	y.	y.	PROPN
easat-7370	244	15	wang	wang	PROPN
easat-7370	244	16	,	,	PUNCT
easat-7370	244	17	"	"	PUNCT
easat-7370	244	18	a	a	DET
easat-7370	244	19	modified	modify	VERB
easat-7370	244	20	extended	extend	VERB
easat-7370	244	21	kalman	kalman	NOUN
easat-7370	244	22	filter	filter	NOUN
easat-7370	244	23	for	for	ADP
easat-7370	244	24	a	a	DET
easat-7370	244	25	two	two	NUM
easat-7370	244	26	-	-	PUNCT
easat-7370	244	27	antenna	antenna	NOUN
easat-7370	244	28	gps	gps	PROPN
easat-7370	244	29	/	/	SYM
easat-7370	244	30	ins	ins	PROPN
easat-7370	244	31	vehicular	vehicular	ADJ
easat-7370	244	32	navigation	navigation	NOUN
easat-7370	244	33	system	system	NOUN
easat-7370	244	34	,	,	PUNCT
easat-7370	244	35	"	"	PUNCT
easat-7370	244	36	sensors	sensor	NOUN
easat-7370	244	37	,	,	PUNCT
easat-7370	244	38	vol	vol	NOUN
easat-7370	244	39	.	.	PROPN
easat-7370	244	40	18	18	NUM
easat-7370	244	41	,	,	PUNCT
easat-7370	244	42	no	no	INTJ
easat-7370	244	43	.	.	NOUN
easat-7370	244	44	11	11	NUM
easat-7370	244	45	,	,	PUNCT
easat-7370	244	46	p.	p.	NOUN
easat-7370	244	47	3809	3809	NUM
easat-7370	244	48	,	,	PUNCT
easat-7370	244	49	2018	2018	NUM
easat-7370	244	50	.	.	PUNCT
easat-7370	245	1	[	[	X
easat-7370	245	2	34	34	NUM
easat-7370	245	3	]	]	SYM
easat-7370	245	4	a.	a.	NOUN
easat-7370	245	5	barrau	barrau	NOUN
easat-7370	245	6	and	and	CCONJ
easat-7370	245	7	s.	s.	PROPN
easat-7370	245	8	bonnabel	bonnabel	PROPN
easat-7370	245	9	,	,	PUNCT
easat-7370	245	10	"	"	PUNCT
easat-7370	245	11	extended	extended	ADJ
easat-7370	245	12	kalman	kalman	NOUN
easat-7370	245	13	filtering	filter	VERB
easat-7370	245	14	with	with	ADP
easat-7370	245	15	nonlinear	nonlinear	ADJ
easat-7370	245	16	equality	equality	NOUN
easat-7370	245	17	constraints	constraint	NOUN
easat-7370	245	18	:	:	PUNCT
easat-7370	245	19	a	a	DET
easat-7370	245	20	geometric	geometric	ADJ
easat-7370	245	21	approach	approach	NOUN
easat-7370	245	22	,	,	PUNCT
easat-7370	245	23	"	"	PUNCT
easat-7370	245	24	ieee	ieee	NOUN
easat-7370	245	25	transactions	transaction	NOUN
easat-7370	245	26	on	on	ADP
easat-7370	245	27	automatic	automatic	ADJ
easat-7370	245	28	control	control	NOUN
easat-7370	245	29	,	,	PUNCT
easat-7370	245	30	vol	vol	NOUN
easat-7370	245	31	.	.	PROPN
easat-7370	245	32	65	65	NUM
easat-7370	245	33	,	,	PUNCT
easat-7370	245	34	no	no	INTJ
easat-7370	245	35	.	.	NOUN
easat-7370	245	36	6	6	NUM
easat-7370	245	37	,	,	PUNCT
easat-7370	245	38	pp	pp	ADJ
easat-7370	245	39	.	.	PUNCT
easat-7370	245	40	2325	2325	NUM
easat-7370	245	41	-	-	SYM
easat-7370	245	42	2338	2338	NUM
easat-7370	245	43	,	,	PUNCT
easat-7370	245	44	2019	2019	NUM
easat-7370	245	45	.	.	PUNCT
easat-7370	246	1	[	[	X
easat-7370	246	2	35	35	NUM
easat-7370	246	3	]	]	PUNCT
easat-7370	246	4	d.-j	d.-j	PROPN
easat-7370	246	5	.	.	PUNCT
easat-7370	247	1	jwo	jwo	NOUN
easat-7370	247	2	and	and	CCONJ
easat-7370	247	3	t.-s	t.-	NOUN
easat-7370	247	4	.	.	PUNCT
easat-7370	248	1	cho	cho	PROPN
easat-7370	248	2	,	,	PUNCT
easat-7370	248	3	"	"	PUNCT
easat-7370	248	4	critical	critical	ADJ
easat-7370	248	5	remarks	remark	NOUN
easat-7370	248	6	on	on	ADP
easat-7370	248	7	the	the	DET
easat-7370	248	8	linearised	linearise	VERB
easat-7370	248	9	and	and	CCONJ
easat-7370	248	10	extended	extended	ADJ
easat-7370	248	11	kalman	kalman	NOUN
easat-7370	248	12	filters	filter	NOUN
easat-7370	248	13	with	with	ADP
easat-7370	248	14	geodetic	geodetic	ADJ
easat-7370	248	15	navigation	navigation	NOUN
easat-7370	248	16	examples	example	NOUN
easat-7370	248	17	,	,	PUNCT
easat-7370	248	18	"	"	PUNCT
easat-7370	248	19	measurement	measurement	NOUN
easat-7370	248	20	,	,	PUNCT
easat-7370	248	21	vol	vol	NOUN
easat-7370	248	22	.	.	PROPN
easat-7370	248	23	43	43	NUM
easat-7370	248	24	,	,	PUNCT
easat-7370	248	25	no	no	INTJ
easat-7370	248	26	.	.	NOUN
easat-7370	248	27	9	9	NUM
easat-7370	248	28	,	,	PUNCT
easat-7370	248	29	pp	pp	ADJ
easat-7370	248	30	.	.	PUNCT
easat-7370	249	1	1077	1077	NUM
easat-7370	249	2	-	-	SYM
easat-7370	249	3	1089	1089	NUM
easat-7370	249	4	,	,	PUNCT
easat-7370	249	5	2010	2010	NUM
easat-7370	249	6	.	.	PUNCT
easat-7370	250	1	http://dx.doi.org/10.1016/j.measurement.2010.05.008	http://dx.doi.org/10.1016/j.measurement.2010.05.008	NOUN
easat-7370	251	1	[	[	X
easat-7370	251	2	36	36	NUM
easat-7370	251	3	]	]	X
easat-7370	251	4	d.	d.	PROPN
easat-7370	251	5	simon	simon	PROPN
easat-7370	251	6	,	,	PUNCT
easat-7370	251	7	"	"	PUNCT
easat-7370	251	8	extended	extended	ADJ
easat-7370	251	9	kalman	kalman	NOUN
easat-7370	251	10	filters	filter	NOUN
easat-7370	251	11	,	,	PUNCT
easat-7370	251	12	"	"	PUNCT
easat-7370	251	13	encyclopedia	encyclopedia	NOUN
easat-7370	251	14	of	of	ADP
easat-7370	251	15	systems	system	NOUN
easat-7370	251	16	and	and	CCONJ
easat-7370	251	17	control	control	NOUN
easat-7370	251	18	,	,	PUNCT
easat-7370	251	19	vol	vol	NOUN
easat-7370	251	20	.	.	PROPN
easat-7370	251	21	1	1	NUM
easat-7370	251	22	,	,	PUNCT
easat-7370	251	23	pp	pp	ADJ
easat-7370	251	24	.	.	PUNCT
easat-7370	252	1	411–413	411–413	NUM
easat-7370	252	2	,	,	PUNCT
easat-7370	252	3	2015	2015	NUM
easat-7370	252	4	.	.	PUNCT
easat-7370	253	1	[	[	X
easat-7370	253	2	37	37	NUM
easat-7370	253	3	]	]	PUNCT
easat-7370	253	4	l.	l.	PROPN
easat-7370	253	5	dantanarayana	dantanarayana	PROPN
easat-7370	253	6	,	,	PUNCT
easat-7370	253	7	g.	g.	PROPN
easat-7370	253	8	dissanayake	dissanayake	PROPN
easat-7370	253	9	,	,	PUNCT
easat-7370	253	10	r.	r.	PROPN
easat-7370	253	11	ranasinghe	ranasinghe	NOUN
easat-7370	253	12	,	,	PUNCT
easat-7370	253	13	and	and	CCONJ
easat-7370	253	14	t.	t.	PROPN
easat-7370	253	15	furukawa	furukawa	PROPN
easat-7370	253	16	,	,	PUNCT
easat-7370	253	17	"	"	PUNCT
easat-7370	253	18	an	an	DET
easat-7370	253	19	extended	extended	ADJ
easat-7370	253	20	kalman	kalman	NOUN
easat-7370	253	21	filter	filter	NOUN
easat-7370	253	22	for	for	ADP
easat-7370	253	23	localisation	localisation	NOUN
easat-7370	253	24	in	in	ADP
easat-7370	253	25	occupancy	occupancy	NOUN
easat-7370	253	26	grid	grid	NOUN
easat-7370	253	27	maps	map	NOUN
easat-7370	253	28	,	,	PUNCT
easat-7370	253	29	"	"	PUNCT
easat-7370	253	30	in	in	ADP
easat-7370	253	31	2015	2015	NUM
easat-7370	253	32	ieee	ieee	NOUN
easat-7370	253	33	10th	10th	ADJ
easat-7370	253	34	international	international	ADJ
easat-7370	253	35	conference	conference	NOUN
easat-7370	253	36	on	on	ADP
easat-7370	253	37	industrial	industrial	ADJ
easat-7370	253	38	and	and	CCONJ
easat-7370	253	39	information	information	NOUN
easat-7370	253	40	systems	system	NOUN
easat-7370	253	41	(	(	PUNCT
easat-7370	253	42	iciis	iciis	ADJ
easat-7370	253	43	)	)	PUNCT
easat-7370	253	44	,	,	PUNCT
easat-7370	253	45	2015	2015	NUM
easat-7370	253	46	:	:	PUNCT
easat-7370	253	47	ieee	ieee	NOUN
easat-7370	253	48	,	,	PUNCT
easat-7370	253	49	pp	pp	ADJ
easat-7370	253	50	.	.	PUNCT
easat-7370	253	51	419	419	NUM
easat-7370	253	52	-	-	SYM
easat-7370	253	53	424	424	NUM
easat-7370	253	54	.	.	PUNCT
easat-7370	254	1	[	[	X
easat-7370	254	2	38	38	NUM
easat-7370	254	3	]	]	PUNCT
easat-7370	254	4	a.	a.	NOUN
easat-7370	254	5	chatterjee	chatterjee	PROPN
easat-7370	254	6	and	and	CCONJ
easat-7370	254	7	f.	f.	PROPN
easat-7370	254	8	matsuno	matsuno	PROPN
easat-7370	254	9	,	,	PUNCT
easat-7370	254	10	"	"	PUNCT
easat-7370	254	11	a	a	DET
easat-7370	254	12	neuro	neuro	NOUN
easat-7370	254	13	-	-	PUNCT
easat-7370	254	14	fuzzy	fuzzy	ADJ
easat-7370	254	15	assisted	assist	VERB
easat-7370	254	16	extended	extended	ADJ
easat-7370	254	17	kalman	kalman	NOUN
easat-7370	254	18	filter	filter	NOUN
easat-7370	254	19	-	-	PUNCT
easat-7370	254	20	based	base	VERB
easat-7370	254	21	approach	approach	NOUN
easat-7370	254	22	for	for	ADP
easat-7370	254	23	simultaneous	simultaneous	ADJ
easat-7370	254	24	localization	localization	NOUN
easat-7370	254	25	and	and	CCONJ
easat-7370	254	26	mapping	mapping	NOUN
easat-7370	254	27	(	(	PUNCT
easat-7370	254	28	slam	slam	NOUN
easat-7370	254	29	)	)	PUNCT
easat-7370	254	30	problems	problem	NOUN
easat-7370	254	31	,	,	PUNCT
easat-7370	254	32	"	"	PUNCT
easat-7370	254	33	ieee	ieee	NOUN
easat-7370	254	34	transactions	transaction	NOUN
easat-7370	254	35	on	on	ADP
easat-7370	254	36	fuzzy	fuzzy	ADJ
easat-7370	254	37	systems	system	NOUN
easat-7370	254	38	,	,	PUNCT
easat-7370	254	39	vol	vol	NOUN
easat-7370	254	40	.	.	PROPN
easat-7370	254	41	15	15	NUM
easat-7370	254	42	,	,	PUNCT
easat-7370	254	43	no	no	INTJ
easat-7370	254	44	.	.	NOUN
easat-7370	254	45	5	5	NUM
easat-7370	254	46	,	,	PUNCT
easat-7370	254	47	pp	pp	ADJ
easat-7370	254	48	.	.	PUNCT
easat-7370	255	1	984	984	NUM
easat-7370	255	2	-	-	SYM
easat-7370	255	3	997	997	NUM
easat-7370	255	4	,	,	PUNCT
easat-7370	255	5	2007	2007	NUM
easat-7370	255	6	.	.	PUNCT
easat-7370	256	1	[	[	X
easat-7370	256	2	39	39	NUM
easat-7370	256	3	]	]	PUNCT
easat-7370	256	4	v.	v.	CCONJ
easat-7370	256	5	sangale	sangale	NOUN
easat-7370	256	6	and	and	CCONJ
easat-7370	256	7	a.	a.	NOUN
easat-7370	256	8	shendre	shendre	NOUN
easat-7370	256	9	,	,	PUNCT
easat-7370	256	10	"	"	PUNCT
easat-7370	256	11	localization	localization	NOUN
easat-7370	256	12	of	of	ADP
easat-7370	256	13	a	a	DET
easat-7370	256	14	mobile	mobile	ADJ
easat-7370	256	15	autonomous	autonomous	ADJ
easat-7370	256	16	robot	robot	NOUN
easat-7370	256	17	using	use	VERB
easat-7370	256	18	extended	extended	ADJ
easat-7370	256	19	kalman	kalman	NOUN
easat-7370	256	20	filter	filter	NOUN
easat-7370	256	21	,	,	PUNCT
easat-7370	256	22	"	"	PUNCT
easat-7370	256	23	in	in	ADP
easat-7370	256	24	2013	2013	NUM
easat-7370	256	25	third	third	ADJ
easat-7370	256	26	international	international	ADJ
easat-7370	256	27	conference	conference	NOUN
easat-7370	256	28	on	on	ADP
easat-7370	256	29	advances	advance	NOUN
easat-7370	256	30	in	in	ADP
easat-7370	256	31	computing	computing	NOUN
easat-7370	256	32	and	and	CCONJ
easat-7370	256	33	communications	communication	NOUN
easat-7370	256	34	,	,	PUNCT
easat-7370	256	35	2013	2013	NUM
easat-7370	256	36	:	:	PUNCT
easat-7370	256	37	ieee	ieee	NOUN
easat-7370	256	38	,	,	PUNCT
easat-7370	256	39	pp	pp	ADP
easat-7370	256	40	.	.	PUNCT
easat-7370	257	1	274	274	NUM
easat-7370	257	2	-	-	SYM
easat-7370	257	3	277	277	NUM
easat-7370	257	4	.	.	PUNCT
easat-7370	258	1	[	[	X
easat-7370	258	2	40	40	NUM
easat-7370	258	3	]	]	PUNCT
easat-7370	258	4	x.	x.	PROPN
easat-7370	258	5	liu	liu	PROPN
easat-7370	258	6	,	,	PUNCT
easat-7370	258	7	h.	h.	PROPN
easat-7370	258	8	qu	qu	PROPN
easat-7370	258	9	,	,	PUNCT
easat-7370	258	10	j.	j.	PROPN
easat-7370	258	11	zhao	zhao	PROPN
easat-7370	258	12	,	,	PUNCT
easat-7370	258	13	and	and	CCONJ
easat-7370	258	14	b.	b.	PROPN
easat-7370	258	15	chen	chen	PROPN
easat-7370	258	16	,	,	PUNCT
easat-7370	258	17	"	"	PUNCT
easat-7370	258	18	extended	extended	ADJ
easat-7370	258	19	kalman	kalman	NOUN
easat-7370	258	20	filter	filter	NOUN
easat-7370	258	21	under	under	ADP
easat-7370	258	22	maximum	maximum	ADJ
easat-7370	258	23	correntropy	correntropy	NOUN
easat-7370	258	24	criterion	criterion	NOUN
easat-7370	258	25	,	,	PUNCT
easat-7370	258	26	"	"	PUNCT
easat-7370	258	27	in	in	ADP
easat-7370	258	28	2016	2016	NUM
easat-7370	258	29	international	international	ADJ
easat-7370	258	30	joint	joint	ADJ
easat-7370	258	31	conference	conference	NOUN
easat-7370	258	32	on	on	ADP
easat-7370	258	33	neural	neural	ADJ
easat-7370	258	34	networks	network	NOUN
easat-7370	258	35	(	(	PUNCT
easat-7370	258	36	ijcnn	ijcnn	PROPN
easat-7370	258	37	)	)	PUNCT
easat-7370	258	38	,	,	PUNCT
easat-7370	258	39	2016	2016	NUM
easat-7370	258	40	:	:	PUNCT
easat-7370	258	41	ieee	ieee	NOUN
easat-7370	258	42	,	,	PUNCT
easat-7370	258	43	pp	pp	ADJ
easat-7370	258	44	.	.	PUNCT
easat-7370	259	1	1733	1733	NUM
easat-7370	259	2	-	-	SYM
easat-7370	259	3	1737	1737	NUM
easat-7370	259	4	.	.	PUNCT
easat-7370	260	1	[	[	X
easat-7370	260	2	41	41	NUM
easat-7370	260	3	]	]	PUNCT
easat-7370	260	4	q.	q.	PROPN
easat-7370	260	5	ge	ge	PROPN
easat-7370	260	6	,	,	PUNCT
easat-7370	260	7	t.	t.	PROPN
easat-7370	260	8	shao	shao	PROPN
easat-7370	260	9	,	,	PUNCT
easat-7370	260	10	s.	s.	PROPN
easat-7370	260	11	chen	chen	PROPN
easat-7370	260	12	,	,	PUNCT
easat-7370	260	13	and	and	CCONJ
easat-7370	260	14	c.	c.	PROPN
easat-7370	260	15	wen	wen	PROPN
easat-7370	260	16	,	,	PUNCT
easat-7370	260	17	"	"	PUNCT
easat-7370	260	18	carrier	carrier	NOUN
easat-7370	260	19	tracking	tracking	NOUN
easat-7370	260	20	estimation	estimation	NOUN
easat-7370	260	21	analysis	analysis	NOUN
easat-7370	260	22	by	by	ADP
easat-7370	260	23	using	use	VERB
easat-7370	260	24	the	the	DET
easat-7370	260	25	extended	extended	ADJ
easat-7370	260	26	strong	strong	ADJ
easat-7370	260	27	tracking	tracking	NOUN
easat-7370	260	28	filtering	filter	VERB
easat-7370	260	29	,	,	PUNCT
easat-7370	260	30	"	"	PUNCT
easat-7370	260	31	ieee	ieee	NOUN
easat-7370	260	32	transactions	transaction	NOUN
easat-7370	260	33	on	on	ADP
easat-7370	260	34	industrial	industrial	ADJ
easat-7370	260	35	electronics	electronic	NOUN
easat-7370	260	36	,	,	PUNCT
easat-7370	260	37	vol	vol	NOUN
easat-7370	260	38	.	.	PROPN
easat-7370	260	39	64	64	NUM
easat-7370	260	40	,	,	PUNCT
easat-7370	260	41	no	no	INTJ
easat-7370	260	42	.	.	NOUN
easat-7370	260	43	2	2	NUM
easat-7370	260	44	,	,	PUNCT
easat-7370	260	45	pp	pp	ADJ
easat-7370	260	46	.	.	PUNCT
easat-7370	260	47	1415	1415	NUM
easat-7370	260	48	-	-	SYM
easat-7370	260	49	1424	1424	NUM
easat-7370	260	50	,	,	PUNCT
easat-7370	260	51	2017	2017	NUM
easat-7370	260	52	.	.	PUNCT
easat-7370	261	1	[	[	X
easat-7370	261	2	42	42	NUM
easat-7370	261	3	]	]	X
easat-7370	261	4	e.	e.	PROPN
easat-7370	261	5	ghahremani	ghahremani	PROPN
easat-7370	261	6	and	and	CCONJ
easat-7370	261	7	i.	i.	PROPN
easat-7370	261	8	kamwa	kamwa	PROPN
easat-7370	261	9	,	,	PUNCT
easat-7370	261	10	"	"	PUNCT
easat-7370	261	11	dynamic	dynamic	ADJ
easat-7370	261	12	state	state	NOUN
easat-7370	261	13	estimation	estimation	NOUN
easat-7370	261	14	in	in	ADP
easat-7370	261	15	power	power	NOUN
easat-7370	261	16	system	system	NOUN
easat-7370	261	17	by	by	ADP
easat-7370	261	18	applying	apply	VERB
easat-7370	261	19	the	the	DET
easat-7370	261	20	extended	extended	ADJ
easat-7370	261	21	kalman	kalman	NOUN
easat-7370	261	22	filter	filter	NOUN
easat-7370	261	23	with	with	ADP
easat-7370	261	24	unknown	unknown	ADJ
easat-7370	261	25	inputs	input	NOUN
easat-7370	261	26	to	to	ADP
easat-7370	261	27	phasor	phasor	NOUN
easat-7370	261	28	measurements	measurement	NOUN
easat-7370	261	29	,	,	PUNCT
easat-7370	261	30	"	"	PUNCT
easat-7370	261	31	ieee	ieee	NOUN
easat-7370	261	32	transactions	transaction	NOUN
easat-7370	261	33	on	on	ADP
easat-7370	261	34	power	power	NOUN
easat-7370	261	35	systems	system	NOUN
easat-7370	261	36	,	,	PUNCT
easat-7370	261	37	vol	vol	NOUN
easat-7370	261	38	.	.	PROPN
easat-7370	261	39	26	26	NUM
easat-7370	261	40	,	,	PUNCT
easat-7370	261	41	no	no	INTJ
easat-7370	261	42	.	.	NOUN
easat-7370	261	43	4	4	NUM
easat-7370	261	44	,	,	PUNCT
easat-7370	261	45	pp	pp	ADJ
easat-7370	261	46	.	.	PUNCT
easat-7370	261	47	2556	2556	NUM
easat-7370	261	48	-	-	SYM
easat-7370	261	49	2566	2566	NUM
easat-7370	261	50	,	,	PUNCT
easat-7370	261	51	2011	2011	NUM
easat-7370	261	52	.	.	PUNCT
easat-7370	262	1	https://doi.org/10.1016/j.measurement.2008.10.002	https://doi.org/10.1016/j.measurement.2008.10.002	NOUN
easat-7370	262	2	https://doi.org/10.3390/s17071579	https://doi.org/10.3390/s17071579	PROPN
easat-7370	262	3	http://dx.doi.org/10.1016/j.measurement.2010.05.008	http://dx.doi.org/10.1016/j.measurement.2010.05.008	PROPN
easat-7370	262	4	2026	2026	NUM
easat-7370	262	5	edelweiss	edelweiss	PROPN
easat-7370	262	6	applied	apply	VERB
easat-7370	262	7	science	science	NOUN
easat-7370	262	8	and	and	CCONJ
easat-7370	262	9	technology	technology	NOUN
easat-7370	262	10	issn	issn	PROPN
easat-7370	262	11	:	:	PUNCT
easat-7370	262	12	2576	2576	NUM
easat-7370	262	13	-	-	SYM
easat-7370	262	14	8484	8484	NUM
easat-7370	262	15	vol	vol	NOUN
easat-7370	262	16	.	.	PROPN
easat-7370	263	1	9	9	NUM
easat-7370	263	2	,	,	PUNCT
easat-7370	263	3	no	no	INTJ
easat-7370	263	4	.	.	NOUN
easat-7370	263	5	5	5	NUM
easat-7370	263	6	:	:	SYM
easat-7370	263	7	2017	2017	NUM
easat-7370	263	8	-	-	SYM
easat-7370	263	9	2026	2026	NUM
easat-7370	263	10	,	,	PUNCT
easat-7370	263	11	2025	2025	NUM
easat-7370	263	12	doi	doi	NOUN
easat-7370	263	13	:	:	PUNCT
easat-7370	263	14	10.55214/25768484.v9i5.7370	10.55214/25768484.v9i5.7370	NUM
easat-7370	263	15	©	©	PROPN
easat-7370	263	16	2025	2025	NUM
easat-7370	263	17	by	by	ADP
easat-7370	263	18	the	the	DET
easat-7370	263	19	authors	author	NOUN
easat-7370	263	20	;	;	PUNCT
easat-7370	263	21	licensee	licensee	PROPN
easat-7370	263	22	learning	learning	NOUN
easat-7370	263	23	gate	gate	NOUN
easat-7370	264	1	[	[	X
easat-7370	264	2	43	43	NUM
easat-7370	264	3	]	]	X
easat-7370	264	4	h.	h.	PROPN
easat-7370	264	5	a.	a.	PROPN
easat-7370	264	6	pointon	pointon	PROPN
easat-7370	264	7	,	,	PUNCT
easat-7370	264	8	b.	b.	PROPN
easat-7370	264	9	j.	j.	PROPN
easat-7370	264	10	mcloughlin	mcloughlin	PROPN
easat-7370	264	11	,	,	PUNCT
easat-7370	264	12	c.	c.	PROPN
easat-7370	264	13	matthews	matthews	PROPN
easat-7370	264	14	,	,	PUNCT
easat-7370	264	15	and	and	CCONJ
easat-7370	264	16	f.	f.	PROPN
easat-7370	264	17	a.	a.	PROPN
easat-7370	264	18	bezombes	bezombe	NOUN
easat-7370	264	19	,	,	PUNCT
easat-7370	264	20	"	"	PUNCT
easat-7370	264	21	towards	towards	ADP
easat-7370	264	22	a	a	DET
easat-7370	264	23	model	model	NOUN
easat-7370	264	24	based	base	VERB
easat-7370	264	25	sensor	sensor	NOUN
easat-7370	264	26	measurement	measurement	NOUN
easat-7370	264	27	variance	variance	NOUN
easat-7370	264	28	input	input	NOUN
easat-7370	264	29	for	for	ADP
easat-7370	264	30	extended	extended	ADJ
easat-7370	264	31	kalman	kalman	NOUN
easat-7370	264	32	filter	filter	NOUN
easat-7370	264	33	state	state	NOUN
easat-7370	264	34	estimation	estimation	NOUN
easat-7370	264	35	,	,	PUNCT
easat-7370	264	36	"	"	PUNCT
easat-7370	264	37	drones	drone	NOUN
easat-7370	264	38	,	,	PUNCT
easat-7370	264	39	vol	vol	NOUN
easat-7370	264	40	.	.	PROPN
easat-7370	265	1	3	3	NUM
easat-7370	265	2	,	,	PUNCT
easat-7370	265	3	no	no	INTJ
easat-7370	265	4	.	.	NOUN
easat-7370	265	5	1	1	NUM
easat-7370	265	6	,	,	PUNCT
easat-7370	265	7	p.	p.	NOUN
easat-7370	265	8	19	19	NUM
easat-7370	265	9	,	,	PUNCT
easat-7370	265	10	2019	2019	NUM
easat-7370	265	11	.	.	PUNCT
easat-7370	266	1	[	[	X
easat-7370	266	2	44	44	NUM
easat-7370	266	3	]	]	PUNCT
easat-7370	266	4	g.	g.	PROPN
easat-7370	266	5	a.	a.	PROPN
easat-7370	266	6	erejanu	erejanu	PROPN
easat-7370	266	7	,	,	PUNCT
easat-7370	266	8	extended	extended	ADJ
easat-7370	266	9	kalman	kalman	NOUN
easat-7370	266	10	filter	filter	NOUN
easat-7370	266	11	tutorial	tutorial	NOUN
easat-7370	266	12	.	.	PUNCT
easat-7370	267	1	buffalo	buffalo	PROPN
easat-7370	267	2	,	,	PUNCT
easat-7370	267	3	ny	ny	PROPN
easat-7370	267	4	:	:	PUNCT
easat-7370	267	5	university	university	NOUN
easat-7370	267	6	at	at	ADP
easat-7370	267	7	buffalo	buffalo	PROPN
easat-7370	267	8	,	,	PUNCT
easat-7370	267	9	2008	2008	NUM
easat-7370	267	10	.	.	PUNCT
easat-7370	268	1	[	[	X
easat-7370	268	2	45	45	NUM
easat-7370	268	3	]	]	PUNCT
easat-7370	268	4	a.	a.	NOUN
easat-7370	268	5	akca	akca	PROPN
easat-7370	268	6	and	and	CCONJ
easat-7370	268	7	m.	m.	PROPN
easat-7370	268	8	ö.	ö.	PROPN
easat-7370	268	9	efe	efe	PROPN
easat-7370	268	10	,	,	PUNCT
easat-7370	268	11	"	"	PUNCT
easat-7370	268	12	multiple	multiple	ADJ
easat-7370	268	13	model	model	NOUN
easat-7370	268	14	kalman	kalman	NOUN
easat-7370	268	15	and	and	CCONJ
easat-7370	268	16	particle	particle	NOUN
easat-7370	268	17	filters	filter	NOUN
easat-7370	268	18	and	and	CCONJ
easat-7370	268	19	applications	application	NOUN
easat-7370	268	20	:	:	PUNCT
easat-7370	268	21	a	a	DET
easat-7370	268	22	survey	survey	NOUN
easat-7370	268	23	,	,	PUNCT
easat-7370	268	24	"	"	PUNCT
easat-7370	268	25	ifac	ifac	NOUN
easat-7370	268	26	-	-	PUNCT
easat-7370	268	27	papersonline	papersonline	NOUN
easat-7370	268	28	,	,	PUNCT
easat-7370	268	29	vol	vol	NOUN
easat-7370	268	30	.	.	PROPN
easat-7370	268	31	52	52	NUM
easat-7370	268	32	,	,	PUNCT
easat-7370	268	33	no	no	INTJ
easat-7370	268	34	.	.	NOUN
easat-7370	268	35	3	3	NUM
easat-7370	268	36	,	,	PUNCT
easat-7370	268	37	pp	pp	ADJ
easat-7370	268	38	.	.	PUNCT
easat-7370	269	1	73	73	NUM
easat-7370	269	2	-	-	SYM
easat-7370	269	3	78	78	NUM
easat-7370	269	4	,	,	PUNCT
easat-7370	269	5	2019	2019	NUM
easat-7370	269	6	.	.	PUNCT
easat-7370	270	1	https://doi.org/10.1016/j.ifacol.2019.06.013	https://doi.org/10.1016/j.ifacol.2019.06.013	PRON
easat-7370	270	2	[	[	X
easat-7370	270	3	46	46	NUM
easat-7370	270	4	]	]	PUNCT
easat-7370	270	5	h.	h.	PROPN
easat-7370	270	6	s.	s.	PROPN
easat-7370	270	7	hasan	hasan	PROPN
easat-7370	270	8	,	,	PUNCT
easat-7370	270	9	m.	m.	PROPN
easat-7370	270	10	r.	r.	PROPN
easat-7370	270	11	khudhair	khudhair	PROPN
easat-7370	270	12	,	,	PUNCT
easat-7370	270	13	and	and	CCONJ
easat-7370	270	14	f.	f.	PROPN
easat-7370	270	15	kamil	kamil	PROPN
easat-7370	270	16	,	,	PUNCT
easat-7370	270	17	"	"	PUNCT
easat-7370	270	18	mobile	mobile	ADJ
easat-7370	270	19	robot	robot	NOUN
easat-7370	270	20	using	use	VERB
easat-7370	270	21	kalman	kalman	NOUN
easat-7370	270	22	filter	filter	NOUN
easat-7370	270	23	for	for	ADP
easat-7370	270	24	localization	localization	NOUN
easat-7370	270	25	,	,	PUNCT
easat-7370	270	26	"	"	PUNCT
easat-7370	270	27	metallurgical	metallurgical	ADJ
easat-7370	270	28	and	and	CCONJ
easat-7370	270	29	materials	material	NOUN
easat-7370	270	30	engineering	engineering	NOUN
easat-7370	270	31	,	,	PUNCT
easat-7370	270	32	vol	vol	NOUN
easat-7370	270	33	.	.	PROPN
easat-7370	270	34	30	30	NUM
easat-7370	270	35	,	,	PUNCT
easat-7370	270	36	no	no	INTJ
easat-7370	270	37	.	.	NOUN
easat-7370	270	38	4	4	NUM
easat-7370	270	39	,	,	PUNCT
easat-7370	270	40	pp	pp	ADJ
easat-7370	270	41	.	.	PUNCT
easat-7370	271	1	507	507	NUM
easat-7370	271	2	-	-	SYM
easat-7370	271	3	516	516	NUM
easat-7370	271	4	,	,	PUNCT
easat-7370	271	5	2024	2024	NUM
easat-7370	271	6	.	.	PUNCT
easat-7370	272	1	https://doi.org/10.63278/mme.v30i4.1208	https://doi.org/10.63278/mme.v30i4.1208	NOUN
easat-7370	272	2	[	[	PUNCT
easat-7370	272	3	47	47	NUM
easat-7370	272	4	]	]	PUNCT
easat-7370	272	5	c.-y	c.-y	NOUN
easat-7370	272	6	.	.	PUNCT
easat-7370	273	1	yang	yang	PROPN
easat-7370	273	2	,	,	PUNCT
easat-7370	273	3	h.	h.	PROPN
easat-7370	273	4	samani	samani	PROPN
easat-7370	273	5	,	,	PUNCT
easat-7370	273	6	z.	z.	PROPN
easat-7370	273	7	tang	tang	PROPN
easat-7370	273	8	,	,	PUNCT
easat-7370	273	9	and	and	CCONJ
easat-7370	273	10	c.	c.	PROPN
easat-7370	273	11	li	li	PROPN
easat-7370	273	12	,	,	PUNCT
easat-7370	273	13	"	"	PUNCT
easat-7370	273	14	implementation	implementation	NOUN
easat-7370	273	15	of	of	ADP
easat-7370	273	16	extended	extended	ADJ
easat-7370	273	17	kalman	kalman	NOUN
easat-7370	273	18	filter	filter	NOUN
easat-7370	273	19	for	for	ADP
easat-7370	273	20	localization	localization	NOUN
easat-7370	273	21	of	of	ADP
easat-7370	273	22	ambulance	ambulance	NOUN
easat-7370	273	23	robot	robot	NOUN
easat-7370	273	24	,	,	PUNCT
easat-7370	273	25	"	"	PUNCT
easat-7370	273	26	international	international	ADJ
easat-7370	273	27	journal	journal	NOUN
easat-7370	273	28	of	of	ADP
easat-7370	273	29	intelligent	intelligent	ADJ
easat-7370	273	30	robotics	robotic	NOUN
easat-7370	273	31	and	and	CCONJ
easat-7370	273	32	applications	application	NOUN
easat-7370	273	33	,	,	PUNCT
easat-7370	273	34	vol	vol	NOUN
easat-7370	273	35	.	.	PROPN
easat-7370	273	36	8	8	NUM
easat-7370	273	37	,	,	PUNCT
easat-7370	273	38	no	no	INTJ
easat-7370	273	39	.	.	NOUN
easat-7370	273	40	4	4	NUM
easat-7370	273	41	,	,	PUNCT
easat-7370	273	42	pp	pp	ADJ
easat-7370	273	43	.	.	PUNCT
easat-7370	274	1	960	960	NUM
easat-7370	274	2	-	-	SYM
easat-7370	274	3	973	973	NUM
easat-7370	274	4	,	,	PUNCT
easat-7370	274	5	2024	2024	NUM
easat-7370	274	6	.	.	PUNCT
easat-7370	275	1	https://doi.org/10.1007/s41315-024-00352-z	https://doi.org/10.1007/s41315-024-00352-z	PROPN
easat-7370	275	2	[	[	X
easat-7370	275	3	48	48	NUM
easat-7370	275	4	]	]	PUNCT
easat-7370	275	5	k.	k.	PROPN
easat-7370	275	6	naus	naus	PROPN
easat-7370	275	7	and	and	CCONJ
easat-7370	275	8	p.	p.	PROPN
easat-7370	275	9	szymak	szymak	PROPN
easat-7370	275	10	,	,	PUNCT
easat-7370	275	11	"	"	PUNCT
easat-7370	275	12	using	use	VERB
easat-7370	275	13	interchangeably	interchangeably	ADV
easat-7370	275	14	the	the	DET
easat-7370	275	15	extended	extended	ADJ
easat-7370	275	16	kalman	kalman	NOUN
easat-7370	275	17	filter	filter	NOUN
easat-7370	275	18	and	and	CCONJ
easat-7370	275	19	geodetic	geodetic	ADJ
easat-7370	275	20	robust	robust	ADJ
easat-7370	275	21	adjustment	adjustment	NOUN
easat-7370	275	22	methods	method	NOUN
easat-7370	275	23	to	to	PART
easat-7370	275	24	increase	increase	VERB
easat-7370	275	25	the	the	DET
easat-7370	275	26	accuracy	accuracy	NOUN
easat-7370	275	27	of	of	ADP
easat-7370	275	28	surface	surface	NOUN
easat-7370	275	29	vehicle	vehicle	NOUN
easat-7370	275	30	positioning	positioning	NOUN
easat-7370	275	31	in	in	ADP
easat-7370	275	32	the	the	DET
easat-7370	275	33	coastal	coastal	ADJ
easat-7370	275	34	zone	zone	NOUN
easat-7370	275	35	,	,	PUNCT
easat-7370	275	36	"	"	PUNCT
easat-7370	275	37	applied	apply	VERB
easat-7370	275	38	sciences	science	NOUN
easat-7370	275	39	,	,	PUNCT
easat-7370	275	40	vol	vol	NOUN
easat-7370	275	41	.	.	PROPN
easat-7370	275	42	13	13	NUM
easat-7370	275	43	,	,	PUNCT
easat-7370	275	44	no	no	INTJ
easat-7370	275	45	.	.	NOUN
easat-7370	275	46	4	4	NUM
easat-7370	275	47	,	,	PUNCT
easat-7370	275	48	p.	p.	NOUN
easat-7370	275	49	2110	2110	NUM
easat-7370	275	50	,	,	PUNCT
easat-7370	275	51	2023	2023	NUM
easat-7370	275	52	.	.	PUNCT
easat-7370	276	1	https://doi.org/10.3390/app13042110	https://doi.org/10.3390/app13042110	ADJ
easat-7370	276	2	https://doi.org/10.1016/j.ifacol.2019.06.013	https://doi.org/10.1016/j.ifacol.2019.06.013	NUM
easat-7370	276	3	https://doi.org/10.63278/mme.v30i4.1208	https://doi.org/10.63278/mme.v30i4.1208	PROPN
easat-7370	276	4	https://doi.org/10.1007/s41315-024-00352-z	https://doi.org/10.1007/s41315-024-00352-z	NOUN
easat-7370	276	5	https://doi.org/10.3390/app13042110	https://doi.org/10.3390/app13042110	PUNCT