id	sid	tid	token	lemma	pos
gi-2491	1	1	geoinformatics	geoinformatic	NOUN
gi-2491	1	2	fce	fce	VERB
gi-2491	1	3	ctu	ctu	NOUN
gi-2491	1	4	12	12	NUM
gi-2491	1	5	,	,	PUNCT
gi-2491	1	6	2014	2014	NUM
gi-2491	1	7	61	61	NUM
gi-2491	1	8	testing	testing	NOUN
gi-2491	1	9	of	of	ADP
gi-2491	1	10	the	the	DET
gi-2491	1	11	possibilities	possibility	NOUN
gi-2491	1	12	of	of	ADP
gi-2491	1	13	using	use	VERB
gi-2491	1	14	imus	imus	PROPN
gi-2491	1	15	with	with	ADP
gi-2491	1	16	different	different	ADJ
gi-2491	1	17	types	type	NOUN
gi-2491	1	18	of	of	ADP
gi-2491	1	19	movements	movement	NOUN
gi-2491	1	20	pavol	pavol	VERB
gi-2491	1	21	kajánek	kajánek	ADJ
gi-2491	1	22	slovak	slovak	PROPN
gi-2491	1	23	university	university	PROPN
gi-2491	1	24	of	of	ADP
gi-2491	1	25	technology	technology	NOUN
gi-2491	1	26	,	,	PUNCT
gi-2491	1	27	faculty	faculty	NOUN
gi-2491	1	28	of	of	ADP
gi-2491	1	29	civil	civil	ADJ
gi-2491	1	30	engineering	engineering	NOUN
gi-2491	1	31	,	,	PUNCT
gi-2491	1	32	radlinského	radlinského	VERB
gi-2491	1	33	11	11	NUM
gi-2491	1	34	,	,	PUNCT
gi-2491	1	35	81368	81368	NUM
gi-2491	1	36	bratislava	bratislava	PROPN
gi-2491	1	37	,	,	PUNCT
gi-2491	1	38	slovakia	slovakia	PROPN
gi-2491	1	39	,	,	PUNCT
gi-2491	1	40	e	e	NOUN
gi-2491	1	41	-	-	NOUN
gi-2491	1	42	mail	mail	NOUN
gi-2491	1	43	:	:	PUNCT
gi-2491	1	44	pavol.kajanek@stuba.sk	pavol.kajanek@stuba.sk	NOUN
gi-2491	1	45	abstract	abstract	ADJ
gi-2491	1	46	inertial	inertial	ADJ
gi-2491	1	47	navigation	navigation	NOUN
gi-2491	1	48	system	system	NOUN
gi-2491	1	49	(	(	PUNCT
gi-2491	1	50	ins	in	NOUN
gi-2491	1	51	)	)	PUNCT
gi-2491	1	52	is	be	AUX
gi-2491	1	53	a	a	DET
gi-2491	1	54	self	self	NOUN
gi-2491	1	55	-	-	PUNCT
gi-2491	1	56	contained	contain	VERB
gi-2491	1	57	navigation	navigation	NOUN
gi-2491	1	58	technique	technique	NOUN
gi-2491	1	59	.	.	PUNCT
gi-2491	2	1	its	its	PRON
gi-2491	2	2	main	main	ADJ
gi-2491	2	3	purpose	purpose	NOUN
gi-2491	2	4	is	be	AUX
gi-2491	2	5	to	to	PART
gi-2491	2	6	determinate	determinate	VERB
gi-2491	2	7	the	the	DET
gi-2491	2	8	position	position	NOUN
gi-2491	2	9	and	and	CCONJ
gi-2491	2	10	the	the	DET
gi-2491	2	11	trajectory	trajectory	NOUN
gi-2491	2	12	of	of	ADP
gi-2491	2	13	the	the	DET
gi-2491	2	14	object´s	object´s	NOUN
gi-2491	2	15	movement	movement	NOUN
gi-2491	2	16	in	in	ADP
gi-2491	2	17	space	space	NOUN
gi-2491	2	18	.	.	PUNCT
gi-2491	3	1	this	this	DET
gi-2491	3	2	technique	technique	NOUN
gi-2491	3	3	is	be	AUX
gi-2491	3	4	well	well	ADV
gi-2491	3	5	represented	represent	VERB
gi-2491	3	6	not	not	PART
gi-2491	3	7	only	only	ADV
gi-2491	3	8	as	as	ADP
gi-2491	3	9	a	a	DET
gi-2491	3	10	supplementary	supplementary	ADJ
gi-2491	3	11	method	method	NOUN
gi-2491	3	12	(	(	PUNCT
gi-2491	3	13	gps	gps	PROPN
gi-2491	3	14	/	/	SYM
gi-2491	3	15	ins	in	NOUN
gi-2491	3	16	integrated	integrate	VERB
gi-2491	3	17	system	system	NOUN
gi-2491	3	18	)	)	PUNCT
gi-2491	3	19	but	but	CCONJ
gi-2491	3	20	as	as	ADP
gi-2491	3	21	an	an	DET
gi-2491	3	22	autonomous	autonomous	ADJ
gi-2491	3	23	system	system	NOUN
gi-2491	3	24	for	for	ADP
gi-2491	3	25	navigation	navigation	NOUN
gi-2491	3	26	of	of	ADP
gi-2491	3	27	vehicles	vehicle	NOUN
gi-2491	3	28	and	and	CCONJ
gi-2491	3	29	pedestrians	pedestrian	NOUN
gi-2491	3	30	,	,	PUNCT
gi-2491	3	31	also	also	ADV
gi-2491	3	32	.	.	PUNCT
gi-2491	4	1	the	the	DET
gi-2491	4	2	aim	aim	NOUN
gi-2491	4	3	of	of	ADP
gi-2491	4	4	this	this	DET
gi-2491	4	5	paper	paper	NOUN
gi-2491	4	6	is	be	AUX
gi-2491	4	7	to	to	PART
gi-2491	4	8	design	design	VERB
gi-2491	4	9	a	a	DET
gi-2491	4	10	test	test	NOUN
gi-2491	4	11	for	for	ADP
gi-2491	4	12	low	low	ADJ
gi-2491	4	13	-	-	PUNCT
gi-2491	4	14	cost	cost	NOUN
gi-2491	4	15	inertial	inertial	ADJ
gi-2491	4	16	measurement	measurement	NOUN
gi-2491	4	17	units	unit	NOUN
gi-2491	4	18	.	.	PUNCT
gi-2491	5	1	the	the	DET
gi-2491	5	2	test	test	NOUN
gi-2491	5	3	results	result	NOUN
gi-2491	5	4	give	give	VERB
gi-2491	5	5	us	we	PRON
gi-2491	5	6	information	information	NOUN
gi-2491	5	7	about	about	ADP
gi-2491	5	8	accuracy	accuracy	NOUN
gi-2491	5	9	,	,	PUNCT
gi-2491	5	10	which	which	PRON
gi-2491	5	11	determine	determine	VERB
gi-2491	5	12	the	the	DET
gi-2491	5	13	possible	possible	ADJ
gi-2491	5	14	use	use	NOUN
gi-2491	5	15	in	in	ADP
gi-2491	5	16	indoor	indoor	ADJ
gi-2491	5	17	navigation	navigation	NOUN
gi-2491	5	18	or	or	CCONJ
gi-2491	5	19	other	other	ADJ
gi-2491	5	20	applications	application	NOUN
gi-2491	5	21	.	.	PUNCT
gi-2491	6	1	there	there	PRON
gi-2491	6	2	are	be	VERB
gi-2491	6	3	described	describe	VERB
gi-2491	6	4	some	some	DET
gi-2491	6	5	methods	method	NOUN
gi-2491	6	6	for	for	ADP
gi-2491	6	7	processing	process	VERB
gi-2491	6	8	the	the	DET
gi-2491	6	9	data	datum	NOUN
gi-2491	6	10	obtained	obtain	VERB
gi-2491	6	11	by	by	ADP
gi-2491	6	12	inertial	inertial	ADJ
gi-2491	6	13	measurement	measurement	NOUN
gi-2491	6	14	units	unit	NOUN
gi-2491	6	15	,	,	PUNCT
gi-2491	6	16	which	which	PRON
gi-2491	6	17	remove	remove	VERB
gi-2491	6	18	noise	noise	NOUN
gi-2491	6	19	and	and	CCONJ
gi-2491	6	20	improve	improve	VERB
gi-2491	6	21	accuracy	accuracy	NOUN
gi-2491	6	22	of	of	ADP
gi-2491	6	23	position	position	NOUN
gi-2491	6	24	and	and	CCONJ
gi-2491	6	25	orientation	orientation	NOUN
gi-2491	6	26	.	.	PUNCT
gi-2491	7	1	key	key	ADJ
gi-2491	7	2	words	word	NOUN
gi-2491	7	3	:	:	PUNCT
gi-2491	7	4	inertial	inertial	ADJ
gi-2491	7	5	measurement	measurement	NOUN
gi-2491	7	6	unit	unit	NOUN
gi-2491	7	7	,	,	PUNCT
gi-2491	7	8	indoor	indoor	ADJ
gi-2491	7	9	navigation	navigation	NOUN
gi-2491	7	10	.	.	PUNCT
gi-2491	8	1	1	1	X
gi-2491	8	2	.	.	X
gi-2491	8	3	inertial	inertial	ADJ
gi-2491	8	4	measurement	measurement	NOUN
gi-2491	8	5	unit	unit	NOUN
gi-2491	8	6	inertial	inertial	PROPN
gi-2491	8	7	measurement	measurement	NOUN
gi-2491	8	8	unit	unit	NOUN
gi-2491	8	9	(	(	PUNCT
gi-2491	8	10	imu	imu	NOUN
gi-2491	8	11	)	)	PUNCT
gi-2491	8	12	is	be	AUX
gi-2491	8	13	a	a	DET
gi-2491	8	14	complete	complete	ADJ
gi-2491	8	15	three	three	NUM
gi-2491	8	16	dimensional	dimensional	ADJ
gi-2491	8	17	dead	dead	ADJ
gi-2491	8	18	reckoning	reckon	VERB
gi-2491	8	19	navigation	navigation	NOUN
gi-2491	8	20	system	system	NOUN
gi-2491	8	21	.	.	PUNCT
gi-2491	9	1	it	it	PRON
gi-2491	9	2	includes	include	VERB
gi-2491	9	3	a	a	DET
gi-2491	9	4	set	set	NOUN
gi-2491	9	5	of	of	ADP
gi-2491	9	6	inertial	inertial	ADJ
gi-2491	9	7	sensors	sensor	NOUN
gi-2491	9	8	such	such	ADJ
gi-2491	9	9	as	as	ADP
gi-2491	9	10	accelerometers	accelerometer	NOUN
gi-2491	9	11	,	,	PUNCT
gi-2491	9	12	gyroscopes	gyroscope	NOUN
gi-2491	9	13	and	and	CCONJ
gi-2491	9	14	magnetometers	magnetometer	NOUN
gi-2491	9	15	(	(	PUNCT
gi-2491	9	16	for	for	ADP
gi-2491	9	17	absolute	absolute	ADJ
gi-2491	9	18	orientation	orientation	NOUN
gi-2491	9	19	)	)	PUNCT
gi-2491	9	20	.	.	PUNCT
gi-2491	10	1	these	these	DET
gi-2491	10	2	sensors	sensor	NOUN
gi-2491	10	3	are	be	AUX
gi-2491	10	4	comprised	comprise	VERB
gi-2491	10	5	to	to	ADP
gi-2491	10	6	one	one	NUM
gi-2491	10	7	orthogonal	orthogonal	ADJ
gi-2491	10	8	system	system	NOUN
gi-2491	10	9	,	,	PUNCT
gi-2491	10	10	which	which	PRON
gi-2491	10	11	is	be	AUX
gi-2491	10	12	known	know	VERB
gi-2491	10	13	as	as	ADP
gi-2491	10	14	body	body	NOUN
gi-2491	10	15	frame	frame	NOUN
gi-2491	10	16	.	.	PUNCT
gi-2491	11	1	outputs	output	NOUN
gi-2491	11	2	of	of	ADP
gi-2491	11	3	the	the	DET
gi-2491	11	4	gyroscope	gyroscope	NOUN
gi-2491	11	5	are	be	AUX
gi-2491	11	6	angular	angular	ADJ
gi-2491	11	7	rates	rate	NOUN
gi-2491	11	8	,	,	PUNCT
gi-2491	11	9	which	which	PRON
gi-2491	11	10	are	be	AUX
gi-2491	11	11	used	use	VERB
gi-2491	11	12	for	for	ADP
gi-2491	11	13	calculating	calculate	VERB
gi-2491	11	14	attitude	attitude	NOUN
gi-2491	11	15	and	and	CCONJ
gi-2491	11	16	outputs	output	NOUN
gi-2491	11	17	of	of	ADP
gi-2491	11	18	the	the	DET
gi-2491	11	19	accelerometers	accelerometer	NOUN
gi-2491	11	20	are	be	AUX
gi-2491	11	21	accelerations	acceleration	NOUN
gi-2491	11	22	,	,	PUNCT
gi-2491	11	23	which	which	PRON
gi-2491	11	24	are	be	AUX
gi-2491	11	25	used	use	VERB
gi-2491	11	26	for	for	ADP
gi-2491	11	27	the	the	DET
gi-2491	11	28	position	position	NOUN
gi-2491	11	29	determination	determination	NOUN
gi-2491	11	30	(	(	PUNCT
gi-2491	11	31	[	[	X
gi-2491	11	32	1	1	NUM
gi-2491	11	33	]	]	NUM
gi-2491	11	34	)	)	PUNCT
gi-2491	11	35	.	.	PUNCT
gi-2491	12	1	figure	figure	VERB
gi-2491	12	2	1	1	NUM
gi-2491	12	3	:	:	PUNCT
gi-2491	12	4	body	body	NOUN
gi-2491	12	5	frame	frame	NOUN
gi-2491	12	6	of	of	ADP
gi-2491	12	7	inertial	inertial	ADJ
gi-2491	12	8	measurement	measurement	NOUN
gi-2491	12	9	unit	unit	NOUN
gi-2491	12	10	a	a	DET
gi-2491	12	11	gyroscope	gyroscope	NOUN
gi-2491	12	12	is	be	AUX
gi-2491	12	13	an	an	DET
gi-2491	12	14	inertial	inertial	ADJ
gi-2491	12	15	sensor	sensor	NOUN
gi-2491	12	16	for	for	ADP
gi-2491	12	17	measuring	measure	VERB
gi-2491	12	18	angular	angular	ADJ
gi-2491	12	19	rate	rate	NOUN
gi-2491	12	20	.	.	PUNCT
gi-2491	13	1	for	for	ADP
gi-2491	13	2	the	the	DET
gi-2491	13	3	strapdown	strapdown	PROPN
gi-2491	13	4	imu	imu	NOUN
gi-2491	13	5	,	,	PUNCT
gi-2491	13	6	three	three	NUM
gi-2491	13	7	main	main	ADJ
gi-2491	13	8	types	type	NOUN
gi-2491	13	9	of	of	ADP
gi-2491	13	10	gyroscopes	gyroscope	NOUN
gi-2491	13	11	are	be	AUX
gi-2491	13	12	used	use	VERB
gi-2491	13	13	,	,	PUNCT
gi-2491	13	14	such	such	ADJ
gi-2491	13	15	as	as	ADP
gi-2491	13	16	spinning	spin	VERB
gi-2491	13	17	mass	mass	NOUN
gi-2491	13	18	gyroscope	gyroscope	NOUN
gi-2491	13	19	,	,	PUNCT
gi-2491	13	20	optical	optical	ADJ
gi-2491	13	21	gyroscope	gyroscope	NOUN
gi-2491	13	22	and	and	CCONJ
gi-2491	13	23	vibratory	vibratory	NOUN
gi-2491	13	24	gyroscope	gyroscope	NOUN
gi-2491	13	25	.	.	PUNCT
gi-2491	14	1	spinning	spin	VERB
gi-2491	14	2	mass	mass	NOUN
gi-2491	14	3	gyroscope	gyroscope	NOUN
gi-2491	14	4	works	work	VERB
gi-2491	14	5	on	on	ADP
gi-2491	14	6	principle	principle	NOUN
gi-2491	14	7	of	of	ADP
gi-2491	14	8	conversation	conversation	NOUN
gi-2491	14	9	of	of	ADP
gi-2491	14	10	angular	angular	ADJ
gi-2491	14	11	momentum	momentum	NOUN
gi-2491	14	12	.	.	PUNCT
gi-2491	15	1	optical	optical	ADJ
gi-2491	15	2	gyroscopes	gyroscope	NOUN
gi-2491	15	3	work	work	VERB
gi-2491	15	4	on	on	ADP
gi-2491	15	5	principle	principle	NOUN
gi-2491	15	6	of	of	ADP
gi-2491	15	7	sagnac	sagnac	ADJ
gi-2491	15	8	effect	effect	NOUN
gi-2491	15	9	.	.	PUNCT
gi-2491	16	1	vibratory	vibratory	NOUN
gi-2491	16	2	gyroscope	gyroscope	NOUN
gi-2491	16	3	operates	operate	VERB
gi-2491	16	4	on	on	ADP
gi-2491	16	5	the	the	DET
gi-2491	16	6	principle	principle	NOUN
gi-2491	16	7	of	of	ADP
gi-2491	16	8	detecting	detect	VERB
gi-2491	16	9	coriolis	corioli	NOUN
gi-2491	16	10	acceleration	acceleration	NOUN
gi-2491	16	11	of	of	ADP
gi-2491	16	12	vibrating	vibrating	NOUN
gi-2491	16	13	element	element	NOUN
gi-2491	16	14	,	,	PUNCT
gi-2491	16	15	when	when	SCONJ
gi-2491	16	16	gyroscope	gyroscope	NOUN
gi-2491	16	17	is	be	AUX
gi-2491	16	18	rotating	rotate	VERB
gi-2491	16	19	(	(	PUNCT
gi-2491	16	20	[	[	X
gi-2491	16	21	3	3	NUM
gi-2491	16	22	]	]	NUM
gi-2491	16	23	)	)	PUNCT
gi-2491	16	24	.	.	PUNCT
gi-2491	17	1	kajánek	kajánek	ADJ
gi-2491	17	2	,	,	PUNCT
gi-2491	17	3	p.	p.	NOUN
gi-2491	17	4	:	:	PUNCT
gi-2491	18	1	testing	test	VERB
gi-2491	18	2	the	the	DET
gi-2491	18	3	possibilities	possibility	NOUN
gi-2491	18	4	of	of	ADP
gi-2491	18	5	using	use	VERB
gi-2491	18	6	imus	imus	PROPN
gi-2491	18	7	with	with	ADP
gi-2491	18	8	different	different	ADJ
gi-2491	18	9	types	type	NOUN
gi-2491	18	10	of	of	ADP
gi-2491	18	11	movements	movement	NOUN
gi-2491	18	12	geoinformatics	geoinformatic	NOUN
gi-2491	18	13	fce	fce	VERB
gi-2491	18	14	ctu	ctu	NOUN
gi-2491	18	15	12	12	NUM
gi-2491	18	16	,	,	PUNCT
gi-2491	18	17	2014	2014	NUM
gi-2491	18	18	62	62	NUM
gi-2491	18	19	accelerometer	accelerometer	NOUN
gi-2491	18	20	is	be	AUX
gi-2491	18	21	based	base	VERB
gi-2491	18	22	on	on	ADP
gi-2491	18	23	the	the	DET
gi-2491	18	24	second	second	ADJ
gi-2491	18	25	newton´s	newton´s	PROPN
gi-2491	18	26	law	law	NOUN
gi-2491	18	27	of	of	ADP
gi-2491	18	28	motion	motion	NOUN
gi-2491	18	29	to	to	PART
gi-2491	18	30	measure	measure	VERB
gi-2491	18	31	acceleration	acceleration	NOUN
gi-2491	18	32	�	�	PROPN
gi-2491	18	33	by	by	ADP
gi-2491	18	34	the	the	DET
gi-2491	18	35	measuring	measure	VERB
gi-2491	18	36	force	force	NOUN
gi-2491	18	37	f	f	PROPN
gi-2491	18	38	,	,	PUNCT
gi-2491	18	39	with	with	ADP
gi-2491	18	40	the	the	DET
gi-2491	18	41	scaling	scaling	ADJ
gi-2491	18	42	constant	constant	ADJ
gi-2491	18	43	m	m	NOUN
gi-2491	18	44	called	call	VERB
gi-2491	18	45	proof	proof	ADJ
gi-2491	18	46	mass	mass	NOUN
gi-2491	18	47	(	(	PUNCT
gi-2491	18	48	[	[	X
gi-2491	18	49	3	3	NUM
gi-2491	18	50	]	]	NUM
gi-2491	18	51	)	)	PUNCT
gi-2491	18	52	.	.	PUNCT
gi-2491	19	1	�	�	PROPN
gi-2491	19	2	�	�	PROPN
gi-2491	19	3	�	�	PROPN
gi-2491	19	4	�	�	PROPN
gi-2491	19	5	�	�	PROPN
gi-2491	19	6	.	.	PUNCT
gi-2491	20	1	(	(	PUNCT
gi-2491	20	2	1	1	X
gi-2491	20	3	)	)	PUNCT
gi-2491	20	4	for	for	ADP
gi-2491	20	5	the	the	DET
gi-2491	20	6	strapdown	strapdown	ADJ
gi-2491	20	7	systems	system	NOUN
gi-2491	20	8	the	the	DET
gi-2491	20	9	pendulous	pendulous	ADJ
gi-2491	20	10	accelerometer	accelerometer	NOUN
gi-2491	20	11	and	and	CCONJ
gi-2491	20	12	the	the	DET
gi-2491	20	13	vibrating	vibrating	NOUN
gi-2491	20	14	-	-	PUNCT
gi-2491	20	15	beam	beam	NOUN
gi-2491	20	16	accelerometer	accelerometer	NOUN
gi-2491	20	17	are	be	AUX
gi-2491	20	18	used	use	VERB
gi-2491	20	19	.	.	PUNCT
gi-2491	21	1	pendulous	pendulous	ADJ
gi-2491	21	2	accelerometer	accelerometer	NOUN
gi-2491	21	3	has	have	VERB
gi-2491	21	4	proof	proof	NOUN
gi-2491	21	5	mass	mass	PROPN
gi-2491	21	6	,	,	PUNCT
gi-2491	21	7	which	which	PRON
gi-2491	21	8	is	be	AUX
gi-2491	21	9	attached	attach	VERB
gi-2491	21	10	to	to	ADP
gi-2491	21	11	a	a	DET
gi-2491	21	12	hinge	hinge	NOUN
gi-2491	21	13	,	,	PUNCT
gi-2491	21	14	which	which	PRON
gi-2491	21	15	deflects	deflect	VERB
gi-2491	21	16	when	when	SCONJ
gi-2491	21	17	acceleration	acceleration	NOUN
gi-2491	21	18	occurs	occur	VERB
gi-2491	21	19	.	.	PUNCT
gi-2491	22	1	vibrating	vibrate	VERB
gi-2491	22	2	-	-	PUNCT
gi-2491	22	3	beam	beam	NOUN
gi-2491	22	4	accelerometer	accelerometer	NOUN
gi-2491	22	5	uses	use	VERB
gi-2491	22	6	the	the	DET
gi-2491	22	7	piezoelectric	piezoelectric	ADJ
gi-2491	22	8	effect	effect	NOUN
gi-2491	22	9	.	.	PUNCT
gi-2491	23	1	there	there	PRON
gi-2491	23	2	is	be	VERB
gi-2491	23	3	a	a	DET
gi-2491	23	4	pair	pair	NOUN
gi-2491	23	5	of	of	ADP
gi-2491	23	6	the	the	DET
gi-2491	23	7	quartz	quartz	NOUN
gi-2491	23	8	crystal	crystal	NOUN
gi-2491	23	9	beams	beam	NOUN
gi-2491	23	10	mounted	mount	VERB
gi-2491	23	11	symmetrically	symmetrically	ADV
gi-2491	23	12	.	.	PUNCT
gi-2491	24	1	each	each	PRON
gi-2491	24	2	of	of	ADP
gi-2491	24	3	beam	beam	NOUN
gi-2491	24	4	vibrates	vibrate	NOUN
gi-2491	24	5	on	on	ADP
gi-2491	24	6	own	own	ADJ
gi-2491	24	7	resonant	resonant	ADJ
gi-2491	24	8	frequency	frequency	NOUN
gi-2491	24	9	.	.	PUNCT
gi-2491	25	1	when	when	SCONJ
gi-2491	25	2	the	the	DET
gi-2491	25	3	acceleration	acceleration	NOUN
gi-2491	25	4	is	be	AUX
gi-2491	25	5	induced	induce	VERB
gi-2491	25	6	along	along	ADP
gi-2491	25	7	the	the	DET
gi-2491	25	8	sensitive	sensitive	ADJ
gi-2491	25	9	axis	axis	NOUN
gi-2491	25	10	,	,	PUNCT
gi-2491	25	11	one	one	NUM
gi-2491	25	12	beam	beam	NOUN
gi-2491	25	13	is	be	AUX
gi-2491	25	14	compressed	compress	VERB
gi-2491	25	15	while	while	SCONJ
gi-2491	25	16	the	the	DET
gi-2491	25	17	other	other	ADJ
gi-2491	25	18	is	be	AUX
gi-2491	25	19	stretched	stretch	VERB
gi-2491	25	20	or	or	CCONJ
gi-2491	25	21	tensioned	tensione	VERB
gi-2491	25	22	.	.	PUNCT
gi-2491	26	1	acceleration	acceleration	NOUN
gi-2491	26	2	is	be	AUX
gi-2491	26	3	measured	measure	VERB
gi-2491	26	4	as	as	ADP
gi-2491	26	5	difference	difference	NOUN
gi-2491	26	6	in	in	ADP
gi-2491	26	7	frequency	frequency	NOUN
gi-2491	26	8	.	.	PUNCT
gi-2491	27	1	magnetometer	magnetometer	NOUN
gi-2491	27	2	sensors	sensor	NOUN
gi-2491	27	3	works	work	VERB
gi-2491	27	4	on	on	ADP
gi-2491	27	5	the	the	DET
gi-2491	27	6	principle	principle	NOUN
gi-2491	27	7	of	of	ADP
gi-2491	27	8	hall	hall	NOUN
gi-2491	27	9	’s	’s	PART
gi-2491	27	10	effect	effect	NOUN
gi-2491	27	11	(	(	PUNCT
gi-2491	27	12	[	[	X
gi-2491	27	13	3	3	NUM
gi-2491	27	14	]	]	NUM
gi-2491	27	15	)	)	PUNCT
gi-2491	27	16	.	.	PUNCT
gi-2491	28	1	these	these	DET
gi-2491	28	2	sensors	sensor	NOUN
gi-2491	28	3	transform	transform	VERB
gi-2491	28	4	magnetic	magnetic	ADJ
gi-2491	28	5	field	field	NOUN
gi-2491	28	6	to	to	PART
gi-2491	28	7	output	output	VERB
gi-2491	28	8	voltage	voltage	NOUN
gi-2491	28	9	difference	difference	NOUN
gi-2491	28	10	.	.	PUNCT
gi-2491	29	1	accelerometer	accelerometer	NOUN
gi-2491	29	2	and	and	CCONJ
gi-2491	29	3	gyroscope	gyroscope	NOUN
gi-2491	29	4	for	for	ADP
gi-2491	29	5	the	the	DET
gi-2491	29	6	low	low	ADJ
gi-2491	29	7	-	-	PUNCT
gi-2491	29	8	cost	cost	NOUN
gi-2491	29	9	imu	imu	NOUN
gi-2491	29	10	are	be	AUX
gi-2491	29	11	manufactured	manufacture	VERB
gi-2491	29	12	as	as	ADP
gi-2491	29	13	micro	micro	NOUN
gi-2491	29	14	-	-	ADJ
gi-2491	29	15	electromechanical	electromechanical	ADJ
gi-2491	29	16	sensors	sensor	NOUN
gi-2491	29	17	mems	mem	NOUN
gi-2491	29	18	.	.	PUNCT
gi-2491	30	1	mems	mem	NOUN
gi-2491	30	2	are	be	AUX
gi-2491	30	3	relatively	relatively	ADV
gi-2491	30	4	small	small	ADJ
gi-2491	30	5	structures	structure	NOUN
gi-2491	30	6	,	,	PUNCT
gi-2491	30	7	which	which	PRON
gi-2491	30	8	are	be	AUX
gi-2491	30	9	manufactured	manufacture	VERB
gi-2491	30	10	using	use	VERB
gi-2491	30	11	silicon	silicon	NOUN
gi-2491	30	12	or	or	CCONJ
gi-2491	30	13	quartz	quartz	NOUN
gi-2491	30	14	.	.	PUNCT
gi-2491	31	1	the	the	DET
gi-2491	31	2	advantages	advantage	NOUN
gi-2491	31	3	of	of	ADP
gi-2491	31	4	mems	mems	ADJ
gi-2491	31	5	sensors	sensor	NOUN
gi-2491	31	6	are	be	AUX
gi-2491	31	7	small	small	ADJ
gi-2491	31	8	size	size	NOUN
gi-2491	31	9	,	,	PUNCT
gi-2491	31	10	low	low	ADJ
gi-2491	31	11	weight	weight	NOUN
gi-2491	31	12	,	,	PUNCT
gi-2491	31	13	rugged	rugged	ADJ
gi-2491	31	14	construction	construction	NOUN
gi-2491	31	15	,	,	PUNCT
gi-2491	31	16	low	low	ADJ
gi-2491	31	17	power	power	NOUN
gi-2491	31	18	consumption	consumption	NOUN
gi-2491	31	19	,	,	PUNCT
gi-2491	31	20	short	short	ADJ
gi-2491	31	21	start	start	NOUN
gi-2491	31	22	-	-	PUNCT
gi-2491	31	23	up	up	ADP
gi-2491	31	24	time	time	NOUN
gi-2491	31	25	,	,	PUNCT
gi-2491	31	26	high	high	ADJ
gi-2491	31	27	reliability	reliability	NOUN
gi-2491	31	28	,	,	PUNCT
gi-2491	31	29	low	low	ADJ
gi-2491	31	30	maintenance	maintenance	NOUN
gi-2491	31	31	and	and	CCONJ
gi-2491	31	32	compatibility	compatibility	NOUN
gi-2491	31	33	with	with	ADP
gi-2491	31	34	operation	operation	NOUN
gi-2491	31	35	in	in	ADP
gi-2491	31	36	hostile	hostile	ADJ
gi-2491	31	37	environments	environment	NOUN
gi-2491	31	38	(	(	PUNCT
gi-2491	31	39	[	[	X
gi-2491	31	40	2	2	NUM
gi-2491	31	41	]	]	NUM
gi-2491	31	42	)	)	PUNCT
gi-2491	31	43	.	.	PUNCT
gi-2491	32	1	currently	currently	ADV
gi-2491	32	2	,	,	PUNCT
gi-2491	32	3	inertial	inertial	ADJ
gi-2491	32	4	measurement	measurement	NOUN
gi-2491	32	5	units	unit	NOUN
gi-2491	32	6	have	have	VERB
gi-2491	32	7	number	number	NOUN
gi-2491	32	8	of	of	ADP
gi-2491	32	9	significant	significant	ADJ
gi-2491	32	10	applications	application	NOUN
gi-2491	32	11	in	in	ADP
gi-2491	32	12	surveying	surveying	NOUN
gi-2491	32	13	.	.	PUNCT
gi-2491	33	1	imu	imu	NOUN
gi-2491	33	2	are	be	AUX
gi-2491	33	3	used	use	VERB
gi-2491	33	4	as	as	ADP
gi-2491	33	5	a	a	DET
gi-2491	33	6	complementary	complementary	ADJ
gi-2491	33	7	method	method	NOUN
gi-2491	33	8	for	for	ADP
gi-2491	33	9	navigation	navigation	NOUN
gi-2491	33	10	using	use	VERB
gi-2491	33	11	gnss	gnss	NOUN
gi-2491	33	12	,	,	PUNCT
gi-2491	33	13	where	where	SCONJ
gi-2491	33	14	the	the	DET
gi-2491	33	15	measurements	measurement	NOUN
gi-2491	33	16	made	make	VERB
gi-2491	33	17	by	by	ADP
gi-2491	33	18	inertial	inertial	ADJ
gi-2491	33	19	navigation	navigation	NOUN
gi-2491	33	20	system	system	NOUN
gi-2491	33	21	ins	in	NOUN
gi-2491	33	22	are	be	AUX
gi-2491	33	23	used	use	VERB
gi-2491	33	24	to	to	PART
gi-2491	33	25	interpolate	interpolate	VERB
gi-2491	33	26	the	the	DET
gi-2491	33	27	trajectory	trajectory	NOUN
gi-2491	33	28	determined	determine	VERB
gi-2491	33	29	by	by	ADP
gi-2491	33	30	using	use	VERB
gi-2491	33	31	gnss	gnss	NOUN
gi-2491	33	32	.	.	PUNCT
gi-2491	34	1	integrated	integrate	VERB
gi-2491	34	2	gnss	gnss	NOUN
gi-2491	34	3	/	/	SYM
gi-2491	34	4	ins	in	NOUN
gi-2491	34	5	system	system	NOUN
gi-2491	34	6	is	be	AUX
gi-2491	34	7	benefiting	benefit	VERB
gi-2491	34	8	from	from	ADP
gi-2491	34	9	the	the	DET
gi-2491	34	10	ins	in	NOUN
gi-2491	34	11	advantages	advantage	NOUN
gi-2491	34	12	such	such	ADJ
gi-2491	34	13	as	as	ADP
gi-2491	34	14	high	high	ADJ
gi-2491	34	15	data	data	NOUN
gi-2491	34	16	rate	rate	NOUN
gi-2491	34	17	and	and	CCONJ
gi-2491	34	18	good	good	ADJ
gi-2491	34	19	short	short	ADJ
gi-2491	34	20	-	-	PUNCT
gi-2491	34	21	term	term	NOUN
gi-2491	34	22	accuracy	accuracy	NOUN
gi-2491	34	23	.	.	PUNCT
gi-2491	35	1	imu	imu	NOUN
gi-2491	35	2	is	be	AUX
gi-2491	35	3	often	often	ADV
gi-2491	35	4	used	use	VERB
gi-2491	35	5	for	for	ADP
gi-2491	35	6	navigation	navigation	NOUN
gi-2491	35	7	of	of	ADP
gi-2491	35	8	vehicles	vehicle	NOUN
gi-2491	35	9	or	or	CCONJ
gi-2491	35	10	pedestrian	pedestrian	NOUN
gi-2491	35	11	in	in	ADP
gi-2491	35	12	indoor	indoor	ADJ
gi-2491	35	13	and	and	CCONJ
gi-2491	35	14	outdoor	outdoor	ADJ
gi-2491	35	15	environment	environment	NOUN
gi-2491	35	16	.	.	PUNCT
gi-2491	36	1	2	2	X
gi-2491	36	2	.	.	X
gi-2491	36	3	mathematical	mathematical	ADJ
gi-2491	36	4	model	model	NOUN
gi-2491	36	5	of	of	ADP
gi-2491	36	6	data	datum	NOUN
gi-2491	36	7	processing	process	VERB
gi-2491	36	8	main	main	ADJ
gi-2491	36	9	aim	aim	NOUN
gi-2491	36	10	of	of	ADP
gi-2491	36	11	the	the	DET
gi-2491	36	12	navigation	navigation	NOUN
gi-2491	36	13	solution	solution	NOUN
gi-2491	36	14	for	for	ADP
gi-2491	36	15	a	a	DET
gi-2491	36	16	moving	move	VERB
gi-2491	36	17	object	object	NOUN
gi-2491	36	18	(	(	PUNCT
gi-2491	36	19	pedestrian	pedestrian	NOUN
gi-2491	36	20	or	or	CCONJ
gi-2491	36	21	machine	machine	NOUN
gi-2491	36	22	)	)	PUNCT
gi-2491	36	23	is	be	AUX
gi-2491	36	24	to	to	PART
gi-2491	36	25	determine	determine	VERB
gi-2491	36	26	its	its	PRON
gi-2491	36	27	current	current	ADJ
gi-2491	36	28	position	position	NOUN
gi-2491	36	29	,	,	PUNCT
gi-2491	36	30	velocity	velocity	NOUN
gi-2491	36	31	and	and	CCONJ
gi-2491	36	32	orientation	orientation	NOUN
gi-2491	36	33	in	in	ADP
gi-2491	36	34	reference	reference	NOUN
gi-2491	36	35	coordinate	coordinate	NOUN
gi-2491	36	36	system	system	NOUN
gi-2491	36	37	.	.	PUNCT
gi-2491	37	1	in	in	ADP
gi-2491	37	2	the	the	DET
gi-2491	37	3	following	following	ADJ
gi-2491	37	4	part	part	NOUN
gi-2491	37	5	of	of	ADP
gi-2491	37	6	paper	paper	NOUN
gi-2491	37	7	is	be	AUX
gi-2491	37	8	described	describe	VERB
gi-2491	37	9	data	datum	NOUN
gi-2491	37	10	processing	processing	NOUN
gi-2491	37	11	of	of	ADP
gi-2491	37	12	inertial	inertial	ADJ
gi-2491	37	13	measurements	measurement	NOUN
gi-2491	37	14	.	.	PUNCT
gi-2491	38	1	2.1	2.1	NUM
gi-2491	38	2	position	position	NOUN
gi-2491	38	3	determination	determination	NOUN
gi-2491	38	4	for	for	ADP
gi-2491	38	5	a	a	DET
gi-2491	38	6	moving	move	VERB
gi-2491	38	7	object	object	NOUN
gi-2491	38	8	this	this	DET
gi-2491	38	9	process	process	NOUN
gi-2491	38	10	can	can	AUX
gi-2491	38	11	be	be	AUX
gi-2491	38	12	divided	divide	VERB
gi-2491	38	13	into	into	ADP
gi-2491	38	14	four	four	NUM
gi-2491	38	15	steps	step	NOUN
gi-2491	38	16	.	.	PUNCT
gi-2491	39	1	these	these	PRON
gi-2491	39	2	are	be	AUX
gi-2491	39	3	the	the	DET
gi-2491	39	4	attitude	attitude	NOUN
gi-2491	39	5	update	update	NOUN
gi-2491	39	6	,	,	PUNCT
gi-2491	39	7	the	the	DET
gi-2491	39	8	transformation	transformation	NOUN
gi-2491	39	9	of	of	ADP
gi-2491	39	10	specific	specific	ADJ
gi-2491	39	11	force	force	NOUN
gi-2491	39	12	resolving	resolve	VERB
gi-2491	39	13	axes	axis	NOUN
gi-2491	39	14	,	,	PUNCT
gi-2491	39	15	the	the	DET
gi-2491	39	16	velocity	velocity	NOUN
gi-2491	39	17	update	update	NOUN
gi-2491	39	18	and	and	CCONJ
gi-2491	39	19	the	the	DET
gi-2491	39	20	position	position	NOUN
gi-2491	39	21	update	update	NOUN
gi-2491	39	22	.	.	PUNCT
gi-2491	40	1	approach	approach	NOUN
gi-2491	40	2	of	of	ADP
gi-2491	40	3	the	the	DET
gi-2491	40	4	processing	processing	NOUN
gi-2491	40	5	of	of	ADP
gi-2491	40	6	inertial	inertial	ADJ
gi-2491	40	7	measurements	measurement	NOUN
gi-2491	40	8	is	be	AUX
gi-2491	40	9	shown	show	VERB
gi-2491	40	10	in	in	ADP
gi-2491	40	11	flowchart	flowchart	NOUN
gi-2491	40	12	in	in	ADP
gi-2491	40	13	figure	figure	NOUN
gi-2491	40	14	2	2	NUM
gi-2491	40	15	.	.	PUNCT
gi-2491	41	1	the	the	DET
gi-2491	41	2	first	first	ADJ
gi-2491	41	3	step	step	NOUN
gi-2491	41	4	is	be	AUX
gi-2491	41	5	numerical	numerical	ADJ
gi-2491	41	6	integration	integration	NOUN
gi-2491	41	7	for	for	ADP
gi-2491	41	8	the	the	DET
gi-2491	41	9	euler	euler	NOUN
gi-2491	41	10	angles	angle	NOUN
gi-2491	41	11	(	(	PUNCT
gi-2491	41	12	roll	roll	NOUN
gi-2491	41	13	�	�	PROPN
gi-2491	41	14	,	,	PUNCT
gi-2491	41	15	pitch	pitch	NOUN
gi-2491	41	16	�	�	PROPN
gi-2491	41	17	and	and	CCONJ
gi-2491	41	18	yaw	yaw	PROPN
gi-2491	41	19	�	�	PROPN
gi-2491	41	20	)	)	PUNCT
gi-2491	41	21	calculation	calculation	NOUN
gi-2491	41	22	from	from	ADP
gi-2491	41	23	an	an	DET
gi-2491	41	24	angular	angular	ADJ
gi-2491	41	25	rate	rate	NOUN
gi-2491	41	26	,	,	PUNCT
gi-2491	41	27	what	what	PRON
gi-2491	41	28	is	be	AUX
gi-2491	41	29	an	an	DET
gi-2491	41	30	output	output	NOUN
gi-2491	41	31	of	of	ADP
gi-2491	41	32	gyroscopes	gyroscope	NOUN
gi-2491	41	33	.	.	PUNCT
gi-2491	42	1	in	in	ADP
gi-2491	42	2	the	the	DET
gi-2491	42	3	second	second	ADJ
gi-2491	42	4	step	step	NOUN
gi-2491	42	5	euler	euler	NOUN
gi-2491	42	6	angles	angle	NOUN
gi-2491	42	7	are	be	AUX
gi-2491	42	8	used	use	VERB
gi-2491	42	9	to	to	PART
gi-2491	42	10	transform	transform	VERB
gi-2491	42	11	the	the	DET
gi-2491	42	12	acceleration	acceleration	NOUN
gi-2491	42	13	�	�	NOUN
gi-2491	42	14	�	�	PROPN
gi-2491	42	15	from	from	ADP
gi-2491	42	16	body	body	NOUN
gi-2491	42	17	frame	frame	NOUN
gi-2491	42	18	to	to	ADP
gi-2491	42	19	acceleration	acceleration	NOUN
gi-2491	42	20	�	�	PROPN
gi-2491	42	21	�	�	PROPN
gi-2491	42	22	in	in	ADP
gi-2491	42	23	navigation	navigation	NOUN
gi-2491	42	24	frame	frame	NOUN
gi-2491	42	25	.	.	PUNCT
gi-2491	43	1	the	the	DET
gi-2491	43	2	body	body	NOUN
gi-2491	43	3	frame	frame	NOUN
gi-2491	43	4	changes	change	VERB
gi-2491	43	5	its	its	PRON
gi-2491	43	6	orientation	orientation	NOUN
gi-2491	43	7	in	in	ADP
gi-2491	43	8	space	space	NOUN
gi-2491	43	9	with	with	ADP
gi-2491	43	10	respect	respect	NOUN
gi-2491	43	11	to	to	ADP
gi-2491	43	12	a	a	DET
gi-2491	43	13	fixed	fix	VERB
gi-2491	43	14	navigation	navigation	NOUN
gi-2491	43	15	frame	frame	NOUN
gi-2491	43	16	.	.	PUNCT
gi-2491	44	1	then	then	ADV
gi-2491	44	2	we	we	PRON
gi-2491	44	3	remove	remove	VERB
gi-2491	44	4	the	the	DET
gi-2491	44	5	force	force	NOUN
gi-2491	44	6	of	of	ADP
gi-2491	44	7	gravity	gravity	NOUN
gi-2491	44	8	from	from	ADP
gi-2491	44	9	the	the	DET
gi-2491	44	10	transformed	transform	VERB
gi-2491	44	11	acceleration	acceleration	NOUN
gi-2491	44	12	.	.	PUNCT
gi-2491	45	1	�	�	PROPN
gi-2491	45	2	�	�	PROPN
gi-2491	45	3	�	�	PROPN
gi-2491	45	4	�	�	PROPN
gi-2491	45	5	�	�	PROPN
gi-2491	45	6	�	�	PROPN
gi-2491	45	7	�	�	PROPN
gi-2491	45	8	�	�	PROPN
gi-2491	45	9	�	�	PROPN
gi-2491	45	10	�	�	PROPN
gi-2491	45	11	�	�	PROPN
gi-2491	45	12	�	�	PROPN
gi-2491	45	13	�	�	PROPN
gi-2491	45	14	�	�	PROPN
gi-2491	45	15	�	�	PROPN
gi-2491	45	16	�	�	PROPN
gi-2491	45	17	�	�	PROPN
gi-2491	45	18	�	�	PROPN
gi-2491	45	19	�	�	PROPN
gi-2491	45	20	�	�	PROPN
gi-2491	45	21	�	�	PROPN
gi-2491	45	22	�	�	PROPN
gi-2491	45	23	�	�	PROPN
gi-2491	45	24	�	�	PROPN
gi-2491	45	25	�	�	PROPN
gi-2491	45	26	�	�	PROPN
gi-2491	45	27	�	�	PROPN
gi-2491	45	28	�	�	PROPN
gi-2491	45	29	�	�	PROPN
gi-2491	45	30	�	�	PROPN
gi-2491	45	31	�	�	PROPN
gi-2491	45	32	�	�	PROPN
gi-2491	45	33	�	�	PROPN
gi-2491	45	34	�	�	PROPN
gi-2491	45	35	�	�	PROPN
gi-2491	45	36	�	�	PROPN
gi-2491	45	37	�	�	PROPN
gi-2491	45	38	�	�	PROPN
gi-2491	45	39	�	�	PROPN
gi-2491	45	40	�	�	PROPN
gi-2491	45	41	�	�	PROPN
gi-2491	45	42	�	�	PROPN
gi-2491	45	43	�	�	PROPN
gi-2491	45	44	�	�	PROPN
gi-2491	45	45	�	�	PROPN
gi-2491	45	46	�	�	PROPN
gi-2491	45	47	�	�	PROPN
gi-2491	45	48	�	�	PROPN
gi-2491	45	49	�	�	PROPN
gi-2491	45	50	�	�	PROPN
gi-2491	45	51	�	�	PROPN
gi-2491	45	52	�	�	PROPN
gi-2491	45	53	�	�	PROPN
gi-2491	45	54	�	�	PROPN
gi-2491	45	55	�	�	PROPN
gi-2491	45	56	�	�	PROPN
gi-2491	45	57	�	�	PROPN
gi-2491	45	58	�	�	PROPN
gi-2491	45	59	�	�	PROPN
gi-2491	45	60	�	�	PROPN
gi-2491	45	61	�	�	PROPN
gi-2491	45	62	�	�	PROPN
gi-2491	45	63	�	�	PROPN
gi-2491	45	64	�	�	PROPN
gi-2491	45	65	(	(	PUNCT
gi-2491	45	66	2	2	NUM
gi-2491	45	67	)	)	PUNCT
gi-2491	45	68	�	�	PROPN
gi-2491	45	69	�	�	PROPN
gi-2491	45	70	�	�	PROPN
gi-2491	45	71	�	�	PROPN
gi-2491	45	72	�	�	PROPN
gi-2491	45	73	�	�	PROPN
gi-2491	45	74	�	�	PROPN
gi-2491	45	75	�	�	PROPN
gi-2491	45	76	�	�	PROPN
gi-2491	45	77	�	�	PROPN
gi-2491	45	78	�	�	PROPN
gi-2491	45	79	�	�	PROPN
gi-2491	45	80	�	�	PROPN
gi-2491	45	81	�	�	PROPN
gi-2491	45	82	�	�	PROPN
gi-2491	45	83	�	�	PROPN
gi-2491	45	84	!	!	PUNCT
gi-2491	45	85	,	,	PUNCT
gi-2491	45	86	(	(	PUNCT
gi-2491	45	87	3	3	X
gi-2491	45	88	)	)	PUNCT
gi-2491	45	89	where	where	SCONJ
gi-2491	45	90	r	r	NOUN
gi-2491	45	91	is	be	AUX
gi-2491	45	92	current	current	ADJ
gi-2491	45	93	rotation	rotation	NOUN
gi-2491	45	94	matrix	matrix	NOUN
gi-2491	46	1	,	,	PUNCT
gi-2491	46	2	g	g	PROPN
gi-2491	46	3	is	be	AUX
gi-2491	46	4	local	local	ADJ
gi-2491	46	5	gravity	gravity	NOUN
gi-2491	46	6	in	in	ADP
gi-2491	46	7	yaw	yaw	NOUN
gi-2491	46	8	direction	direction	NOUN
gi-2491	46	9	(	(	PUNCT
gi-2491	46	10	9,80665	9,80665	NUM
gi-2491	46	11	m	m	NOUN
gi-2491	46	12	/	/	SYM
gi-2491	46	13	s2	s2	PROPN
gi-2491	46	14	)	)	PUNCT
gi-2491	46	15	.	.	PUNCT
gi-2491	47	1	the	the	DET
gi-2491	47	2	next	next	ADJ
gi-2491	47	3	step	step	NOUN
gi-2491	47	4	is	be	AUX
gi-2491	47	5	numerical	numerical	ADJ
gi-2491	47	6	integration	integration	NOUN
gi-2491	47	7	of	of	ADP
gi-2491	47	8	acceleration	acceleration	PROPN
gi-2491	47	9	�	�	PROPN
gi-2491	47	10	�	�	PROPN
gi-2491	47	11	and	and	CCONJ
gi-2491	47	12	get	get	VERB
gi-2491	47	13	the	the	DET
gi-2491	47	14	velocity	velocity	NOUN
gi-2491	47	15	v.	v.	ADP
gi-2491	47	16	after	after	ADP
gi-2491	47	17	second	second	ADV
gi-2491	47	18	we	we	PRON
gi-2491	47	19	use	use	VERB
gi-2491	47	20	second	second	ADJ
gi-2491	47	21	numerical	numerical	ADJ
gi-2491	47	22	integration	integration	NOUN
gi-2491	47	23	to	to	PART
gi-2491	47	24	calculate	calculate	VERB
gi-2491	47	25	the	the	DET
gi-2491	47	26	position	position	NOUN
gi-2491	47	27	"	"	PUNCT
gi-2491	47	28	�	�	PROPN
gi-2491	47	29	from	from	ADP
gi-2491	47	30	velocity	velocity	NOUN
gi-2491	47	31	.	.	PUNCT
gi-2491	48	1	"	"	PUNCT
gi-2491	48	2	�	�	PROPN
gi-2491	48	3	�	�	PROPN
gi-2491	48	4	"	"	PUNCT
gi-2491	48	5	�	�	PROPN
gi-2491	48	6	#	#	SYM
gi-2491	48	7	$	$	NUM
gi-2491	48	8	%	%	NOUN
gi-2491	48	9	&	&	CCONJ
gi-2491	48	10	�	�	PROPN
gi-2491	48	11	�	�	PROPN
gi-2491	48	12	�	�	PROPN
gi-2491	48	13	�	�	PROPN
gi-2491	48	14	�	�	PROPN
gi-2491	48	15	�	�	PROPN
gi-2491	48	16	�	�	PROPN
gi-2491	48	17	�	�	PROPN
gi-2491	48	18	�	�	PROPN
gi-2491	48	19	�	�	PROPN
gi-2491	48	20	,	,	PUNCT
gi-2491	48	21	(	(	PUNCT
gi-2491	48	22	4	4	X
gi-2491	48	23	)	)	PUNCT
gi-2491	48	24	kajánek	kajánek	ADJ
gi-2491	48	25	,	,	PUNCT
gi-2491	48	26	p.	p.	NOUN
gi-2491	48	27	:	:	PUNCT
gi-2491	48	28	testing	test	VERB
gi-2491	48	29	the	the	DET
gi-2491	48	30	possibilities	possibility	NOUN
gi-2491	48	31	of	of	ADP
gi-2491	48	32	using	use	VERB
gi-2491	48	33	imus	imus	PROPN
gi-2491	48	34	with	with	ADP
gi-2491	48	35	different	different	ADJ
gi-2491	48	36	types	type	NOUN
gi-2491	48	37	of	of	ADP
gi-2491	48	38	movements	movement	NOUN
gi-2491	48	39	geoinformatics	geoinformatic	NOUN
gi-2491	48	40	fce	fce	VERB
gi-2491	48	41	ctu	ctu	NOUN
gi-2491	48	42	12	12	NUM
gi-2491	48	43	,	,	PUNCT
gi-2491	48	44	2014	2014	NUM
gi-2491	48	45	63	63	NUM
gi-2491	48	46	where	where	SCONJ
gi-2491	48	47	"	"	PUNCT
gi-2491	48	48	�	�	PROPN
gi-2491	48	49	is	be	AUX
gi-2491	48	50	current	current	ADJ
gi-2491	48	51	position	position	NOUN
gi-2491	48	52	,	,	PUNCT
gi-2491	48	53	"	"	PUNCT
gi-2491	48	54	�	�	NOUN
gi-2491	48	55	#	#	SYM
gi-2491	48	56	$	$	PRON
gi-2491	48	57	is	be	AUX
gi-2491	48	58	previous	previous	ADJ
gi-2491	48	59	position	position	NOUN
gi-2491	48	60	,	,	PUNCT
gi-2491	48	61	�	�	PROPN
gi-2491	48	62	�	�	PROPN
gi-2491	48	63	–	–	PUNCT
gi-2491	48	64	is	be	AUX
gi-2491	48	65	current	current	ADJ
gi-2491	48	66	acceleration	acceleration	NOUN
gi-2491	48	67	in	in	ADP
gi-2491	48	68	navigation	navigation	NOUN
gi-2491	48	69	frame	frame	NOUN
gi-2491	48	70	,	,	PUNCT
gi-2491	48	71	'	'	PUNCT
gi-2491	48	72	�	�	PROPN
gi-2491	48	73	is	be	AUX
gi-2491	48	74	current	current	ADJ
gi-2491	48	75	velocity	velocity	NOUN
gi-2491	48	76	,	,	PUNCT
gi-2491	48	77	t	t	PROPN
gi-2491	48	78	epoch	epoch	NOUN
gi-2491	48	79	of	of	ADP
gi-2491	48	80	measurement	measurement	NOUN
gi-2491	48	81	.	.	PUNCT
gi-2491	49	1	the	the	DET
gi-2491	49	2	mathematical	mathematical	ADJ
gi-2491	49	3	model	model	NOUN
gi-2491	49	4	mentioned	mention	VERB
gi-2491	49	5	above	above	ADV
gi-2491	49	6	is	be	AUX
gi-2491	49	7	often	often	ADV
gi-2491	49	8	called	call	VERB
gi-2491	49	9	as	as	ADP
gi-2491	49	10	dead	dead	ADV
gi-2491	49	11	-	-	PUNCT
gi-2491	49	12	reckoning	reckon	VERB
gi-2491	49	13	algorithm	algorithm	NOUN
gi-2491	49	14	(	(	PUNCT
gi-2491	49	15	[	[	X
gi-2491	49	16	4	4	NUM
gi-2491	49	17	]	]	NUM
gi-2491	49	18	)	)	PUNCT
gi-2491	49	19	.	.	PUNCT
gi-2491	50	1	2.2	2.2	NUM
gi-2491	50	2	methods	method	NOUN
gi-2491	50	3	for	for	ADP
gi-2491	50	4	improving	improve	VERB
gi-2491	50	5	position	position	NOUN
gi-2491	50	6	and	and	CCONJ
gi-2491	50	7	orientation	orientation	NOUN
gi-2491	50	8	accuracy	accuracy	NOUN
gi-2491	50	9	the	the	DET
gi-2491	50	10	disadvantage	disadvantage	NOUN
gi-2491	50	11	of	of	ADP
gi-2491	50	12	the	the	DET
gi-2491	50	13	low	low	ADJ
gi-2491	50	14	-	-	PUNCT
gi-2491	50	15	cost	cost	NOUN
gi-2491	50	16	imus	imus	NOUN
gi-2491	50	17	is	be	AUX
gi-2491	50	18	low	low	ADJ
gi-2491	50	19	accuracy	accuracy	NOUN
gi-2491	50	20	of	of	ADP
gi-2491	50	21	the	the	DET
gi-2491	50	22	position	position	NOUN
gi-2491	50	23	determination	determination	NOUN
gi-2491	50	24	that	that	PRON
gi-2491	50	25	decreases	decrease	VERB
gi-2491	50	26	with	with	ADP
gi-2491	50	27	time	time	NOUN
gi-2491	50	28	of	of	ADP
gi-2491	50	29	navigation	navigation	NOUN
gi-2491	50	30	.	.	PUNCT
gi-2491	51	1	low	low	ADJ
gi-2491	51	2	accuracy	accuracy	NOUN
gi-2491	51	3	is	be	AUX
gi-2491	51	4	caused	cause	VERB
gi-2491	51	5	by	by	ADP
gi-2491	51	6	sensor	sensor	NOUN
gi-2491	51	7	errors	error	NOUN
gi-2491	51	8	that	that	PRON
gi-2491	51	9	are	be	AUX
gi-2491	51	10	cumulated	cumulate	VERB
gi-2491	51	11	by	by	ADP
gi-2491	51	12	integration	integration	NOUN
gi-2491	51	13	process	process	NOUN
gi-2491	51	14	.	.	PUNCT
gi-2491	52	1	there	there	PRON
gi-2491	52	2	are	be	VERB
gi-2491	52	3	numbers	number	NOUN
gi-2491	52	4	of	of	ADP
gi-2491	52	5	methods	method	NOUN
gi-2491	52	6	,	,	PUNCT
gi-2491	52	7	which	which	PRON
gi-2491	52	8	could	could	AUX
gi-2491	52	9	help	help	VERB
gi-2491	52	10	improve	improve	VERB
gi-2491	52	11	accuracy	accuracy	NOUN
gi-2491	52	12	such	such	ADJ
gi-2491	52	13	as	as	ADP
gi-2491	52	14	:	:	PUNCT
gi-2491	52	15	•	•	NUM
gi-2491	52	16	allan	allan	PROPN
gi-2491	52	17	variance	variance	NOUN
gi-2491	52	18	method	method	NOUN
gi-2491	52	19	(	(	PUNCT
gi-2491	52	20	[	[	X
gi-2491	52	21	6	6	NUM
gi-2491	52	22	]	]	NUM
gi-2491	52	23	)	)	PUNCT
gi-2491	52	24	,	,	PUNCT
gi-2491	52	25	•	•	NOUN
gi-2491	52	26	zero	zero	NUM
gi-2491	52	27	-	-	PUNCT
gi-2491	52	28	velocity	velocity	NOUN
gi-2491	52	29	-	-	PUNCT
gi-2491	52	30	update	update	NOUN
gi-2491	52	31	algorithm	algorithm	NOUN
gi-2491	52	32	zupt	zupt	NOUN
gi-2491	52	33	used	use	VERB
gi-2491	52	34	for	for	ADP
gi-2491	52	35	foot	foot	NOUN
gi-2491	52	36	mounted	mount	VERB
gi-2491	52	37	navigation	navigation	NOUN
gi-2491	52	38	(	(	PUNCT
gi-2491	52	39	[	[	X
gi-2491	52	40	5	5	NUM
gi-2491	52	41	]	]	NUM
gi-2491	52	42	)	)	PUNCT
gi-2491	52	43	,	,	PUNCT
gi-2491	52	44	•	•	ADP
gi-2491	52	45	additional	additional	ADJ
gi-2491	52	46	sensors	sensor	NOUN
gi-2491	52	47	:	:	PUNCT
gi-2491	52	48	rfid	rfid	NOUN
gi-2491	52	49	,	,	PUNCT
gi-2491	52	50	gps	gps	PROPN
gi-2491	52	51	,	,	PUNCT
gi-2491	52	52	compass	compass	ADJ
gi-2491	52	53	(	(	PUNCT
gi-2491	52	54	[	[	X
gi-2491	52	55	7	7	NUM
gi-2491	52	56	]	]	NUM
gi-2491	52	57	)	)	PUNCT
gi-2491	52	58	,	,	PUNCT
gi-2491	52	59	•	•	NUM
gi-2491	52	60	specific	specific	ADJ
gi-2491	52	61	information	information	NOUN
gi-2491	52	62	,	,	PUNCT
gi-2491	52	63	which	which	PRON
gi-2491	52	64	is	be	AUX
gi-2491	52	65	obtained	obtain	VERB
gi-2491	52	66	from	from	ADP
gi-2491	52	67	maps	map	NOUN
gi-2491	52	68	:	:	PUNCT
gi-2491	52	69	coordinates	coordinate	NOUN
gi-2491	52	70	of	of	ADP
gi-2491	52	71	door	door	NOUN
gi-2491	52	72	,	,	PUNCT
gi-2491	52	73	direction	direction	NOUN
gi-2491	52	74	of	of	ADP
gi-2491	52	75	corridor	corridor	NOUN
gi-2491	52	76	and	and	CCONJ
gi-2491	52	77	other	other	ADJ
gi-2491	52	78	(	(	PUNCT
gi-2491	52	79	[	[	X
gi-2491	52	80	8	8	NUM
gi-2491	52	81	]	]	NUM
gi-2491	52	82	)	)	PUNCT
gi-2491	52	83	.	.	PUNCT
gi-2491	53	1	figure	figure	VERB
gi-2491	53	2	2	2	NUM
gi-2491	53	3	:	:	PUNCT
gi-2491	53	4	flowchart	flowchart	NOUN
gi-2491	53	5	of	of	ADP
gi-2491	53	6	processing	processing	NOUN
gi-2491	53	7	with	with	ADP
gi-2491	53	8	inertial	inertial	ADJ
gi-2491	53	9	measurements	measurement	NOUN
gi-2491	53	10	in	in	ADP
gi-2491	53	11	these	these	DET
gi-2491	53	12	methods	method	NOUN
gi-2491	53	13	for	for	ADP
gi-2491	53	14	purpose	purpose	NOUN
gi-2491	53	15	of	of	ADP
gi-2491	53	16	suppression	suppression	NOUN
gi-2491	53	17	of	of	ADP
gi-2491	53	18	noise	noise	NOUN
gi-2491	53	19	components	component	NOUN
gi-2491	53	20	in	in	ADP
gi-2491	53	21	the	the	DET
gi-2491	53	22	signal	signal	NOUN
gi-2491	53	23	during	during	ADP
gi-2491	53	24	the	the	PRON
gi-2491	53	25	data	data	NOUN
gi-2491	53	26	processing	process	VERB
gi-2491	53	27	the	the	DET
gi-2491	53	28	kalman	kalman	NOUN
gi-2491	53	29	filter	filter	NOUN
gi-2491	53	30	is	be	AUX
gi-2491	53	31	often	often	ADV
gi-2491	53	32	used	use	VERB
gi-2491	53	33	(	(	PUNCT
gi-2491	53	34	[	[	X
gi-2491	53	35	1	1	NUM
gi-2491	53	36	]	]	NUM
gi-2491	53	37	)	)	PUNCT
gi-2491	53	38	.	.	PUNCT
gi-2491	54	1	2.3	2.3	NUM
gi-2491	54	2	imu	imu	NOUN
gi-2491	54	3	testing	testing	NOUN
gi-2491	54	4	for	for	ADP
gi-2491	54	5	different	different	ADJ
gi-2491	54	6	types	type	NOUN
gi-2491	54	7	of	of	ADP
gi-2491	54	8	movement	movement	NOUN
gi-2491	54	9	with	with	ADP
gi-2491	54	10	accuracy	accuracy	NOUN
gi-2491	54	11	verification	verification	NOUN
gi-2491	54	12	the	the	DET
gi-2491	54	13	application	application	NOUN
gi-2491	54	14	of	of	ADP
gi-2491	54	15	sensors	sensor	NOUN
gi-2491	54	16	is	be	AUX
gi-2491	54	17	strongly	strongly	ADV
gi-2491	54	18	influenced	influence	VERB
gi-2491	54	19	by	by	ADP
gi-2491	54	20	their	their	PRON
gi-2491	54	21	accuracy	accuracy	NOUN
gi-2491	54	22	,	,	PUNCT
gi-2491	54	23	whereby	whereby	SCONJ
gi-2491	54	24	the	the	DET
gi-2491	54	25	imus	imus	PROPN
gi-2491	54	26	can	can	AUX
gi-2491	54	27	be	be	AUX
gi-2491	54	28	divided	divide	VERB
gi-2491	54	29	into	into	ADP
gi-2491	54	30	several	several	ADJ
gi-2491	54	31	groups	group	NOUN
gi-2491	54	32	.	.	PUNCT
gi-2491	55	1	the	the	DET
gi-2491	55	2	presented	present	VERB
gi-2491	55	3	test	test	NOUN
gi-2491	55	4	concerns	concern	NOUN
gi-2491	55	5	with	with	ADP
gi-2491	55	6	testing	test	VERB
gi-2491	55	7	low	low	ADJ
gi-2491	55	8	-	-	PUNCT
gi-2491	55	9	cost	cost	NOUN
gi-2491	55	10	imus	imus	NOUN
gi-2491	55	11	,	,	PUNCT
gi-2491	55	12	which	which	PRON
gi-2491	55	13	due	due	ADP
gi-2491	55	14	to	to	ADP
gi-2491	55	15	low	low	ADJ
gi-2491	55	16	production	production	NOUN
gi-2491	55	17	costs	cost	NOUN
gi-2491	55	18	,	,	PUNCT
gi-2491	55	19	have	have	VERB
gi-2491	55	20	lower	low	ADJ
gi-2491	55	21	accuracy	accuracy	NOUN
gi-2491	55	22	compared	compare	VERB
gi-2491	55	23	to	to	ADP
gi-2491	55	24	the	the	DET
gi-2491	55	25	imus	imus	PROPN
gi-2491	55	26	designed	design	VERB
gi-2491	55	27	for	for	ADP
gi-2491	55	28	tactical	tactical	ADJ
gi-2491	55	29	applications	application	NOUN
gi-2491	55	30	.	.	PUNCT
gi-2491	56	1	the	the	DET
gi-2491	56	2	designed	design	VERB
gi-2491	56	3	tests	test	NOUN
gi-2491	56	4	are	be	AUX
gi-2491	56	5	focused	focus	VERB
gi-2491	56	6	on	on	ADP
gi-2491	56	7	the	the	DET
gi-2491	56	8	accuracy	accuracy	NOUN
gi-2491	56	9	of	of	ADP
gi-2491	56	10	the	the	DET
gi-2491	56	11	positioning	positioning	NOUN
gi-2491	56	12	using	use	VERB
gi-2491	56	13	low	low	ADJ
gi-2491	56	14	-	-	PUNCT
gi-2491	56	15	cost	cost	NOUN
gi-2491	56	16	imus	imus	NOUN
gi-2491	56	17	based	base	VERB
gi-2491	56	18	on	on	ADP
gi-2491	56	19	motion	motion	NOUN
gi-2491	56	20	along	along	ADP
gi-2491	56	21	a	a	DET
gi-2491	56	22	defined	define	VERB
gi-2491	56	23	trajectory	trajectory	NOUN
gi-2491	56	24	.	.	PUNCT
gi-2491	57	1	since	since	SCONJ
gi-2491	57	2	the	the	DET
gi-2491	57	3	imus	imus	PROPN
gi-2491	57	4	accuracy	accuracy	NOUN
gi-2491	57	5	decreases	decrease	VERB
gi-2491	57	6	with	with	ADP
gi-2491	57	7	time	time	NOUN
gi-2491	57	8	of	of	ADP
gi-2491	57	9	navigation	navigation	NOUN
gi-2491	57	10	,	,	PUNCT
gi-2491	57	11	short	short	ADJ
gi-2491	57	12	-	-	PUNCT
gi-2491	57	13	term	term	NOUN
gi-2491	57	14	linear	linear	PROPN
gi-2491	57	15	movement	movement	NOUN
gi-2491	57	16	will	will	AUX
gi-2491	57	17	be	be	AUX
gi-2491	57	18	performed	perform	VERB
gi-2491	57	19	.	.	PUNCT
gi-2491	58	1	further	further	ADJ
gi-2491	58	2	advanced	advanced	ADJ
gi-2491	58	3	movements	movement	NOUN
gi-2491	58	4	of	of	ADP
gi-2491	58	5	variable	variable	ADJ
gi-2491	58	6	speed	speed	NOUN
gi-2491	58	7	and	and	CCONJ
gi-2491	58	8	orientation	orientation	NOUN
gi-2491	58	9	of	of	ADP
gi-2491	58	10	motion	motion	NOUN
gi-2491	58	11	(	(	PUNCT
gi-2491	58	12	movement	movement	NOUN
gi-2491	58	13	of	of	ADP
gi-2491	58	14	pedestrians	pedestrian	NOUN
gi-2491	58	15	in	in	ADP
gi-2491	58	16	the	the	DET
gi-2491	58	17	building	building	NOUN
gi-2491	58	18	)	)	PUNCT
gi-2491	58	19	and	and	CCONJ
gi-2491	58	20	also	also	ADV
gi-2491	58	21	motion	motion	NOUN
gi-2491	58	22	of	of	ADP
gi-2491	58	23	imu	imu	NOUN
gi-2491	58	24	on	on	ADP
gi-2491	58	25	testing	test	VERB
gi-2491	58	26	cart	cart	NOUN
gi-2491	58	27	(	(	PUNCT
gi-2491	58	28	no	no	DET
gi-2491	58	29	vibrations	vibration	NOUN
gi-2491	58	30	with	with	ADP
gi-2491	58	31	high	high	ADJ
gi-2491	58	32	amplitude	amplitude	NOUN
gi-2491	58	33	caused	cause	VERB
gi-2491	58	34	by	by	ADP
gi-2491	58	35	holding	hold	VERB
gi-2491	58	36	the	the	DET
gi-2491	58	37	imus	imus	PROPN
gi-2491	58	38	in	in	ADP
gi-2491	58	39	the	the	DET
gi-2491	58	40	hands	hand	NOUN
gi-2491	58	41	of	of	ADP
gi-2491	58	42	the	the	DET
gi-2491	58	43	pedestrian	pedestrian	NOUN
gi-2491	58	44	)	)	PUNCT
gi-2491	58	45	can	can	AUX
gi-2491	58	46	be	be	AUX
gi-2491	58	47	used	use	VERB
gi-2491	58	48	.	.	PUNCT
gi-2491	59	1	based	base	VERB
gi-2491	59	2	on	on	ADP
gi-2491	59	3	the	the	DET
gi-2491	59	4	proposed	propose	VERB
gi-2491	59	5	test	test	NOUN
gi-2491	59	6	two	two	NUM
gi-2491	59	7	low	low	ADJ
gi-2491	59	8	-	-	PUNCT
gi-2491	59	9	cost	cost	NOUN
gi-2491	59	10	sensors	sensor	NOUN
gi-2491	59	11	(	(	PUNCT
gi-2491	59	12	inemo	inemo	ADV
gi-2491	59	13	steval	steval	NOUN
gi-2491	59	14	v2	v2	VERB
gi-2491	59	15	mki062v2	mki062v2	NOUN
gi-2491	59	16	and	and	CCONJ
gi-2491	59	17	imu	imu	NOUN
gi-2491	59	18	eeas	eea	NOUN
gi-2491	59	19	)	)	PUNCT
gi-2491	59	20	will	will	AUX
gi-2491	59	21	be	be	AUX
gi-2491	59	22	tested	test	VERB
gi-2491	59	23	.	.	PUNCT
gi-2491	60	1	the	the	DET
gi-2491	60	2	first	first	ADJ
gi-2491	60	3	test	test	NOUN
gi-2491	60	4	will	will	AUX
gi-2491	60	5	be	be	AUX
gi-2491	60	6	simulated	simulate	VERB
gi-2491	60	7	simple	simple	ADJ
gi-2491	60	8	and	and	CCONJ
gi-2491	60	9	short	short	ADJ
gi-2491	60	10	-	-	PUNCT
gi-2491	60	11	time	time	NOUN
gi-2491	60	12	movement	movement	NOUN
gi-2491	60	13	of	of	ADP
gi-2491	60	14	pedestrian	pedestrian	NOUN
gi-2491	60	15	.	.	PUNCT
gi-2491	61	1	tested	test	VERB
gi-2491	61	2	imus	imus	PROPN
gi-2491	61	3	will	will	AUX
gi-2491	61	4	be	be	AUX
gi-2491	61	5	positioned	position	VERB
gi-2491	61	6	on	on	ADP
gi-2491	61	7	the	the	DET
gi-2491	61	8	pedestrian´s	pedestrian´	NOUN
gi-2491	61	9	hand	hand	NOUN
gi-2491	61	10	.	.	PUNCT
gi-2491	62	1	there	there	PRON
gi-2491	62	2	will	will	AUX
gi-2491	62	3	be	be	AUX
gi-2491	62	4	realized	realize	VERB
gi-2491	62	5	straight	straight	ADJ
gi-2491	62	6	movement	movement	NOUN
gi-2491	62	7	of	of	ADP
gi-2491	62	8	testing	testing	NOUN
gi-2491	62	9	device	device	NOUN
gi-2491	62	10	between	between	ADP
gi-2491	62	11	points	point	NOUN
gi-2491	62	12	with	with	ADP
gi-2491	62	13	known	know	VERB
gi-2491	62	14	position	position	NOUN
gi-2491	62	15	(	(	PUNCT
gi-2491	62	16	e.g.	e.g.	ADV
gi-2491	62	17	surveying	surveying	NOUN
gi-2491	62	18	pillars	pillar	NOUN
gi-2491	62	19	)	)	PUNCT
gi-2491	62	20	.	.	PUNCT
gi-2491	63	1	aim	aim	NOUN
gi-2491	63	2	of	of	ADP
gi-2491	63	3	the	the	DET
gi-2491	63	4	first	first	ADJ
gi-2491	63	5	test	test	NOUN
gi-2491	63	6	is	be	AUX
gi-2491	63	7	testing	test	VERB
gi-2491	63	8	of	of	ADP
gi-2491	63	9	the	the	DET
gi-2491	63	10	accuracy	accuracy	NOUN
gi-2491	63	11	of	of	ADP
gi-2491	63	12	the	the	DET
gi-2491	63	13	imus	imus	PROPN
gi-2491	63	14	in	in	ADP
gi-2491	63	15	short	short	ADJ
gi-2491	63	16	-	-	PUNCT
gi-2491	63	17	time	time	NOUN
gi-2491	63	18	term	term	NOUN
gi-2491	63	19	.	.	PUNCT
gi-2491	64	1	acceleration	acceleration	NOUN
gi-2491	64	2	transformation	transformation	NOUN
gi-2491	64	3	of	of	ADP
gi-2491	64	4	accelerations	acceleration	NOUN
gi-2491	64	5	from	from	ADP
gi-2491	64	6	body	body	NOUN
gi-2491	64	7	frame	frame	NOUN
gi-2491	64	8	to	to	ADP
gi-2491	64	9	navigation	navigation	NOUN
gi-2491	64	10	frame	frame	NOUN
gi-2491	64	11	integratio	integratio	NOUN
gi-2491	64	12	n	n	PRON
gi-2491	64	13	acceleratio	acceleratio	NOUN
gi-2491	64	14	n	n	PROPN
gi-2491	64	15	in	in	ADP
gi-2491	64	16	navigation	navigation	NOUN
gi-2491	64	17	frame	frame	NOUN
gi-2491	64	18	euler	euler	NOUN
gi-2491	64	19	angles	angle	NOUN
gi-2491	64	20	:	:	PUNCT
gi-2491	64	21	roll	roll	NOUN
gi-2491	64	22	,	,	PUNCT
gi-2491	64	23	pitch	pitch	NOUN
gi-2491	64	24	,	,	PUNCT
gi-2491	64	25	yaw	yaw	NOUN
gi-2491	64	26	remove	remove	VERB
gi-2491	64	27	gravity	gravity	NOUN
gi-2491	64	28	[	[	X
gi-2491	64	29	0	0	NUM
gi-2491	64	30	;	;	PUNCT
gi-2491	64	31	0	0	NUM
gi-2491	64	32	;	;	PUNCT
gi-2491	64	33	-g	-g	X
gi-2491	64	34	]	]	X
gi-2491	64	35	velocity	velocity	NOUN
gi-2491	64	36	position	position	NOUN
gi-2491	64	37	integration	integration	NOUN
gi-2491	64	38	integration	integration	NOUN
gi-2491	64	39	acceleration	acceleration	NOUN
gi-2491	64	40	acceleration	acceleration	NOUN
gi-2491	64	41	angular	angular	ADJ
gi-2491	64	42	rate	rate	NOUN
gi-2491	64	43	angular	angular	ADJ
gi-2491	64	44	rate	rate	NOUN
gi-2491	64	45	z	z	PROPN
gi-2491	64	46	angular	angular	ADJ
gi-2491	64	47	rate	rate	NOUN
gi-2491	64	48	kajánek	kajánek	ADJ
gi-2491	64	49	,	,	PUNCT
gi-2491	64	50	p.	p.	NOUN
gi-2491	64	51	:	:	PUNCT
gi-2491	64	52	testing	test	VERB
gi-2491	64	53	the	the	DET
gi-2491	64	54	possibilities	possibility	NOUN
gi-2491	64	55	of	of	ADP
gi-2491	64	56	using	use	VERB
gi-2491	64	57	imus	imus	PROPN
gi-2491	64	58	with	with	ADP
gi-2491	64	59	different	different	ADJ
gi-2491	64	60	types	type	NOUN
gi-2491	64	61	of	of	ADP
gi-2491	64	62	movements	movement	NOUN
gi-2491	64	63	geoinformatics	geoinformatic	NOUN
gi-2491	64	64	fce	fce	VERB
gi-2491	64	65	ctu	ctu	NOUN
gi-2491	64	66	12	12	NUM
gi-2491	64	67	,	,	PUNCT
gi-2491	64	68	2014	2014	NUM
gi-2491	64	69	64	64	NUM
gi-2491	64	70	figure	figure	NOUN
gi-2491	64	71	3	3	NUM
gi-2491	64	72	:	:	PUNCT
gi-2491	64	73	tested	test	VERB
gi-2491	64	74	devices	device	NOUN
gi-2491	64	75	:	:	PUNCT
gi-2491	64	76	inemo	inemo	NOUN
gi-2491	64	77	steval	steval	PROPN
gi-2491	64	78	v2	v2	PROPN
gi-2491	64	79	mki062v2	mki062v2	PROPN
gi-2491	64	80	(	(	PUNCT
gi-2491	64	81	left	left	ADJ
gi-2491	64	82	)	)	PUNCT
gi-2491	64	83	and	and	CCONJ
gi-2491	64	84	imu	imu	NOUN
gi-2491	64	85	eeas	eea	NOUN
gi-2491	64	86	(	(	PUNCT
gi-2491	64	87	right	right	ADJ
gi-2491	64	88	)	)	PUNCT
gi-2491	64	89	in	in	ADP
gi-2491	64	90	second	second	ADJ
gi-2491	64	91	test	test	NOUN
gi-2491	64	92	there	there	PRON
gi-2491	64	93	will	will	AUX
gi-2491	64	94	be	be	AUX
gi-2491	64	95	simulated	simulate	VERB
gi-2491	64	96	long	long	ADJ
gi-2491	64	97	-	-	PUNCT
gi-2491	64	98	term	term	NOUN
gi-2491	64	99	advanced	advanced	ADJ
gi-2491	64	100	movement	movement	NOUN
gi-2491	64	101	(	(	PUNCT
gi-2491	64	102	standard	standard	ADJ
gi-2491	64	103	pedestrian	pedestrian	NOUN
gi-2491	64	104	movement	movement	NOUN
gi-2491	64	105	with	with	ADP
gi-2491	64	106	random	random	ADJ
gi-2491	64	107	changes	change	NOUN
gi-2491	64	108	of	of	ADP
gi-2491	64	109	acceleration	acceleration	NOUN
gi-2491	64	110	and	and	CCONJ
gi-2491	64	111	orientation	orientation	NOUN
gi-2491	64	112	)	)	PUNCT
gi-2491	64	113	.	.	PUNCT
gi-2491	65	1	imus	imus	PROPN
gi-2491	65	2	will	will	AUX
gi-2491	65	3	be	be	AUX
gi-2491	65	4	placed	place	VERB
gi-2491	65	5	on	on	ADP
gi-2491	65	6	the	the	DET
gi-2491	65	7	pedestrian´s	pedestrian´	NOUN
gi-2491	65	8	foot	foot	NOUN
gi-2491	65	9	and	and	CCONJ
gi-2491	65	10	pedestrian´s	pedestrian´	NOUN
gi-2491	65	11	hand	hand	NOUN
gi-2491	65	12	.	.	PUNCT
gi-2491	66	1	the	the	DET
gi-2491	66	2	aim	aim	NOUN
gi-2491	66	3	of	of	ADP
gi-2491	66	4	the	the	DET
gi-2491	66	5	second	second	ADJ
gi-2491	66	6	experiment	experiment	NOUN
gi-2491	66	7	is	be	AUX
gi-2491	66	8	testing	test	VERB
gi-2491	66	9	imus	imus	PROPN
gi-2491	66	10	for	for	ADP
gi-2491	66	11	indoor	indoor	ADJ
gi-2491	66	12	application	application	NOUN
gi-2491	66	13	,	,	PUNCT
gi-2491	66	14	where	where	SCONJ
gi-2491	66	15	the	the	DET
gi-2491	66	16	movement	movement	NOUN
gi-2491	66	17	of	of	ADP
gi-2491	66	18	pedestrians	pedestrian	NOUN
gi-2491	66	19	is	be	AUX
gi-2491	66	20	more	more	ADV
gi-2491	66	21	difficult	difficult	ADJ
gi-2491	66	22	(	(	PUNCT
gi-2491	66	23	random	random	ADJ
gi-2491	66	24	changes	change	NOUN
gi-2491	66	25	of	of	ADP
gi-2491	66	26	acceleration	acceleration	NOUN
gi-2491	66	27	and	and	CCONJ
gi-2491	66	28	orientation	orientation	NOUN
gi-2491	66	29	)	)	PUNCT
gi-2491	66	30	and	and	CCONJ
gi-2491	66	31	the	the	DET
gi-2491	66	32	inaccuracy	inaccuracy	NOUN
gi-2491	66	33	grows	grow	VERB
gi-2491	66	34	with	with	ADP
gi-2491	66	35	the	the	DET
gi-2491	66	36	traveled	travel	VERB
gi-2491	66	37	distance	distance	NOUN
gi-2491	66	38	.	.	PUNCT
gi-2491	67	1	trajectory	trajectory	NOUN
gi-2491	67	2	of	of	ADP
gi-2491	67	3	movement	movement	NOUN
gi-2491	67	4	will	will	AUX
gi-2491	67	5	be	be	AUX
gi-2491	67	6	limited	limit	VERB
gi-2491	67	7	by	by	ADP
gi-2491	67	8	floor	floor	NOUN
gi-2491	67	9	plan	plan	NOUN
gi-2491	67	10	,	,	PUNCT
gi-2491	67	11	where	where	SCONJ
gi-2491	67	12	coordinated	coordinate	VERB
gi-2491	67	13	of	of	ADP
gi-2491	67	14	passages	passage	NOUN
gi-2491	67	15	(	(	PUNCT
gi-2491	67	16	doors	door	NOUN
gi-2491	67	17	–	–	PUNCT
gi-2491	67	18	red	red	ADJ
gi-2491	67	19	circle	circle	NOUN
gi-2491	67	20	in	in	ADP
gi-2491	67	21	figure	figure	NOUN
gi-2491	67	22	4	4	NUM
gi-2491	67	23	)	)	PUNCT
gi-2491	67	24	are	be	AUX
gi-2491	67	25	known	know	VERB
gi-2491	67	26	.	.	PUNCT
gi-2491	68	1	figure	figure	VERB
gi-2491	68	2	4	4	NUM
gi-2491	68	3	:	:	PUNCT
gi-2491	68	4	fix	fix	VERB
gi-2491	68	5	points	point	NOUN
gi-2491	68	6	as	as	ADP
gi-2491	68	7	specific	specific	ADJ
gi-2491	68	8	information	information	NOUN
gi-2491	68	9	in	in	ADP
gi-2491	68	10	floor	floor	NOUN
gi-2491	68	11	plan	plan	NOUN
gi-2491	68	12	in	in	ADP
gi-2491	68	13	the	the	DET
gi-2491	68	14	third	third	ADJ
gi-2491	68	15	test	test	NOUN
gi-2491	68	16	imus	imus	PROPN
gi-2491	68	17	will	will	AUX
gi-2491	68	18	be	be	AUX
gi-2491	68	19	placed	place	VERB
gi-2491	68	20	on	on	ADP
gi-2491	68	21	testing	test	VERB
gi-2491	68	22	cart	cart	NOUN
gi-2491	68	23	figure	figure	NOUN
gi-2491	68	24	4	4	NUM
gi-2491	68	25	.	.	PUNCT
gi-2491	69	1	the	the	DET
gi-2491	69	2	purpose	purpose	NOUN
gi-2491	69	3	of	of	ADP
gi-2491	69	4	this	this	DET
gi-2491	69	5	test	test	NOUN
gi-2491	69	6	is	be	AUX
gi-2491	69	7	simulation	simulation	NOUN
gi-2491	69	8	of	of	ADP
gi-2491	69	9	machine	machine	NOUN
gi-2491	69	10	movement	movement	NOUN
gi-2491	69	11	,	,	PUNCT
gi-2491	69	12	where	where	SCONJ
gi-2491	69	13	there	there	PRON
gi-2491	69	14	are	be	VERB
gi-2491	69	15	no	no	DET
gi-2491	69	16	vibrations	vibration	NOUN
gi-2491	69	17	with	with	ADP
gi-2491	69	18	high	high	ADJ
gi-2491	69	19	amplitude	amplitude	NOUN
gi-2491	69	20	caused	cause	VERB
gi-2491	69	21	by	by	ADP
gi-2491	69	22	holding	hold	VERB
gi-2491	69	23	the	the	DET
gi-2491	69	24	imus	imus	PROPN
gi-2491	69	25	in	in	ADP
gi-2491	69	26	the	the	DET
gi-2491	69	27	hands	hand	NOUN
gi-2491	69	28	of	of	ADP
gi-2491	69	29	the	the	DET
gi-2491	69	30	pedestrian	pedestrian	NOUN
gi-2491	69	31	and	and	CCONJ
gi-2491	69	32	the	the	DET
gi-2491	69	33	movement	movement	NOUN
gi-2491	69	34	of	of	ADP
gi-2491	69	35	the	the	DET
gi-2491	69	36	cart	cart	NOUN
gi-2491	69	37	is	be	AUX
gi-2491	69	38	more	more	ADV
gi-2491	69	39	-	-	PUNCT
gi-2491	69	40	les	les	X
gi-2491	69	41	straight	straight	ADJ
gi-2491	69	42	.	.	PUNCT
gi-2491	70	1	figure	figure	NOUN
gi-2491	70	2	5	5	NUM
gi-2491	70	3	:	:	PUNCT
gi-2491	70	4	imu	imu	NOUN
gi-2491	70	5	eeas	eea	NOUN
gi-2491	70	6	placed	place	VERB
gi-2491	70	7	on	on	ADP
gi-2491	70	8	cart	cart	NOUN
gi-2491	70	9	3	3	NUM
gi-2491	70	10	.	.	PUNCT
gi-2491	71	1	design	design	NOUN
gi-2491	71	2	of	of	ADP
gi-2491	71	3	data	datum	NOUN
gi-2491	71	4	processing	processing	NOUN
gi-2491	71	5	there	there	PRON
gi-2491	71	6	will	will	AUX
gi-2491	71	7	be	be	AUX
gi-2491	71	8	used	use	VERB
gi-2491	71	9	dead	dead	ADJ
gi-2491	71	10	reckoning	reckon	VERB
gi-2491	71	11	algorithm	algorithm	NOUN
gi-2491	71	12	(	(	PUNCT
gi-2491	71	13	chapter	chapter	NOUN
gi-2491	71	14	3.1	3.1	NUM
gi-2491	71	15	)	)	PUNCT
gi-2491	71	16	to	to	PART
gi-2491	71	17	calculate	calculate	VERB
gi-2491	71	18	position	position	NOUN
gi-2491	71	19	,	,	PUNCT
gi-2491	71	20	velocity	velocity	NOUN
gi-2491	71	21	and	and	CCONJ
gi-2491	71	22	attitude	attitude	NOUN
gi-2491	71	23	from	from	ADP
gi-2491	71	24	output	output	NOUN
gi-2491	71	25	of	of	ADP
gi-2491	71	26	imus	imus	PROPN
gi-2491	71	27	.	.	PUNCT
gi-2491	72	1	unfortunately	unfortunately	ADV
gi-2491	72	2	,	,	PUNCT
gi-2491	72	3	there	there	PRON
gi-2491	72	4	are	be	VERB
gi-2491	72	5	errors	error	NOUN
gi-2491	72	6	in	in	ADP
gi-2491	72	7	accelerometer	accelerometer	NOUN
gi-2491	72	8	and	and	CCONJ
gi-2491	72	9	gyroscope	gyroscope	NOUN
gi-2491	72	10	measurements	measurement	NOUN
gi-2491	72	11	,	,	PUNCT
gi-2491	72	12	which	which	PRON
gi-2491	72	13	are	be	AUX
gi-2491	72	14	cumulated	cumulate	VERB
gi-2491	72	15	in	in	ADP
gi-2491	72	16	integration	integration	NOUN
gi-2491	72	17	process	process	NOUN
gi-2491	72	18	.	.	PUNCT
gi-2491	73	1	random	random	ADJ
gi-2491	73	2	accelerometer	accelerometer	NOUN
gi-2491	73	3	and	and	CCONJ
gi-2491	73	4	gyro	gyro	NOUN
gi-2491	73	5	noise	noise	NOUN
gi-2491	73	6	kajánek	kajánek	ADJ
gi-2491	73	7	,	,	PUNCT
gi-2491	73	8	p.	p.	NOUN
gi-2491	73	9	:	:	PUNCT
gi-2491	74	1	testing	test	VERB
gi-2491	74	2	the	the	DET
gi-2491	74	3	possibilities	possibility	NOUN
gi-2491	74	4	of	of	ADP
gi-2491	74	5	using	use	VERB
gi-2491	74	6	imus	imus	PROPN
gi-2491	74	7	with	with	ADP
gi-2491	74	8	different	different	ADJ
gi-2491	74	9	types	type	NOUN
gi-2491	74	10	of	of	ADP
gi-2491	74	11	movements	movement	NOUN
gi-2491	74	12	geoinformatics	geoinformatic	NOUN
gi-2491	74	13	fce	fce	VERB
gi-2491	74	14	ctu	ctu	NOUN
gi-2491	74	15	12	12	NUM
gi-2491	74	16	,	,	PUNCT
gi-2491	74	17	2014	2014	NUM
gi-2491	74	18	65	65	NUM
gi-2491	74	19	have	have	VERB
gi-2491	74	20	cumulative	cumulative	ADJ
gi-2491	74	21	effect	effect	NOUN
gi-2491	74	22	too	too	ADV
gi-2491	74	23	.	.	PUNCT
gi-2491	75	1	these	these	DET
gi-2491	75	2	facts	fact	NOUN
gi-2491	75	3	cause	cause	VERB
gi-2491	75	4	,	,	PUNCT
gi-2491	75	5	that	that	SCONJ
gi-2491	75	6	the	the	DET
gi-2491	75	7	accuracy	accuracy	NOUN
gi-2491	75	8	of	of	ADP
gi-2491	75	9	the	the	DET
gi-2491	75	10	trajectory	trajectory	NOUN
gi-2491	75	11	decrease	decrease	NOUN
gi-2491	75	12	significantly	significantly	ADV
gi-2491	75	13	over	over	ADP
gi-2491	75	14	the	the	DET
gi-2491	75	15	time	time	NOUN
gi-2491	75	16	.	.	PUNCT
gi-2491	76	1	an	an	DET
gi-2491	76	2	important	important	ADJ
gi-2491	76	3	part	part	NOUN
gi-2491	76	4	of	of	ADP
gi-2491	76	5	the	the	DET
gi-2491	76	6	data	data	NOUN
gi-2491	76	7	processing	processing	NOUN
gi-2491	76	8	will	will	AUX
gi-2491	76	9	be	be	AUX
gi-2491	76	10	the	the	DET
gi-2491	76	11	suppressing	suppressing	NOUN
gi-2491	76	12	of	of	ADP
gi-2491	76	13	the	the	DET
gi-2491	76	14	noise	noise	NOUN
gi-2491	76	15	in	in	ADP
gi-2491	76	16	the	the	DET
gi-2491	76	17	measurements	measurement	NOUN
gi-2491	76	18	.	.	PUNCT
gi-2491	77	1	before	before	SCONJ
gi-2491	77	2	the	the	DET
gi-2491	77	3	integration	integration	NOUN
gi-2491	77	4	process	process	NOUN
gi-2491	77	5	low	low	ADJ
gi-2491	77	6	pass	pass	NOUN
gi-2491	77	7	filter	filter	NOUN
gi-2491	77	8	will	will	AUX
gi-2491	77	9	be	be	AUX
gi-2491	77	10	used	use	VERB
gi-2491	77	11	to	to	PART
gi-2491	77	12	suppress	suppress	VERB
gi-2491	77	13	high	high	ADJ
gi-2491	77	14	-	-	PUNCT
gi-2491	77	15	frequency	frequency	NOUN
gi-2491	77	16	components	component	NOUN
gi-2491	77	17	which	which	PRON
gi-2491	77	18	contains	contain	VERB
gi-2491	77	19	the	the	DET
gi-2491	77	20	noise	noise	NOUN
gi-2491	77	21	.	.	PUNCT
gi-2491	78	1	next	next	ADJ
gi-2491	78	2	step	step	NOUN
gi-2491	78	3	will	will	AUX
gi-2491	78	4	be	be	AUX
gi-2491	78	5	integration	integration	NOUN
gi-2491	78	6	using	use	VERB
gi-2491	78	7	fast	fast	ADJ
gi-2491	78	8	fourier	fourier	NOUN
gi-2491	78	9	transform	transform	NOUN
gi-2491	78	10	(	(	PUNCT
gi-2491	78	11	fft	fft	PROPN
gi-2491	78	12	)	)	PUNCT
gi-2491	78	13	.	.	PUNCT
gi-2491	79	1	fft	fft	PROPN
gi-2491	79	2	allows	allow	VERB
gi-2491	79	3	transform	transform	NOUN
gi-2491	79	4	of	of	ADP
gi-2491	79	5	the	the	DET
gi-2491	79	6	measured	measure	VERB
gi-2491	79	7	signal	signal	NOUN
gi-2491	79	8	from	from	ADP
gi-2491	79	9	time	time	NOUN
gi-2491	79	10	domain	domain	NOUN
gi-2491	79	11	to	to	ADP
gi-2491	79	12	frequency	frequency	NOUN
gi-2491	79	13	domain	domain	NOUN
gi-2491	79	14	.	.	PUNCT
gi-2491	80	1	in	in	ADP
gi-2491	80	2	frequency	frequency	NOUN
gi-2491	80	3	domain	domain	NOUN
gi-2491	80	4	noise	noise	NOUN
gi-2491	80	5	frequencies	frequency	NOUN
gi-2491	80	6	will	will	AUX
gi-2491	80	7	be	be	AUX
gi-2491	80	8	removed	remove	VERB
gi-2491	80	9	and	and	CCONJ
gi-2491	80	10	after	after	SCONJ
gi-2491	80	11	that	that	DET
gi-2491	80	12	inverse	inverse	NOUN
gi-2491	80	13	fft	fft	NOUN
gi-2491	80	14	will	will	AUX
gi-2491	80	15	be	be	AUX
gi-2491	80	16	used	use	VERB
gi-2491	80	17	to	to	PART
gi-2491	80	18	convert	convert	VERB
gi-2491	80	19	signal	signal	NOUN
gi-2491	80	20	back	back	ADV
gi-2491	80	21	to	to	ADP
gi-2491	80	22	the	the	DET
gi-2491	80	23	time	time	NOUN
gi-2491	80	24	domain	domain	NOUN
gi-2491	80	25	.	.	PUNCT
gi-2491	81	1	then	then	ADV
gi-2491	81	2	there	there	PRON
gi-2491	81	3	will	will	AUX
gi-2491	81	4	be	be	AUX
gi-2491	81	5	used	use	VERB
gi-2491	81	6	double	double	ADJ
gi-2491	81	7	numerical	numerical	ADJ
gi-2491	81	8	integration	integration	NOUN
gi-2491	81	9	to	to	PART
gi-2491	81	10	calculate	calculate	VERB
gi-2491	81	11	position	position	NOUN
gi-2491	81	12	from	from	ADP
gi-2491	81	13	signal	signal	NOUN
gi-2491	81	14	without	without	ADP
gi-2491	81	15	noise	noise	NOUN
gi-2491	81	16	(	(	PUNCT
gi-2491	81	17	[	[	X
gi-2491	81	18	9	9	NUM
gi-2491	81	19	]	]	NUM
gi-2491	81	20	)	)	PUNCT
gi-2491	81	21	.	.	PUNCT
gi-2491	82	1	figure	figure	VERB
gi-2491	82	2	6	6	NUM
gi-2491	82	3	:	:	PUNCT
gi-2491	82	4	scheme	scheme	NOUN
gi-2491	82	5	of	of	ADP
gi-2491	82	6	integration	integration	NOUN
gi-2491	82	7	with	with	ADP
gi-2491	82	8	using	use	VERB
gi-2491	82	9	fast	fast	ADJ
gi-2491	82	10	fourier	fourier	NOUN
gi-2491	82	11	transform	transform	NOUN
gi-2491	82	12	4	4	NUM
gi-2491	82	13	.	.	PUNCT
gi-2491	82	14	conclusion	conclusion	NOUN
gi-2491	82	15	this	this	DET
gi-2491	82	16	paper	paper	NOUN
gi-2491	82	17	describes	describe	VERB
gi-2491	82	18	exploitation	exploitation	NOUN
gi-2491	82	19	of	of	ADP
gi-2491	82	20	low	low	ADJ
gi-2491	82	21	-	-	PUNCT
gi-2491	82	22	cost	cost	NOUN
gi-2491	82	23	inertial	inertial	ADJ
gi-2491	82	24	measurement	measurement	NOUN
gi-2491	82	25	units	unit	NOUN
gi-2491	82	26	for	for	ADP
gi-2491	82	27	indoor	indoor	ADJ
gi-2491	82	28	applications	application	NOUN
gi-2491	82	29	.	.	PUNCT
gi-2491	83	1	the	the	DET
gi-2491	83	2	main	main	ADJ
gi-2491	83	3	aim	aim	NOUN
gi-2491	83	4	of	of	ADP
gi-2491	83	5	the	the	DET
gi-2491	83	6	paper	paper	NOUN
gi-2491	83	7	is	be	AUX
gi-2491	83	8	to	to	PART
gi-2491	83	9	design	design	VERB
gi-2491	83	10	test	test	NOUN
gi-2491	83	11	of	of	ADP
gi-2491	83	12	imus	imus	PROPN
gi-2491	83	13	for	for	ADP
gi-2491	83	14	different	different	ADJ
gi-2491	83	15	types	type	NOUN
gi-2491	83	16	of	of	ADP
gi-2491	83	17	movements	movement	NOUN
gi-2491	83	18	(	(	PUNCT
gi-2491	83	19	short	short	ADJ
gi-2491	83	20	-	-	PUNCT
gi-2491	83	21	term	term	NOUN
gi-2491	83	22	linear	linear	PROPN
gi-2491	83	23	movement	movement	NOUN
gi-2491	83	24	,	,	PUNCT
gi-2491	83	25	advanced	advanced	ADJ
gi-2491	83	26	long	long	ADJ
gi-2491	83	27	-	-	PUNCT
gi-2491	83	28	term	term	NOUN
gi-2491	83	29	movement	movement	NOUN
gi-2491	83	30	and	and	CCONJ
gi-2491	83	31	movement	movement	NOUN
gi-2491	83	32	on	on	ADP
gi-2491	83	33	the	the	DET
gi-2491	83	34	testing	testing	NOUN
gi-2491	83	35	cart	cart	NOUN
gi-2491	83	36	)	)	PUNCT
gi-2491	83	37	,	,	PUNCT
gi-2491	83	38	which	which	PRON
gi-2491	83	39	represent	represent	VERB
gi-2491	83	40	typical	typical	ADJ
gi-2491	83	41	situations	situation	NOUN
gi-2491	83	42	in	in	ADP
gi-2491	83	43	indoor	indoor	ADJ
gi-2491	83	44	navigation	navigation	NOUN
gi-2491	83	45	.	.	PUNCT
gi-2491	84	1	the	the	DET
gi-2491	84	2	results	result	NOUN
gi-2491	84	3	of	of	ADP
gi-2491	84	4	experiments	experiment	NOUN
gi-2491	84	5	give	give	VERB
gi-2491	84	6	information	information	NOUN
gi-2491	84	7	about	about	ADP
gi-2491	84	8	accuracy	accuracy	NOUN
gi-2491	84	9	of	of	ADP
gi-2491	84	10	tested	test	VERB
gi-2491	84	11	imus	imus	PROPN
gi-2491	84	12	,	,	PUNCT
gi-2491	84	13	which	which	PRON
gi-2491	84	14	is	be	AUX
gi-2491	84	15	limiting	limit	VERB
gi-2491	84	16	factor	factor	NOUN
gi-2491	84	17	for	for	ADP
gi-2491	84	18	their	their	PRON
gi-2491	84	19	possible	possible	ADJ
gi-2491	84	20	application	application	NOUN
gi-2491	84	21	in	in	ADP
gi-2491	84	22	pedestrian	pedestrian	NOUN
gi-2491	84	23	navigation	navigation	NOUN
gi-2491	84	24	,	,	PUNCT
gi-2491	84	25	navigation	navigation	NOUN
gi-2491	84	26	of	of	ADP
gi-2491	84	27	machines	machine	NOUN
gi-2491	84	28	in	in	ADP
gi-2491	84	29	buildings	building	NOUN
gi-2491	84	30	,	,	PUNCT
gi-2491	84	31	etc	etc	X
gi-2491	84	32	.	.	X
gi-2491	85	1	the	the	DET
gi-2491	85	2	paper	paper	NOUN
gi-2491	85	3	also	also	ADV
gi-2491	85	4	describes	describe	VERB
gi-2491	85	5	the	the	DET
gi-2491	85	6	data	datum	NOUN
gi-2491	85	7	processing	processing	NOUN
gi-2491	85	8	and	and	CCONJ
gi-2491	85	9	methods	method	NOUN
gi-2491	85	10	,	,	PUNCT
gi-2491	85	11	which	which	PRON
gi-2491	85	12	could	could	AUX
gi-2491	85	13	help	help	VERB
gi-2491	85	14	to	to	PART
gi-2491	85	15	improve	improve	VERB
gi-2491	85	16	the	the	DET
gi-2491	85	17	accuracy	accuracy	NOUN
gi-2491	85	18	of	of	ADP
gi-2491	85	19	position	position	NOUN
gi-2491	85	20	and	and	CCONJ
gi-2491	85	21	orientation	orientation	NOUN
gi-2491	85	22	.	.	PUNCT
gi-2491	86	1	in	in	ADP
gi-2491	86	2	future	future	ADJ
gi-2491	86	3	work	work	NOUN
gi-2491	86	4	we	we	PRON
gi-2491	86	5	will	will	AUX
gi-2491	86	6	test	test	VERB
gi-2491	86	7	two	two	NUM
gi-2491	86	8	imus	imus	PROPN
gi-2491	86	9	(	(	PUNCT
gi-2491	86	10	inemo	inemo	ADV
gi-2491	86	11	steval	steval	PROPN
gi-2491	86	12	v2	v2	VERB
gi-2491	86	13	mki062v2	mki062v2	NOUN
gi-2491	86	14	and	and	CCONJ
gi-2491	86	15	imu	imu	NOUN
gi-2491	86	16	eeas	eea	NOUN
gi-2491	86	17	)	)	PUNCT
gi-2491	86	18	,	,	PUNCT
gi-2491	86	19	where	where	SCONJ
gi-2491	86	20	will	will	AUX
gi-2491	86	21	use	use	VERB
gi-2491	86	22	proposed	propose	VERB
gi-2491	86	23	test	test	NOUN
gi-2491	86	24	.	.	PUNCT
gi-2491	87	1	test	test	NOUN
gi-2491	87	2	result	result	NOUN
gi-2491	87	3	give	give	VERB
gi-2491	87	4	informations	information	NOUN
gi-2491	87	5	about	about	ADP
gi-2491	87	6	possibility	possibility	NOUN
gi-2491	87	7	of	of	ADP
gi-2491	87	8	using	use	VERB
gi-2491	87	9	tested	test	VERB
gi-2491	87	10	imus	imus	PROPN
gi-2491	87	11	in	in	ADP
gi-2491	87	12	indoor	indoor	ADJ
gi-2491	87	13	navigation	navigation	NOUN
gi-2491	87	14	.	.	PUNCT
gi-2491	88	1	acknowledgement	acknowledgement	NOUN
gi-2491	88	2	"	"	PUNCT
gi-2491	88	3	this	this	DET
gi-2491	88	4	publication	publication	NOUN
gi-2491	88	5	was	be	AUX
gi-2491	88	6	supported	support	VERB
gi-2491	88	7	by	by	ADP
gi-2491	88	8	competence	competence	NOUN
gi-2491	88	9	center	center	NOUN
gi-2491	88	10	for	for	ADP
gi-2491	88	11	smart	smart	ADJ
gi-2491	88	12	technologies	technology	NOUN
gi-2491	88	13	for	for	ADP
gi-2491	88	14	electronics	electronic	NOUN
gi-2491	88	15	and	and	CCONJ
gi-2491	88	16	informatics	informatic	NOUN
gi-2491	88	17	systems	system	NOUN
gi-2491	88	18	and	and	CCONJ
gi-2491	88	19	services	service	NOUN
gi-2491	88	20	,	,	PUNCT
gi-2491	88	21	itms	itms	PROPN
gi-2491	88	22	26240220072	26240220072	NUM
gi-2491	88	23	,	,	PUNCT
gi-2491	88	24	funded	fund	VERB
gi-2491	88	25	by	by	ADP
gi-2491	88	26	the	the	DET
gi-2491	88	27	research	research	PROPN
gi-2491	88	28	&	&	CCONJ
gi-2491	88	29	development	development	PROPN
gi-2491	88	30	operational	operational	ADJ
gi-2491	88	31	programme	programme	NOUN
gi-2491	88	32	from	from	ADP
gi-2491	88	33	the	the	DET
gi-2491	88	34	erdf	erdf	NOUN
gi-2491	88	35	.	.	PUNCT
gi-2491	88	36	"	"	PUNCT
gi-2491	89	1	references	reference	NOUN
gi-2491	89	2	[	[	X
gi-2491	89	3	1	1	NUM
gi-2491	89	4	]	]	PUNCT
gi-2491	89	5	groves	grove	NOUN
gi-2491	89	6	,	,	PUNCT
gi-2491	89	7	p.d	p.d	PROPN
gi-2491	89	8	.	.	PROPN
gi-2491	89	9	2008	2008	NUM
gi-2491	89	10	.	.	PUNCT
gi-2491	90	1	gnss	gnss	NOUN
gi-2491	90	2	technology	technology	NOUN
gi-2491	90	3	and	and	CCONJ
gi-2491	90	4	aplications	aplication	NOUN
gi-2491	90	5	series	series	NOUN
gi-2491	90	6	.	.	PUNCT
gi-2491	91	1	principles	principle	NOUN
gi-2491	91	2	of	of	ADP
gi-2491	91	3	gnss	gnss	NOUN
gi-2491	91	4	,	,	PUNCT
gi-2491	91	5	inertial	inertial	NOUN
gi-2491	91	6	and	and	CCONJ
gi-2491	91	7	multisensor	multisensor	NOUN
gi-2491	91	8	integrated	integrate	VERB
gi-2491	91	9	navigation	navigation	NOUN
gi-2491	91	10	systems	system	NOUN
gi-2491	91	11	.	.	PUNCT
gi-2491	92	1	london	london	PROPN
gi-2491	92	2	:	:	PUNCT
gi-2491	92	3	artech	artech	PROPN
gi-2491	92	4	house	house	PROPN
gi-2491	92	5	.	.	PUNCT
gi-2491	93	1	2008	2008	NUM
gi-2491	93	2	.	.	PUNCT
gi-2491	94	1	552	552	NUM
gi-2491	94	2	p.	p.	NOUN
gi-2491	94	3	isbn-13:978	isbn-13:978	PROPN
gi-2491	94	4	-	-	PUNCT
gi-2491	94	5	1	1	NUM
gi-2491	94	6	-	-	PUNCT
gi-2491	94	7	58053	58053	NUM
gi-2491	94	8	-	-	PUNCT
gi-2491	94	9	255	255	NUM
gi-2491	94	10	-	-	SYM
gi-2491	94	11	6	6	NUM
gi-2491	94	12	[	[	SYM
gi-2491	94	13	2	2	NUM
gi-2491	94	14	]	]	PUNCT
gi-2491	94	15	farrel	farrel	PROPN
gi-2491	94	16	j.	j.	PROPN
gi-2491	94	17	a.	a.	PROPN
gi-2491	94	18	2008	2008	NUM
gi-2491	94	19	.	.	PUNCT
gi-2491	95	1	aided	aid	VERB
gi-2491	95	2	navigation	navigation	NOUN
gi-2491	95	3	gps	gps	NOUN
gi-2491	95	4	with	with	ADP
gi-2491	95	5	high	high	ADJ
gi-2491	95	6	rate	rate	NOUN
gi-2491	95	7	sensors	sensor	NOUN
gi-2491	95	8	.	.	PUNCT
gi-2491	96	1	usa	usa	PROPN
gi-2491	96	2	:	:	PUNCT
gi-2491	96	3	the	the	DET
gi-2491	96	4	mcgraw	mcgraw	PROPN
gi-2491	96	5	-	-	PUNCT
gi-2491	96	6	hill	hill	NOUN
gi-2491	96	7	companies	company	NOUN
gi-2491	96	8	.	.	PUNCT
gi-2491	97	1	2008	2008	NUM
gi-2491	97	2	.	.	PUNCT
gi-2491	98	1	553	553	NUM
gi-2491	98	2	p.	p.	NOUN
gi-2491	98	3	doi	doi	NOUN
gi-2491	98	4	:	:	PUNCT
gi-2491	98	5	10.1036/0071493298	10.1036/0071493298	NUM
gi-2491	98	6	[	[	X
gi-2491	98	7	3	3	NUM
gi-2491	98	8	]	]	X
gi-2491	98	9	titterton	titterton	ADJ
gi-2491	98	10	,	,	PUNCT
gi-2491	98	11	d.	d.	PROPN
gi-2491	98	12	2004	2004	NUM
gi-2491	98	13	.	.	PUNCT
gi-2491	99	1	strapdown	strapdown	ADJ
gi-2491	99	2	inertial	inertial	ADJ
gi-2491	99	3	navigation	navigation	NOUN
gi-2491	99	4	.	.	PUNCT
gi-2491	100	1	cornwall	cornwall	NOUN
gi-2491	100	2	:	:	PUNCT
gi-2491	100	3	mpk	mpk	NOUN
gi-2491	100	4	books	book	NOUN
gi-2491	100	5	limited	limit	VERB
gi-2491	100	6	,	,	PUNCT
gi-2491	100	7	2004	2004	NUM
gi-2491	100	8	.	.	PUNCT
gi-2491	101	1	510	510	NUM
gi-2491	101	2	p.	p.	NOUN
gi-2491	101	3	isbn	isbn	ADJ
gi-2491	101	4	0	0	NUM
gi-2491	101	5	-	-	PUNCT
gi-2491	101	6	86341	86341	NUM
gi-2491	101	7	-	-	PUNCT
gi-2491	101	8	358	358	NUM
gi-2491	101	9	-	-	SYM
gi-2491	101	10	7	7	NUM
gi-2491	101	11	acceleration	acceleration	NOUN
gi-2491	101	12	fast	fast	ADJ
gi-2491	101	13	fourier	fourier	NOUN
gi-2491	101	14	transform	transform	VERB
gi-2491	101	15	filtering	filtering	NOUN
gi-2491	101	16	noise	noise	NOUN
gi-2491	101	17	inverse	inverse	NOUN
gi-2491	101	18	fast	fast	ADJ
gi-2491	101	19	fourier	fourier	NOUN
gi-2491	101	20	transform	transform	VERB
gi-2491	101	21	velocity	velocity	NOUN
gi-2491	101	22	fast	fast	ADJ
gi-2491	101	23	fourier	fourier	NOUN
gi-2491	101	24	transform	transform	VERB
gi-2491	101	25	filtering	filtering	NOUN
gi-2491	101	26	noise	noise	NOUN
gi-2491	101	27	inverse	inverse	NOUN
gi-2491	101	28	fast	fast	ADJ
gi-2491	101	29	fourier	fourier	NOUN
gi-2491	101	30	transform	transform	NOUN
gi-2491	101	31	position	position	NOUN
gi-2491	101	32	kajánek	kajánek	ADJ
gi-2491	101	33	,	,	PUNCT
gi-2491	101	34	p.	p.	NOUN
gi-2491	101	35	:	:	PUNCT
gi-2491	102	1	testing	test	VERB
gi-2491	102	2	the	the	DET
gi-2491	102	3	possibilities	possibility	NOUN
gi-2491	102	4	of	of	ADP
gi-2491	102	5	using	use	VERB
gi-2491	102	6	imus	imus	PROPN
gi-2491	102	7	with	with	ADP
gi-2491	102	8	different	different	ADJ
gi-2491	102	9	types	type	NOUN
gi-2491	102	10	of	of	ADP
gi-2491	102	11	movements	movement	NOUN
gi-2491	102	12	geoinformatics	geoinformatic	NOUN
gi-2491	102	13	fce	fce	VERB
gi-2491	102	14	ctu	ctu	NOUN
gi-2491	102	15	12	12	NUM
gi-2491	102	16	,	,	PUNCT
gi-2491	102	17	2014	2014	NUM
gi-2491	102	18	66	66	NUM
gi-2491	103	1	[	[	X
gi-2491	103	2	4	4	NUM
gi-2491	103	3	]	]	PUNCT
gi-2491	103	4	foxlin	foxlin	PROPN
gi-2491	103	5	e.	e.	PROPN
gi-2491	103	6	pedestrian	pedestrian	PROPN
gi-2491	103	7	tracking	track	VERB
gi-2491	103	8	with	with	ADP
gi-2491	103	9	shoe	shoe	NOUN
gi-2491	103	10	-	-	PUNCT
gi-2491	103	11	mounted	mount	VERB
gi-2491	103	12	inertial	inertial	ADJ
gi-2491	103	13	sensors	sensor	NOUN
gi-2491	103	14	,	,	PUNCT
gi-2491	103	15	ieee	ieee	NOUN
gi-2491	103	16	computer	computer	NOUN
gi-2491	103	17	graphics	graphic	NOUN
gi-2491	103	18	and	and	CCONJ
gi-2491	103	19	applications	application	NOUN
gi-2491	103	20	,	,	PUNCT
gi-2491	103	21	no	no	INTJ
gi-2491	103	22	.	.	PUNCT
gi-2491	103	23	december	december	PROPN
gi-2491	103	24	,	,	PUNCT
gi-2491	103	25	pp	pp	X
gi-2491	103	26	.	.	PUNCT
gi-2491	104	1	38–46	38–46	NUM
gi-2491	104	2	,	,	PUNCT
gi-2491	104	3	2005	2005	NUM
gi-2491	104	4	[	[	X
gi-2491	104	5	5	5	NUM
gi-2491	104	6	]	]	X
gi-2491	104	7	colomar	colomar	PROPN
gi-2491	104	8	,	,	PUNCT
gi-2491	104	9	s.	s.	PROPN
gi-2491	104	10	d.	d.	PROPN
gi-2491	104	11	step	step	PROPN
gi-2491	104	12	-	-	PUNCT
gi-2491	104	13	wise	wise	ADJ
gi-2491	104	14	smoothing	smoothing	NOUN
gi-2491	104	15	of	of	ADP
gi-2491	104	16	zupt	zupt	NOUN
gi-2491	104	17	-	-	PUNCT
gi-2491	104	18	aided	aid	VERB
gi-2491	104	19	ins	in	NOUN
gi-2491	104	20	.	.	PUNCT
gi-2491	104	21	2012	2012	NUM
gi-2491	104	22	.	.	PUNCT
gi-2491	105	1	phd	phd	NOUN
gi-2491	105	2	thesis	thesis	PROPN
gi-2491	105	3	.	.	PUNCT
gi-2491	106	1	kth	kth	PROPN
gi-2491	106	2	.	.	PUNCT
gi-2491	107	1	[	[	X
gi-2491	107	2	6	6	NUM
gi-2491	107	3	]	]	X
gi-2491	107	4	el	el	PROPN
gi-2491	107	5	-	-	PUNCT
gi-2491	107	6	sheimy	sheimy	PROPN
gi-2491	107	7	,	,	PUNCT
gi-2491	107	8	n.	n.	NOUN
gi-2491	107	9	,	,	PUNCT
gi-2491	107	10	hou	hou	PROPN
gi-2491	107	11	,	,	PUNCT
gi-2491	107	12	h.	h.	PROPN
gi-2491	107	13	and	and	CCONJ
gi-2491	107	14	niu	niu	PROPN
gi-2491	107	15	,	,	PUNCT
gi-2491	107	16	x.	x.	NOUN
gi-2491	107	17	analysis	analysis	NOUN
gi-2491	107	18	and	and	CCONJ
gi-2491	107	19	modeling	modeling	NOUN
gi-2491	107	20	of	of	ADP
gi-2491	107	21	inertial	inertial	ADJ
gi-2491	107	22	sensors	sensor	NOUN
gi-2491	107	23	using	use	VERB
gi-2491	107	24	allan	allan	PROPN
gi-2491	107	25	variance	variance	PROPN
gi-2491	107	26	.	.	PUNCT
gi-2491	108	1	in	in	ADP
gi-2491	108	2	:	:	PUNCT
gi-2491	108	3	instrumentation	instrumentation	NOUN
gi-2491	108	4	and	and	CCONJ
gi-2491	108	5	measurement	measurement	NOUN
gi-2491	108	6	,	,	PUNCT
gi-2491	108	7	ieee	ieee	NOUN
gi-2491	108	8	transactions	transaction	NOUN
gi-2491	108	9	,	,	PUNCT
gi-2491	108	10	2008	2008	NUM
gi-2491	108	11	,	,	PUNCT
gi-2491	108	12	57(1	57(1	NUM
gi-2491	108	13	)	)	PUNCT
gi-2491	108	14	,	,	PUNCT
gi-2491	108	15	p.140	p.140	NOUN
gi-2491	108	16	-	-	SYM
gi-2491	108	17	149	149	NUM
gi-2491	108	18	.	.	PUNCT
gi-2491	109	1	[	[	X
gi-2491	109	2	7	7	NUM
gi-2491	109	3	]	]	X
gi-2491	109	4	ruiz	ruiz	NOUN
gi-2491	109	5	,	,	PUNCT
gi-2491	109	6	a.	a.	PROPN
gi-2491	109	7	r.	r.	PROPN
gi-2491	109	8	j.	j.	PROPN
gi-2491	109	9	et	et	PROPN
gi-2491	109	10	al	al	PROPN
gi-2491	109	11	.	.	PROPN
gi-2491	109	12	pedestrian	pedestrian	PROPN
gi-2491	109	13	indoor	indoor	ADJ
gi-2491	109	14	navigation	navigation	NOUN
gi-2491	109	15	by	by	ADP
gi-2491	109	16	aiding	aid	VERB
gi-2491	109	17	a	a	DET
gi-2491	109	18	foot	foot	NOUN
gi-2491	109	19	-	-	PUNCT
gi-2491	109	20	mounted	mount	VERB
gi-2491	109	21	imu	imu	NOUN
gi-2491	109	22	with	with	ADP
gi-2491	109	23	rfid	rfid	NOUN
gi-2491	109	24	signal	signal	NOUN
gi-2491	109	25	strength	strength	NOUN
gi-2491	109	26	measurements	measurement	NOUN
gi-2491	109	27	.	.	PUNCT
gi-2491	110	1	in	in	ADP
gi-2491	110	2	:	:	PUNCT
gi-2491	110	3	indoor	indoor	ADJ
gi-2491	110	4	positioning	positioning	NOUN
gi-2491	110	5	and	and	CCONJ
gi-2491	110	6	indoor	indoor	ADJ
gi-2491	110	7	navigation	navigation	NOUN
gi-2491	110	8	(	(	PUNCT
gi-2491	110	9	ipin	ipin	NOUN
gi-2491	110	10	)	)	PUNCT
gi-2491	110	11	,	,	PUNCT
gi-2491	110	12	2010	2010	NUM
gi-2491	110	13	international	international	ADJ
gi-2491	110	14	conference	conference	NOUN
gi-2491	110	15	on	on	ADP
gi-2491	110	16	.	.	PUNCT
gi-2491	110	17	ieee	ieee	PROPN
gi-2491	110	18	,	,	PUNCT
gi-2491	110	19	2010	2010	NUM
gi-2491	110	20	.	.	PUNCT
gi-2491	111	1	p.	p.	NOUN
gi-2491	111	2	1	1	NUM
gi-2491	111	3	-	-	SYM
gi-2491	111	4	7	7	NUM
gi-2491	111	5	.	.	PUNCT
gi-2491	112	1	[	[	X
gi-2491	112	2	8	8	NUM
gi-2491	112	3	]	]	X
gi-2491	112	4	jiménez	jiménez	PROPN
gi-2491	112	5	,	,	PUNCT
gi-2491	112	6	a.	a.	PROPN
gi-2491	112	7	r.	r.	PROPN
gi-2491	112	8	,	,	PUNCT
gi-2491	112	9	et	et	PROPN
gi-2491	112	10	al	al	PROPN
gi-2491	112	11	.	.	PROPN
gi-2491	112	12	improved	improve	VERB
gi-2491	112	13	heuristic	heuristic	ADJ
gi-2491	112	14	drift	drift	NOUN
gi-2491	112	15	elimination	elimination	NOUN
gi-2491	112	16	(	(	PUNCT
gi-2491	112	17	ihde	ihde	PROPN
gi-2491	112	18	)	)	PUNCT
gi-2491	112	19	for	for	ADP
gi-2491	112	20	pedestrian	pedestrian	NOUN
gi-2491	112	21	navigation	navigation	NOUN
gi-2491	112	22	in	in	ADP
gi-2491	112	23	complex	complex	ADJ
gi-2491	112	24	buildings	building	NOUN
gi-2491	112	25	.	.	PUNCT
gi-2491	113	1	in	in	ADP
gi-2491	113	2	:	:	PUNCT
gi-2491	113	3	indoor	indoor	ADJ
gi-2491	113	4	positioning	positioning	NOUN
gi-2491	113	5	and	and	CCONJ
gi-2491	113	6	indoor	indoor	ADJ
gi-2491	113	7	navigation	navigation	NOUN
gi-2491	113	8	(	(	PUNCT
gi-2491	113	9	ipin	ipin	NOUN
gi-2491	113	10	)	)	PUNCT
gi-2491	113	11	,	,	PUNCT
gi-2491	113	12	2011	2011	NUM
gi-2491	113	13	international	international	ADJ
gi-2491	113	14	conference	conference	NOUN
gi-2491	113	15	on	on	ADP
gi-2491	113	16	.	.	PUNCT
gi-2491	113	17	ieee	ieee	PROPN
gi-2491	113	18	,	,	PUNCT
gi-2491	113	19	2011	2011	NUM
gi-2491	113	20	.	.	PUNCT
gi-2491	114	1	p.	p.	NOUN
gi-2491	114	2	1	1	NUM
gi-2491	114	3	-	-	SYM
gi-2491	114	4	8	8	NUM
gi-2491	114	5	.	.	PUNCT
gi-2491	115	1	[	[	X
gi-2491	115	2	9	9	NUM
gi-2491	115	3	]	]	X
gi-2491	115	4	slifka	slifka	ADJ
gi-2491	115	5	,	,	PUNCT
gi-2491	115	6	l.	l.	PROPN
gi-2491	115	7	an	an	DET
gi-2491	115	8	accelerometer	accelerometer	NOUN
gi-2491	115	9	based	base	VERB
gi-2491	115	10	approach	approach	NOUN
gi-2491	115	11	to	to	ADP
gi-2491	115	12	measuring	measure	VERB
gi-2491	115	13	displacement	displacement	NOUN
gi-2491	115	14	of	of	ADP
gi-2491	115	15	a	a	DET
gi-2491	115	16	vehicle	vehicle	NOUN
gi-2491	115	17	body	body	NOUN
gi-2491	115	18	.	.	PUNCT
gi-2491	116	1	master	master	NOUN
gi-2491	116	2	of	of	ADP
gi-2491	116	3	science	science	NOUN
gi-2491	116	4	in	in	ADP
gi-2491	116	5	engineering	engineering	NOUN
gi-2491	116	6	,	,	PUNCT
gi-2491	116	7	department	department	NOUN
gi-2491	116	8	of	of	ADP
gi-2491	116	9	electrical	electrical	ADJ
gi-2491	116	10	and	and	CCONJ
gi-2491	116	11	computer	computer	NOUN
gi-2491	116	12	engineering	engineering	NOUN
gi-2491	116	13	,	,	PUNCT
gi-2491	116	14	university	university	PROPN
gi-2491	116	15	of	of	ADP
gi-2491	116	16	michigan	michigan	PROPN
gi-2491	116	17	–	–	PUNCT
gi-2491	116	18	dearborn	dearborn	PROPN
gi-2491	116	19	,	,	PUNCT
gi-2491	116	20	2004	2004	NUM
gi-2491	116	21	.	.	PUNCT