id	sid	tid	token	lemma	pos
hjic-486	1	1	microsoft	microsoft	PROPN
hjic-486	1	2	word	word	PROPN
hjic-486	1	3	1422	1422	NUM
hjic-486	1	4	max	max	PROPN
hjic-486	1	5	101.docx	101.docx	NUM
hjic-486	1	6	hungarian	hungarian	ADJ
hjic-486	1	7	journal	journal	NOUN
hjic-486	1	8	of	of	ADP
hjic-486	1	9	industry	industry	NOUN
hjic-486	1	10	and	and	CCONJ
hjic-486	1	11	chemistry	chemistry	NOUN
hjic-486	1	12	veszprém	veszprém	NOUN
hjic-486	1	13	vol	vol	NOUN
hjic-486	1	14	.	.	PUNCT
hjic-486	2	1	42(2	42(2	NUM
hjic-486	2	2	)	)	PUNCT
hjic-486	3	1	pp	pp	ADV
hjic-486	3	2	.	.	PUNCT
hjic-486	4	1	57–64	57–64	NUM
hjic-486	4	2	(	(	PUNCT
hjic-486	4	3	2014	2014	NUM
hjic-486	4	4	)	)	PUNCT
hjic-486	4	5	a	a	DET
hjic-486	4	6	comparison	comparison	NOUN
hjic-486	4	7	of	of	ADP
hjic-486	4	8	advanced	advanced	ADJ
hjic-486	4	9	non	non	ADJ
hjic-486	4	10	-	-	ADJ
hjic-486	4	11	linear	linear	ADJ
hjic-486	4	12	state	state	NOUN
hjic-486	4	13	estimation	estimation	NOUN
hjic-486	4	14	techniques	technique	NOUN
hjic-486	4	15	for	for	ADP
hjic-486	4	16	ground	ground	NOUN
hjic-486	4	17	vehicles	vehicle	NOUN
hjic-486	4	18	györgy	györgy	PROPN
hjic-486	4	19	max	max	PROPN
hjic-486	4	20	!	!	PUNCT
hjic-486	5	1	and	and	CCONJ
hjic-486	5	2	béla	béla	PROPN
hjic-486	5	3	lantos	lanto	VERB
hjic-486	5	4	1	1	NUM
hjic-486	5	5	department	department	NOUN
hjic-486	5	6	of	of	ADP
hjic-486	5	7	control	control	PROPN
hjic-486	5	8	engineering	engineering	PROPN
hjic-486	5	9	and	and	CCONJ
hjic-486	5	10	informatics	informatics	PROPN
hjic-486	5	11	,	,	PUNCT
hjic-486	5	12	budapest	budapest	PROPN
hjic-486	5	13	university	university	PROPN
hjic-486	5	14	of	of	ADP
hjic-486	5	15	technology	technology	NOUN
hjic-486	5	16	and	and	CCONJ
hjic-486	5	17	economics	economic	NOUN
hjic-486	5	18	,	,	PUNCT
hjic-486	5	19	magyar	magyar	PROPN
hjic-486	5	20	tudósok	tudósok	NOUN
hjic-486	5	21	körútja	körútja	NOUN
hjic-486	5	22	2	2	NUM
hjic-486	5	23	,	,	PUNCT
hjic-486	5	24	budapest	budapest	ADJ
hjic-486	5	25	,	,	PUNCT
hjic-486	5	26	1117	1117	NUM
hjic-486	5	27	,	,	PUNCT
hjic-486	5	28	hungary	hungary	NOUN
hjic-486	5	29	!	!	PUNCT
hjic-486	6	1	email	email	NOUN
hjic-486	6	2	:	:	PUNCT
hjic-486	7	1	max@iit.bme.hu	max@iit.bme.hu	NOUN
hjic-486	7	2	this	this	DET
hjic-486	7	3	paper	paper	NOUN
hjic-486	7	4	presents	present	VERB
hjic-486	7	5	a	a	DET
hjic-486	7	6	comparative	comparative	ADJ
hjic-486	7	7	examination	examination	NOUN
hjic-486	7	8	of	of	ADP
hjic-486	7	9	state	state	NOUN
hjic-486	7	10	-	-	PUNCT
hjic-486	7	11	of	of	ADP
hjic-486	7	12	-	-	PUNCT
hjic-486	7	13	the	the	DET
hjic-486	7	14	-	-	PUNCT
hjic-486	7	15	art	art	NOUN
hjic-486	7	16	non	non	ADJ
hjic-486	7	17	-	-	ADJ
hjic-486	7	18	linear	linear	ADJ
hjic-486	7	19	state	state	NOUN
hjic-486	7	20	estimation	estimation	NOUN
hjic-486	7	21	techniques	technique	NOUN
hjic-486	7	22	.	.	PUNCT
hjic-486	8	1	first	first	ADV
hjic-486	8	2	,	,	PUNCT
hjic-486	8	3	the	the	DET
hjic-486	8	4	sigmapoint	sigmapoint	NOUN
hjic-486	8	5	(	(	PUNCT
hjic-486	8	6	spkf	spkf	NOUN
hjic-486	8	7	)	)	PUNCT
hjic-486	8	8	stochastic	stochastic	ADJ
hjic-486	8	9	estimators	estimator	NOUN
hjic-486	8	10	are	be	AUX
hjic-486	8	11	investigated	investigate	VERB
hjic-486	8	12	on	on	ADP
hjic-486	8	13	the	the	DET
hjic-486	8	14	basis	basis	NOUN
hjic-486	8	15	of	of	ADP
hjic-486	8	16	the	the	DET
hjic-486	8	17	unscented	unscente	VERB
hjic-486	8	18	transformation	transformation	NOUN
hjic-486	8	19	.	.	PUNCT
hjic-486	9	1	this	this	PRON
hjic-486	9	2	is	be	AUX
hjic-486	9	3	followed	follow	VERB
hjic-486	9	4	by	by	ADP
hjic-486	9	5	the	the	DET
hjic-486	9	6	technique	technique	NOUN
hjic-486	9	7	of	of	ADP
hjic-486	9	8	non	non	ADJ
hjic-486	9	9	-	-	ADJ
hjic-486	9	10	linear	linear	ADJ
hjic-486	9	11	symmetry	symmetry	NOUN
hjic-486	9	12	-	-	PUNCT
hjic-486	9	13	preserving	preserve	VERB
hjic-486	9	14	observers	observer	NOUN
hjic-486	9	15	for	for	ADP
hjic-486	9	16	non	non	ADJ
hjic-486	9	17	-	-	ADJ
hjic-486	9	18	linear	linear	ADJ
hjic-486	9	19	dynamics	dynamic	NOUN
hjic-486	9	20	on	on	ADP
hjic-486	9	21	the	the	DET
hjic-486	9	22	basis	basis	NOUN
hjic-486	9	23	of	of	ADP
hjic-486	9	24	symmetrical	symmetrical	ADJ
hjic-486	9	25	lie	lie	NOUN
hjic-486	9	26	groups	group	NOUN
hjic-486	9	27	.	.	PUNCT
hjic-486	10	1	the	the	DET
hjic-486	10	2	variety	variety	NOUN
hjic-486	10	3	of	of	ADP
hjic-486	10	4	the	the	DET
hjic-486	10	5	deterministic	deterministic	ADJ
hjic-486	10	6	and	and	CCONJ
hjic-486	10	7	stochastic	stochastic	ADJ
hjic-486	10	8	state	state	NOUN
hjic-486	10	9	estimation	estimation	NOUN
hjic-486	10	10	algorithms	algorithms	NOUN
hjic-486	10	11	is	be	AUX
hjic-486	10	12	studied	study	VERB
hjic-486	10	13	the	the	DET
hjic-486	10	14	kinematics	kinematic	NOUN
hjic-486	10	15	of	of	ADP
hjic-486	10	16	ground	ground	NOUN
hjic-486	10	17	vehicles	vehicle	NOUN
hjic-486	10	18	.	.	PUNCT
hjic-486	11	1	two	two	NUM
hjic-486	11	2	cases	case	NOUN
hjic-486	11	3	are	be	AUX
hjic-486	11	4	described	describe	VERB
hjic-486	11	5	that	that	SCONJ
hjic-486	11	6	deal	deal	NOUN
hjic-486	11	7	with	with	ADP
hjic-486	11	8	the	the	DET
hjic-486	11	9	reliability	reliability	NOUN
hjic-486	11	10	of	of	ADP
hjic-486	11	11	path	path	NOUN
hjic-486	11	12	tracking	tracking	NOUN
hjic-486	11	13	,	,	PUNCT
hjic-486	11	14	the	the	DET
hjic-486	11	15	convergence	convergence	NOUN
hjic-486	11	16	and	and	CCONJ
hjic-486	11	17	speed	speed	NOUN
hjic-486	11	18	of	of	ADP
hjic-486	11	19	off	off	ADP
hjic-486	11	20	-	-	PUNCT
hjic-486	11	21	line	line	NOUN
hjic-486	11	22	calibration	calibration	NOUN
hjic-486	11	23	.	.	PUNCT
hjic-486	12	1	keywords	keyword	NOUN
hjic-486	12	2	:	:	PUNCT
hjic-486	12	3	state	state	NOUN
hjic-486	12	4	estimation	estimation	NOUN
hjic-486	12	5	,	,	PUNCT
hjic-486	12	6	invariant	invariant	ADJ
hjic-486	12	7	observers	observer	NOUN
hjic-486	12	8	,	,	PUNCT
hjic-486	12	9	unscented	unscente	VERB
hjic-486	12	10	kalman	kalman	PROPN
hjic-486	12	11	filter	filter	PROPN
hjic-486	12	12	,	,	PUNCT
hjic-486	12	13	vehicle	vehicle	NOUN
hjic-486	12	14	kinematics	kinematic	NOUN
hjic-486	12	15	introduction	introduction	NOUN
hjic-486	12	16	vehicles	vehicle	NOUN
hjic-486	12	17	are	be	AUX
hjic-486	12	18	indispensable	indispensable	ADJ
hjic-486	12	19	in	in	ADP
hjic-486	12	20	modern	modern	ADJ
hjic-486	12	21	society	society	NOUN
hjic-486	12	22	,	,	PUNCT
hjic-486	12	23	and	and	CCONJ
hjic-486	12	24	vehicle	vehicle	NOUN
hjic-486	12	25	safety	safety	NOUN
hjic-486	12	26	is	be	AUX
hjic-486	12	27	consequently	consequently	ADV
hjic-486	12	28	of	of	ADP
hjic-486	12	29	importance	importance	NOUN
hjic-486	12	30	in	in	ADP
hjic-486	12	31	everyday	everyday	ADJ
hjic-486	12	32	life	life	NOUN
hjic-486	12	33	.	.	PUNCT
hjic-486	13	1	a	a	DET
hjic-486	13	2	lack	lack	NOUN
hjic-486	13	3	of	of	ADP
hjic-486	13	4	information	information	NOUN
hjic-486	13	5	about	about	ADP
hjic-486	13	6	the	the	DET
hjic-486	13	7	state	state	NOUN
hjic-486	13	8	of	of	ADP
hjic-486	13	9	vehicle	vehicle	NOUN
hjic-486	13	10	and	and	CCONJ
hjic-486	13	11	parameters	parameter	NOUN
hjic-486	13	12	presents	present	VERB
hjic-486	13	13	a	a	DET
hjic-486	13	14	major	major	ADJ
hjic-486	13	15	obstacle	obstacle	NOUN
hjic-486	13	16	for	for	ADP
hjic-486	13	17	the	the	DET
hjic-486	13	18	development	development	NOUN
hjic-486	13	19	of	of	ADP
hjic-486	13	20	vehicle	vehicle	NOUN
hjic-486	13	21	control	control	NOUN
hjic-486	13	22	systems	system	NOUN
hjic-486	13	23	.	.	PUNCT
hjic-486	14	1	the	the	DET
hjic-486	14	2	effectiveness	effectiveness	NOUN
hjic-486	14	3	of	of	ADP
hjic-486	14	4	vehicle	vehicle	NOUN
hjic-486	14	5	stability	stability	NOUN
hjic-486	14	6	control	control	NOUN
hjic-486	14	7	largely	largely	ADV
hjic-486	14	8	depends	depend	VERB
hjic-486	14	9	on	on	ADP
hjic-486	14	10	the	the	DET
hjic-486	14	11	accuracy	accuracy	NOUN
hjic-486	14	12	of	of	ADP
hjic-486	14	13	the	the	DET
hjic-486	14	14	vehicle	vehicle	NOUN
hjic-486	14	15	state	state	NOUN
hjic-486	14	16	parameters	parameter	NOUN
hjic-486	14	17	that	that	PRON
hjic-486	14	18	are	be	AUX
hjic-486	14	19	measured	measure	VERB
hjic-486	14	20	by	by	ADP
hjic-486	14	21	appropriate	appropriate	ADJ
hjic-486	14	22	sensors	sensor	NOUN
hjic-486	14	23	.	.	PUNCT
hjic-486	15	1	unfortunately	unfortunately	ADV
hjic-486	15	2	,	,	PUNCT
hjic-486	15	3	measurements	measurement	NOUN
hjic-486	15	4	from	from	ADP
hjic-486	15	5	these	these	DET
hjic-486	15	6	sensors	sensor	NOUN
hjic-486	15	7	contain	contain	VERB
hjic-486	15	8	bias	bias	NOUN
hjic-486	15	9	,	,	PUNCT
hjic-486	15	10	as	as	ADV
hjic-486	15	11	well	well	ADV
hjic-486	15	12	as	as	ADP
hjic-486	15	13	electrical	electrical	ADJ
hjic-486	15	14	noise	noise	NOUN
hjic-486	15	15	,	,	PUNCT
hjic-486	15	16	and	and	CCONJ
hjic-486	15	17	can	can	AUX
hjic-486	15	18	drift	drift	VERB
hjic-486	15	19	with	with	ADP
hjic-486	15	20	temperature	temperature	NOUN
hjic-486	15	21	changes	change	NOUN
hjic-486	15	22	.	.	PUNCT
hjic-486	16	1	however	however	ADV
hjic-486	16	2	,	,	PUNCT
hjic-486	16	3	the	the	DET
hjic-486	16	4	state	state	NOUN
hjic-486	16	5	estimation	estimation	NOUN
hjic-486	16	6	method	method	NOUN
hjic-486	16	7	is	be	AUX
hjic-486	16	8	also	also	ADV
hjic-486	16	9	able	able	ADJ
hjic-486	16	10	to	to	PART
hjic-486	16	11	dramatically	dramatically	ADV
hjic-486	16	12	reduce	reduce	VERB
hjic-486	16	13	errors	error	NOUN
hjic-486	16	14	introduced	introduce	VERB
hjic-486	16	15	by	by	ADP
hjic-486	16	16	measurement	measurement	NOUN
hjic-486	16	17	and	and	CCONJ
hjic-486	16	18	process	process	NOUN
hjic-486	16	19	noise	noise	NOUN
hjic-486	16	20	contained	contain	VERB
hjic-486	16	21	in	in	ADP
hjic-486	16	22	the	the	DET
hjic-486	16	23	signal	signal	NOUN
hjic-486	16	24	.	.	PUNCT
hjic-486	17	1	the	the	DET
hjic-486	17	2	focus	focus	NOUN
hjic-486	17	3	of	of	ADP
hjic-486	17	4	this	this	DET
hjic-486	17	5	work	work	NOUN
hjic-486	17	6	is	be	AUX
hjic-486	17	7	the	the	DET
hjic-486	17	8	non	non	ADJ
hjic-486	17	9	-	-	ADJ
hjic-486	17	10	linear	linear	ADJ
hjic-486	17	11	state	state	NOUN
hjic-486	17	12	estimation	estimation	NOUN
hjic-486	17	13	techniques	technique	NOUN
hjic-486	17	14	.	.	PUNCT
hjic-486	18	1	firstly	firstly	ADV
hjic-486	18	2	,	,	PUNCT
hjic-486	18	3	the	the	DET
hjic-486	18	4	‘	'	PUNCT
hjic-486	18	5	sigma	sigma	ADJ
hjic-486	18	6	-	-	PUNCT
hjic-486	18	7	point	point	NOUN
hjic-486	18	8	kalman	kalman	NOUN
hjic-486	18	9	filter	filter	NOUN
hjic-486	18	10	family	family	NOUN
hjic-486	18	11	’	'	PUNCT
hjic-486	18	12	(	(	PUNCT
hjic-486	18	13	spkf	spkf	NOUN
hjic-486	18	14	)	)	PUNCT
hjic-486	18	15	is	be	AUX
hjic-486	18	16	discussed	discuss	VERB
hjic-486	18	17	on	on	ADP
hjic-486	18	18	the	the	DET
hjic-486	18	19	basis	basis	NOUN
hjic-486	18	20	of	of	ADP
hjic-486	18	21	the	the	DET
hjic-486	18	22	‘	'	PUNCT
hjic-486	18	23	unscented	unscented	ADJ
hjic-486	18	24	transformation	transformation	NOUN
hjic-486	18	25	’	'	PUNCT
hjic-486	18	26	(	(	PUNCT
hjic-486	18	27	ut	ut	PROPN
hjic-486	18	28	)	)	PUNCT
hjic-486	18	29	and	and	CCONJ
hjic-486	18	30	sterling	sterling	NOUN
hjic-486	18	31	’s	’s	PART
hjic-486	18	32	interpolation	interpolation	NOUN
hjic-486	18	33	[	[	X
hjic-486	18	34	3	3	NUM
hjic-486	18	35	,	,	PUNCT
hjic-486	18	36	5	5	NUM
hjic-486	18	37	,	,	PUNCT
hjic-486	18	38	6	6	NUM
hjic-486	18	39	]	]	PUNCT
hjic-486	18	40	.	.	PUNCT
hjic-486	19	1	secondly	secondly	ADV
hjic-486	19	2	,	,	PUNCT
hjic-486	19	3	the	the	DET
hjic-486	19	4	symmetry	symmetry	NOUN
hjic-486	19	5	-	-	PUNCT
hjic-486	19	6	preserving	preserve	VERB
hjic-486	19	7	observer	observer	NOUN
hjic-486	19	8	is	be	AUX
hjic-486	19	9	presented	present	VERB
hjic-486	19	10	[	[	X
hjic-486	19	11	15	15	NUM
hjic-486	19	12	,	,	PUNCT
hjic-486	19	13	16	16	NUM
hjic-486	19	14	,	,	PUNCT
hjic-486	19	15	18	18	NUM
hjic-486	19	16	]	]	PUNCT
hjic-486	19	17	,	,	PUNCT
hjic-486	19	18	which	which	PRON
hjic-486	19	19	is	be	AUX
hjic-486	19	20	based	base	VERB
hjic-486	19	21	on	on	ADP
hjic-486	19	22	lie	lie	NOUN
hjic-486	19	23	-	-	PUNCT
hjic-486	19	24	transformation	transformation	NOUN
hjic-486	19	25	of	of	ADP
hjic-486	19	26	invariant	invariant	ADJ
hjic-486	19	27	frames	frame	NOUN
hjic-486	19	28	.	.	PUNCT
hjic-486	20	1	the	the	DET
hjic-486	20	2	various	various	ADJ
hjic-486	20	3	state	state	NOUN
hjic-486	20	4	estimation	estimation	NOUN
hjic-486	20	5	procedures	procedure	NOUN
hjic-486	20	6	are	be	AUX
hjic-486	20	7	then	then	ADV
hjic-486	20	8	examined	examine	VERB
hjic-486	20	9	and	and	CCONJ
hjic-486	20	10	compared	compare	VERB
hjic-486	20	11	through	through	ADP
hjic-486	20	12	an	an	DET
hjic-486	20	13	illustrative	illustrative	ADJ
hjic-486	20	14	nonlinear	nonlinear	ADJ
hjic-486	20	15	example	example	NOUN
hjic-486	20	16	of	of	ADP
hjic-486	20	17	vehicle	vehicle	NOUN
hjic-486	20	18	kinematics	kinematic	NOUN
hjic-486	20	19	.	.	PUNCT
hjic-486	21	1	sigma	sigma	PROPN
hjic-486	21	2	-	-	PUNCT
hjic-486	21	3	point	point	NOUN
hjic-486	21	4	kalman	kalman	NOUN
hjic-486	21	5	filters	filter	VERB
hjic-486	21	6	sigma	sigma	ADJ
hjic-486	21	7	-	-	PUNCT
hjic-486	21	8	point	point	NOUN
hjic-486	21	9	kalman	kalman	NOUN
hjic-486	21	10	filter	filter	NOUN
hjic-486	22	1	[	[	X
hjic-486	22	2	2	2	NUM
hjic-486	22	3	,	,	PUNCT
hjic-486	22	4	4	4	NUM
hjic-486	22	5	,	,	PUNCT
hjic-486	22	6	7	7	NUM
hjic-486	22	7	]	]	PUNCT
hjic-486	22	8	is	be	AUX
hjic-486	22	9	a	a	DET
hjic-486	22	10	collective	collective	ADJ
hjic-486	22	11	name	name	NOUN
hjic-486	22	12	for	for	ADP
hjic-486	22	13	derivativeless	derivativeless	NOUN
hjic-486	22	14	kalman	kalman	PROPN
hjic-486	22	15	filters	filter	NOUN
hjic-486	22	16	that	that	PRON
hjic-486	22	17	employs	employ	VERB
hjic-486	22	18	the	the	DET
hjic-486	22	19	deterministic	deterministic	ADJ
hjic-486	22	20	sampling	sampling	NOUN
hjic-486	22	21	based	base	VERB
hjic-486	22	22	sigma	sigma	PROPN
hjic-486	22	23	-	-	PUNCT
hjic-486	22	24	point	point	NOUN
hjic-486	22	25	approach	approach	NOUN
hjic-486	22	26	to	to	PART
hjic-486	22	27	calculate	calculate	VERB
hjic-486	22	28	the	the	DET
hjic-486	22	29	optimal	optimal	ADJ
hjic-486	22	30	terms	term	NOUN
hjic-486	22	31	of	of	ADP
hjic-486	22	32	the	the	DET
hjic-486	22	33	state	state	NOUN
hjic-486	22	34	estimation	estimation	NOUN
hjic-486	22	35	.	.	PUNCT
hjic-486	23	1	common	common	ADJ
hjic-486	23	2	methods	method	NOUN
hjic-486	23	3	use	use	VERB
hjic-486	23	4	the	the	DET
hjic-486	23	5	scaled	scale	VERB
hjic-486	23	6	unscented	unscente	VERB
hjic-486	23	7	transformation	transformation	NOUN
hjic-486	23	8	[	[	X
hjic-486	23	9	4	4	X
hjic-486	23	10	]	]	PUNCT
hjic-486	23	11	and	and	CCONJ
hjic-486	23	12	sterling	sterling	NOUN
hjic-486	23	13	’s	’s	PART
hjic-486	23	14	polynomial	polynomial	ADJ
hjic-486	23	15	interpolation	interpolation	NOUN
hjic-486	23	16	.	.	PUNCT
hjic-486	24	1	the	the	DET
hjic-486	24	2	former	former	ADJ
hjic-486	24	3	replaces	replace	VERB
hjic-486	24	4	the	the	DET
hjic-486	24	5	original	original	ADJ
hjic-486	24	6	set	set	NOUN
hjic-486	24	7	of	of	ADP
hjic-486	24	8	sigma	sigma	NOUN
hjic-486	24	9	-	-	PUNCT
hjic-486	24	10	points	point	NOUN
hjic-486	24	11	with	with	ADP
hjic-486	24	12	a	a	DET
hjic-486	24	13	transformed	transform	VERB
hjic-486	24	14	set	set	NOUN
hjic-486	24	15	in	in	ADP
hjic-486	24	16	order	order	NOUN
hjic-486	24	17	to	to	PART
hjic-486	24	18	minimize	minimize	VERB
hjic-486	24	19	the	the	DET
hjic-486	24	20	errors	error	NOUN
hjic-486	24	21	of	of	ADP
hjic-486	24	22	higher	high	ADJ
hjic-486	24	23	order	order	NOUN
hjic-486	24	24	terms	term	NOUN
hjic-486	24	25	,	,	PUNCT
hjic-486	24	26	the	the	DET
hjic-486	24	27	latter	latter	ADJ
hjic-486	24	28	approximates	approximate	VERB
hjic-486	24	29	the	the	DET
hjic-486	24	30	derivation	derivation	NOUN
hjic-486	24	31	of	of	ADP
hjic-486	24	32	the	the	DET
hjic-486	24	33	divided	divide	VERB
hjic-486	24	34	difference	difference	NOUN
hjic-486	24	35	filter	filter	NOUN
hjic-486	24	36	[	[	X
hjic-486	24	37	10	10	NUM
hjic-486	24	38	,	,	PUNCT
hjic-486	24	39	11	11	NUM
hjic-486	24	40	]	]	PUNCT
hjic-486	24	41	and	and	CCONJ
hjic-486	24	42	central	central	ADJ
hjic-486	24	43	difference	difference	NOUN
hjic-486	24	44	filter	filter	NOUN
hjic-486	24	45	in	in	ADP
hjic-486	24	46	[	[	X
hjic-486	24	47	12	12	NUM
hjic-486	24	48	]	]	PUNCT
hjic-486	24	49	.	.	PUNCT
hjic-486	25	1	the	the	DET
hjic-486	25	2	scaled	scale	VERB
hjic-486	25	3	unscented	unscente	VERB
hjic-486	25	4	transformation	transformation	NOUN
hjic-486	25	5	the	the	DET
hjic-486	25	6	scaled	scale	VERB
hjic-486	25	7	unscented	unscente	VERB
hjic-486	25	8	transformation	transformation	NOUN
hjic-486	25	9	(	(	PUNCT
hjic-486	25	10	sut	sut	NOUN
hjic-486	25	11	)	)	PUNCT
hjic-486	25	12	has	have	VERB
hjic-486	25	13	two	two	NUM
hjic-486	25	14	steps	step	NOUN
hjic-486	25	15	.	.	PUNCT
hjic-486	26	1	first	first	ADV
hjic-486	26	2	,	,	PUNCT
hjic-486	26	3	a	a	DET
hjic-486	26	4	fixed	fix	VERB
hjic-486	26	5	number	number	NOUN
hjic-486	26	6	of	of	ADP
hjic-486	26	7	sigma	sigma	NOUN
hjic-486	26	8	points	point	NOUN
hjic-486	26	9	is	be	AUX
hjic-486	26	10	chosen	choose	VERB
hjic-486	26	11	to	to	PART
hjic-486	26	12	capture	capture	VERB
hjic-486	26	13	the	the	DET
hjic-486	26	14	desired	desire	VERB
hjic-486	26	15	moments	moment	NOUN
hjic-486	26	16	(	(	PUNCT
hjic-486	26	17	at	at	ADP
hjic-486	26	18	least	least	ADJ
hjic-486	26	19	mean	mean	VERB
hjic-486	26	20	and	and	CCONJ
hjic-486	26	21	covariance	covariance	NOUN
hjic-486	26	22	)	)	PUNCT
hjic-486	26	23	of	of	ADP
hjic-486	26	24	the	the	DET
hjic-486	26	25	original	original	ADJ
hjic-486	26	26	distribution	distribution	NOUN
hjic-486	26	27	.	.	PUNCT
hjic-486	27	1	then	then	ADV
hjic-486	27	2	the	the	DET
hjic-486	27	3	sigma	sigma	PROPN
hjic-486	27	4	points	point	NOUN
hjic-486	27	5	are	be	AUX
hjic-486	27	6	propagated	propagate	VERB
hjic-486	27	7	through	through	ADP
hjic-486	27	8	the	the	DET
hjic-486	27	9	non	non	ADJ
hjic-486	27	10	-	-	ADJ
hjic-486	27	11	linear	linear	ADJ
hjic-486	27	12	function	function	NOUN
hjic-486	27	13	and	and	CCONJ
hjic-486	27	14	the	the	DET
hjic-486	27	15	moments	moment	NOUN
hjic-486	27	16	of	of	ADP
hjic-486	27	17	the	the	DET
hjic-486	27	18	transformed	transform	VERB
hjic-486	27	19	variables	variable	NOUN
hjic-486	27	20	are	be	AUX
hjic-486	27	21	estimated	estimate	VERB
hjic-486	27	22	.	.	PUNCT
hjic-486	28	1	the	the	DET
hjic-486	28	2	advantage	advantage	NOUN
hjic-486	28	3	of	of	ADP
hjic-486	28	4	sut	sut	PROPN
hjic-486	28	5	over	over	ADP
hjic-486	28	6	the	the	DET
hjic-486	28	7	taylor	taylor	PROPN
hjic-486	28	8	series	series	PROPN
hjic-486	28	9	based	base	VERB
hjic-486	28	10	approximation	approximation	NOUN
hjic-486	28	11	is	be	AUX
hjic-486	28	12	that	that	SCONJ
hjic-486	28	13	sut	sut	PROPN
hjic-486	28	14	is	be	AUX
hjic-486	28	15	better	well	ADJ
hjic-486	28	16	at	at	ADP
hjic-486	28	17	capturing	capture	VERB
hjic-486	28	18	the	the	DET
hjic-486	28	19	higher	high	ADJ
hjic-486	28	20	order	order	NOUN
hjic-486	28	21	moments	moment	NOUN
hjic-486	28	22	caused	cause	VERB
hjic-486	28	23	by	by	ADP
hjic-486	28	24	the	the	DET
hjic-486	28	25	non	non	ADJ
hjic-486	28	26	-	-	ADJ
hjic-486	28	27	linear	linear	ADJ
hjic-486	28	28	transformation	transformation	NOUN
hjic-486	28	29	,	,	PUNCT
hjic-486	28	30	as	as	SCONJ
hjic-486	28	31	discussed	discuss	VERB
hjic-486	28	32	in	in	ADP
hjic-486	28	33	[	[	X
hjic-486	28	34	1	1	NUM
hjic-486	28	35	,	,	PUNCT
hjic-486	28	36	8	8	NUM
hjic-486	28	37	-	-	SYM
hjic-486	28	38	10	10	NUM
hjic-486	28	39	]	]	PUNCT
hjic-486	28	40	.	.	PUNCT
hjic-486	29	1	consider	consider	VERB
hjic-486	29	2	a	a	DET
hjic-486	29	3	non	non	ADJ
hjic-486	29	4	-	-	ADJ
hjic-486	29	5	linear	linear	ADJ
hjic-486	29	6	function	function	NOUN
hjic-486	29	7	y	y	PROPN
hjic-486	29	8	=	=	SYM
hjic-486	29	9	g(x	g(x	PROPN
hjic-486	29	10	)	)	PUNCT
hjic-486	29	11	and	and	CCONJ
hjic-486	29	12	assume	assume	VERB
hjic-486	29	13	x	x	PART
hjic-486	29	14	has	have	AUX
hjic-486	29	15	mean	mean	VERB
hjic-486	29	16	x	x	NOUN
hjic-486	29	17	and	and	CCONJ
hjic-486	29	18	covariance	covariance	NOUN
hjic-486	29	19	xp	xp	INTJ
hjic-486	29	20	.	.	PUNCT
hjic-486	30	1	the	the	DET
hjic-486	30	2	first	first	ADJ
hjic-486	30	3	two	two	NUM
hjic-486	30	4	moments	moment	NOUN
hjic-486	30	5	of	of	ADP
hjic-486	30	6	y	y	PROPN
hjic-486	30	7	are	be	AUX
hjic-486	30	8	calculated	calculate	VERB
hjic-486	30	9	by	by	ADP
hjic-486	30	10	the	the	DET
hjic-486	30	11	following	follow	VERB
hjic-486	30	12	two	two	NUM
hjic-486	30	13	steps	step	NOUN
hjic-486	30	14	:	:	PUNCT
hjic-486	30	15	1	1	X
hjic-486	30	16	)	)	PUNCT
hjic-486	30	17	weighted	weight	VERB
hjic-486	30	18	sigma	sigma	ADJ
hjic-486	30	19	-	-	PUNCT
hjic-486	30	20	point	point	NOUN
hjic-486	30	21	selection	selection	NOUN
hjic-486	30	22	:	:	PUNCT
hjic-486	30	23	x0	x0	PROPN
hjic-486	30	24	=	=	PUNCT
hjic-486	31	1	x	x	X
hjic-486	31	2	xi	xi	X
hjic-486	31	3	=	=	PUNCT
hjic-486	31	4	x	x	PROPN
hjic-486	32	1	+	+	PUNCT
hjic-486	32	2	(	(	PUNCT
hjic-486	32	3	l	l	X
hjic-486	32	4	+	+	PUNCT
hjic-486	32	5	λ)px	λ)px	NOUN
hjic-486	32	6	(	(	PUNCT
hjic-486	32	7	)	)	PUNCT
hjic-486	32	8	i=1	i=1	X
hjic-486	32	9	…	…	PUNCT
hjic-486	32	10	l	l	NOUN
hjic-486	32	11	xi	xi	PUNCT
hjic-486	33	1	=	=	PUNCT
hjic-486	33	2	x	x	X
hjic-486	33	3	−	−	PROPN
hjic-486	33	4	(	(	PUNCT
hjic-486	33	5	l	l	X
hjic-486	33	6	+	+	PUNCT
hjic-486	33	7	λ)px	λ)px	NOUN
hjic-486	33	8	(	(	PUNCT
hjic-486	33	9	)	)	PUNCT
hjic-486	33	10	i	i	PRON
hjic-486	33	11	=	=	NOUN
hjic-486	33	12	l+1	l+1	PRON
hjic-486	33	13	…	…	SYM
hjic-486	33	14	2l	2l	NUM
hjic-486	33	15	(	(	PUNCT
hjic-486	33	16	1	1	NUM
hjic-486	33	17	)	)	PUNCT
hjic-486	33	18	with	with	ADP
hjic-486	33	19	weights	weight	NOUN
hjic-486	33	20	w0	w0	PROPN
hjic-486	33	21	m	m	VERB
hjic-486	33	22	=	=	ADJ
hjic-486	33	23	λ	λ	PROPN
hjic-486	33	24	l+λ	l+λ	NOUN
hjic-486	33	25	w0	w0	PROPN
hjic-486	33	26	c	c	NOUN
hjic-486	33	27	=	=	SYM
hjic-486	33	28	λ	λ	X
hjic-486	33	29	l+λ	l+λ	PROPN
hjic-486	33	30	+	+	CCONJ
hjic-486	33	31	(	(	PUNCT
hjic-486	33	32	1−α2	1−α2	NUM
hjic-486	33	33	+	+	NOUN
hjic-486	33	34	β	β	X
hjic-486	33	35	)	)	PUNCT
hjic-486	33	36	wi	wi	PROPN
hjic-486	33	37	m	m	PROPN
hjic-486	33	38	=	=	PROPN
hjic-486	34	1	wi	wi	PROPN
hjic-486	34	2	c	c	PROPN
hjic-486	34	3	=	=	SYM
hjic-486	34	4	λ	λ	PROPN
hjic-486	34	5	2(l+λ	2(l+λ	NUM
hjic-486	34	6	)	)	PUNCT
hjic-486	34	7	(	(	PUNCT
hjic-486	34	8	2	2	X
hjic-486	34	9	)	)	PUNCT
hjic-486	34	10	58	58	NUM
hjic-486	34	11	where	where	SCONJ
hjic-486	34	12	wi	wi	PROPN
hjic-486	34	13	m	m	PROPN
hjic-486	34	14	,	,	PUNCT
hjic-486	34	15	and	and	CCONJ
hjic-486	34	16	wi	wi	PROPN
hjic-486	34	17	c	c	PROPN
hjic-486	34	18	are	be	AUX
hjic-486	34	19	associated	associate	VERB
hjic-486	34	20	with	with	ADP
hjic-486	34	21	the	the	DET
hjic-486	34	22	ith	ith	PROPN
hjic-486	34	23	sigmapoint	sigmapoint	NOUN
hjic-486	34	24	such	such	ADJ
hjic-486	34	25	that	that	SCONJ
hjic-486	34	26	1	1	NUM
hjic-486	34	27	2	2	NUM
hjic-486	34	28	0	0	NUM
hjic-486	34	29	=	=	NOUN
hjic-486	34	30	∑	∑	PUNCT
hjic-486	34	31	=	=	SYM
hjic-486	34	32	l	l	NOUN
hjic-486	35	1	i	i	PRON
hjic-486	35	2	iw	iw	VERB
hjic-486	35	3	.	.	PUNCT
hjic-486	36	1	symbols	symbols	PROPN
hjic-486	36	2	λ	λ	PROPN
hjic-486	36	3	,	,	PUNCT
hjic-486	36	4	α	α	NOUN
hjic-486	36	5	,	,	PUNCT
hjic-486	36	6	and	and	CCONJ
hjic-486	36	7	β	β	NOUN
hjic-486	36	8	denote	denote	VERB
hjic-486	36	9	scaling	scale	VERB
hjic-486	36	10	parameters	parameter	NOUN
hjic-486	36	11	and	and	CCONJ
hjic-486	36	12	(	(	PUNCT
hjic-486	36	13	)	)	PUNCT
hjic-486	36	14	ixpl	ixpl	NOUN
hjic-486	36	15	)	)	PUNCT
hjic-486	36	16	(	(	PUNCT
hjic-486	36	17	λ+	λ+	X
hjic-486	36	18	is	be	AUX
hjic-486	36	19	the	the	DET
hjic-486	36	20	ith	ith	PROPN
hjic-486	36	21	column	column	NOUN
hjic-486	36	22	of	of	ADP
hjic-486	36	23	the	the	DET
hjic-486	36	24	matrix	matrix	NOUN
hjic-486	36	25	square	square	NOUN
hjic-486	36	26	root	root	NOUN
hjic-486	36	27	of	of	ADP
hjic-486	36	28	the	the	DET
hjic-486	36	29	weighted	weight	VERB
hjic-486	36	30	xpl	xpl	PROPN
hjic-486	36	31	)	)	PUNCT
hjic-486	36	32	(	(	PUNCT
hjic-486	36	33	λ+	λ+	NUM
hjic-486	36	34	covariance	covariance	NOUN
hjic-486	36	35	matrix	matrix	NOUN
hjic-486	36	36	.	.	PUNCT
hjic-486	37	1	2	2	X
hjic-486	37	2	)	)	PUNCT
hjic-486	37	3	propagation	propagation	NOUN
hjic-486	37	4	:	:	PUNCT
hjic-486	37	5	)	)	PUNCT
hjic-486	37	6	(	(	PUNCT
hjic-486	38	1	ii	ii	NOUN
hjic-486	38	2	xgy	xgy	PROPN
hjic-486	38	3	=	=	PUNCT
hjic-486	38	4	y	y	PROPN
hjic-486	38	5	≈	≈	PROPN
hjic-486	38	6	wi	wi	PROPN
hjic-486	38	7	myi	myi	PROPN
hjic-486	38	8	i=0	i=0	PROPN
hjic-486	38	9	2l	2l	PROPN
hjic-486	38	10	∑	∑	PUNCT
hjic-486	38	11	py	py	PROPN
hjic-486	38	12	≈	≈	PROPN
hjic-486	38	13	wi	wi	PROPN
hjic-486	38	14	c(yi	c(yi	ADV
hjic-486	38	15	−	−	PROPN
hjic-486	38	16	y	y	PROPN
hjic-486	38	17	)	)	PUNCT
hjic-486	38	18	(	(	PUNCT
hjic-486	38	19	yi	yi	NOUN
hjic-486	38	20	−	−	PROPN
hjic-486	38	21	y	y	PROPN
hjic-486	38	22	)	)	PUNCT
hjic-486	38	23	t	t	PROPN
hjic-486	38	24	i=0	i=0	PROPN
hjic-486	38	25	2l	2l	PROPN
hjic-486	38	26	∑	∑	PUNCT
hjic-486	38	27	pxy	pxy	VERB
hjic-486	38	28	≈	≈	PROPN
hjic-486	38	29	wi	wi	PROPN
hjic-486	38	30	c(xi	c(xi	PROPN
hjic-486	38	31	−	−	PROPN
hjic-486	38	32	x	x	SYM
hjic-486	38	33	)	)	PUNCT
hjic-486	38	34	(	(	PUNCT
hjic-486	38	35	yi	yi	NOUN
hjic-486	38	36	−	−	PROPN
hjic-486	38	37	y	y	PROPN
hjic-486	38	38	)	)	PUNCT
hjic-486	38	39	t	t	PROPN
hjic-486	39	1	i=0	i=0	PROPN
hjic-486	39	2	2l	2l	PROPN
hjic-486	39	3	∑	∑	PUNCT
hjic-486	39	4	(	(	PUNCT
hjic-486	39	5	3	3	NUM
hjic-486	39	6	)	)	PUNCT
hjic-486	39	7	where	where	SCONJ
hjic-486	39	8	y	y	PROPN
hjic-486	39	9	,	,	PUNCT
hjic-486	39	10	yp	yp	PROPN
hjic-486	39	11	,	,	PUNCT
hjic-486	39	12	and	and	CCONJ
hjic-486	39	13	xyp	xyp	PRON
hjic-486	39	14	are	be	AUX
hjic-486	39	15	the	the	DET
hjic-486	39	16	approximated	approximated	ADJ
hjic-486	39	17	mean	mean	NOUN
hjic-486	39	18	,	,	PUNCT
hjic-486	39	19	covariance	covariance	NOUN
hjic-486	39	20	and	and	CCONJ
hjic-486	39	21	cross	cross	NOUN
hjic-486	39	22	-	-	NOUN
hjic-486	39	23	covariance	covariance	NOUN
hjic-486	39	24	respectively	respectively	ADV
hjic-486	39	25	.	.	PUNCT
hjic-486	40	1	the	the	DET
hjic-486	40	2	unscented	unscente	VERB
hjic-486	40	3	kalman	kalman	PROPN
hjic-486	40	4	filter	filter	PROPN
hjic-486	40	5	(	(	PUNCT
hjic-486	40	6	ukf	ukf	PROPN
hjic-486	40	7	)	)	PUNCT
hjic-486	40	8	the	the	DET
hjic-486	40	9	algorithm	algorithm	NOUN
hjic-486	40	10	of	of	ADP
hjic-486	40	11	the	the	DET
hjic-486	40	12	ukf	ukf	NOUN
hjic-486	40	13	according	accord	VERB
hjic-486	40	14	to	to	ADP
hjic-486	40	15	refs	ref	NOUN
hjic-486	40	16	.	.	PUNCT
hjic-486	41	1	[	[	X
hjic-486	41	2	3	3	NUM
hjic-486	41	3	,	,	PUNCT
hjic-486	41	4	7	7	NUM
hjic-486	41	5	,	,	PUNCT
hjic-486	41	6	8	8	NUM
hjic-486	41	7	]	]	PUNCT
hjic-486	41	8	consists	consist	VERB
hjic-486	41	9	of	of	ADP
hjic-486	41	10	the	the	DET
hjic-486	41	11	following	follow	VERB
hjic-486	41	12	steps	step	NOUN
hjic-486	41	13	:	:	PUNCT
hjic-486	41	14	1	1	NUM
hjic-486	41	15	)	)	PUNCT
hjic-486	41	16	initialization	initialization	NOUN
hjic-486	41	17	:	:	PUNCT
hjic-486	41	18	x̂0	x̂0	PUNCT
hjic-486	42	1	=	=	PUNCT
hjic-486	42	2	e	e	X
hjic-486	42	3	x0	x0	PROPN
hjic-486	42	4	[	[	PUNCT
hjic-486	42	5	]	]	X
hjic-486	42	6	,	,	PUNCT
hjic-486	42	7	px0	px0	X
hjic-486	42	8	=	=	SYM
hjic-486	42	9	e	e	X
hjic-486	42	10	(	(	PUNCT
hjic-486	42	11	x0	x0	PROPN
hjic-486	42	12	−	−	PROPN
hjic-486	42	13	x0	x0	PROPN
hjic-486	42	14	)	)	PUNCT
hjic-486	42	15	(	(	PUNCT
hjic-486	42	16	x0	x0	PROPN
hjic-486	42	17	−	−	PROPN
hjic-486	42	18	x0	x0	PROPN
hjic-486	42	19	)	)	PUNCT
hjic-486	42	20	t	t	PROPN
hjic-486	42	21	"	"	PUNCT
hjic-486	42	22	#	#	NOUN
hjic-486	42	23	$	$	SYM
hjic-486	42	24	%	%	NOUN
hjic-486	42	25	(	(	PUNCT
hjic-486	42	26	4	4	NUM
hjic-486	42	27	)	)	PUNCT
hjic-486	42	28	x̂0	x̂0	NOUN
hjic-486	43	1	a	a	PRON
hjic-486	43	2	=	=	PUNCT
hjic-486	43	3	e	e	X
hjic-486	43	4	x̂0	x̂0	PROPN
hjic-486	43	5	a	a	X
hjic-486	43	6	!	!	PUNCT
hjic-486	43	7	"	"	PUNCT
hjic-486	44	1	#	#	NOUN
hjic-486	44	2	$	$	SYM
hjic-486	44	3	=	=	PUNCT
hjic-486	44	4	x̂0	x̂0	PROPN
hjic-486	44	5	t	t	PROPN
hjic-486	44	6	v0	v0	PROPN
hjic-486	44	7	t	t	PROPN
hjic-486	44	8	n0	n0	PROPN
hjic-486	44	9	t	t	PROPN
hjic-486	44	10	!	!	PUNCT
hjic-486	45	1	"	"	PUNCT
hjic-486	45	2	%	%	INTJ
hjic-486	45	3	#	#	NOUN
hjic-486	45	4	$	$	SYM
hjic-486	45	5	&	&	CCONJ
hjic-486	45	6	t	t	PROPN
hjic-486	45	7	(	(	PUNCT
hjic-486	45	8	5	5	NUM
hjic-486	45	9	)	)	PUNCT
hjic-486	45	10	p0	p0	NOUN
hjic-486	45	11	a	a	DET
hjic-486	45	12	=	=	X
hjic-486	45	13	px0	px0	X
hjic-486	45	14	0	0	PUNCT
hjic-486	45	15	0	0	SYM
hjic-486	45	16	0	0	NUM
hjic-486	45	17	rv	rv	NOUN
hjic-486	45	18	0	0	NUM
hjic-486	45	19	0	0	NUM
hjic-486	45	20	0	0	NUM
hjic-486	45	21	rn	rn	PROPN
hjic-486	45	22	!	!	PUNCT
hjic-486	45	23	"	"	PUNCT
hjic-486	46	1	#	#	NOUN
hjic-486	46	2	#	#	NOUN
hjic-486	46	3	#	#	NOUN
hjic-486	46	4	#	#	NOUN
hjic-486	46	5	$	$	NUM
hjic-486	46	6	%	%	NOUN
hjic-486	46	7	&	&	CCONJ
hjic-486	46	8	&	&	CCONJ
hjic-486	46	9	&	&	CCONJ
hjic-486	46	10	&	&	CCONJ
hjic-486	46	11	(	(	PUNCT
hjic-486	46	12	6	6	NUM
hjic-486	46	13	)	)	SYM
hjic-486	46	14	2	2	NUM
hjic-486	46	15	)	)	PUNCT
hjic-486	46	16	state	state	NOUN
hjic-486	46	17	estimation	estimation	NOUN
hjic-486	46	18	for	for	ADP
hjic-486	46	19	∞=	∞=	ADJ
hjic-486	46	20	…	…	PUNCT
hjic-486	46	21	1k	1k	NUM
hjic-486	46	22	:	:	PUNCT
hjic-486	46	23	a	a	X
hjic-486	46	24	)	)	PUNCT
hjic-486	46	25	calculate	calculate	NOUN
hjic-486	46	26	sigma	sigma	NOUN
hjic-486	46	27	-	-	PUNCT
hjic-486	46	28	points	point	NOUN
hjic-486	46	29	:	:	PUNCT
hjic-486	46	30	xk−1	xk−1	PROPN
hjic-486	47	1	a	a	X
hjic-486	47	2	=	=	X
hjic-486	47	3	x̂k−1	x̂k−1	X
hjic-486	47	4	a	a	DET
hjic-486	47	5	x̂k−1	x̂k−1	PROPN
hjic-486	47	6	a	a	DET
hjic-486	47	7	+	+	NOUN
hjic-486	47	8	γ	γ	X
hjic-486	47	9	pk−1	pk−1	NOUN
hjic-486	47	10	a	a	DET
hjic-486	47	11	x̂k−1	x̂k−1	PROPN
hjic-486	47	12	a	a	DET
hjic-486	47	13	−γ	−γ	NOUN
hjic-486	47	14	pk−1	pk−1	PROPN
hjic-486	47	15	a	a	DET
hjic-486	47	16	"	"	PUNCT
hjic-486	47	17	#	#	NOUN
hjic-486	47	18	$	$	NUM
hjic-486	47	19	%	%	NOUN
hjic-486	47	20	&	&	CCONJ
hjic-486	47	21	'	'	PUNCT
hjic-486	47	22	(	(	PUNCT
hjic-486	47	23	7	7	NUM
hjic-486	47	24	)	)	SYM
hjic-486	47	25	b	b	NOUN
hjic-486	47	26	)	)	PUNCT
hjic-486	47	27	time	time	NOUN
hjic-486	47	28	-	-	PUNCT
hjic-486	47	29	update	update	NOUN
hjic-486	47	30	:	:	PUNCT
hjic-486	47	31	xi	xi	NUM
hjic-486	47	32	,	,	PUNCT
hjic-486	47	33	k|k−1	k|k−1	NOUN
hjic-486	47	34	x	x	PUNCT
hjic-486	47	35	=	=	SYM
hjic-486	47	36	f	f	X
hjic-486	47	37	(	(	PUNCT
hjic-486	47	38	xi	xi	PROPN
hjic-486	47	39	,	,	PUNCT
hjic-486	47	40	k−1	k−1	PROPN
hjic-486	47	41	x	x	X
hjic-486	47	42	,	,	PUNCT
hjic-486	47	43	xk−1	xk−1	PROPN
hjic-486	47	44	v	v	PROPN
hjic-486	47	45	,	,	PUNCT
hjic-486	47	46	uk−1	uk−1	PROPN
hjic-486	47	47	)	)	PUNCT
hjic-486	47	48	,	,	PUNCT
hjic-486	47	49	i	i	PRON
hjic-486	47	50	=	=	NOUN
hjic-486	47	51	0	0	NUM
hjic-486	47	52	,	,	PUNCT
hjic-486	47	53	…	…	PUNCT
hjic-486	47	54	,	,	PUNCT
hjic-486	47	55	2l	2l	NUM
hjic-486	47	56	x̂k	x̂k	NOUN
hjic-486	48	1	−	−	PROPN
hjic-486	48	2	=	=	SYM
hjic-486	48	3	wi	wi	PROPN
hjic-486	48	4	mxi	mxi	PROPN
hjic-486	48	5	,	,	PUNCT
hjic-486	48	6	k|k−1	k|k−1	X
hjic-486	48	7	x	x	PUNCT
hjic-486	48	8	i=0	i=0	PROPN
hjic-486	48	9	2l	2l	NUM
hjic-486	48	10	∑	∑	PUNCT
hjic-486	48	11	pxk	pxk	VERB
hjic-486	48	12	−	−	PROPN
hjic-486	48	13	=	=	SYM
hjic-486	48	14	wi	wi	PROPN
hjic-486	48	15	c(xi	c(xi	PROPN
hjic-486	48	16	,	,	PUNCT
hjic-486	48	17	k|k−1	k|k−1	NOUN
hjic-486	48	18	x	x	NOUN
hjic-486	48	19	−	−	PROPN
hjic-486	48	20	x̂k	x̂k	NUM
hjic-486	48	21	−)(xi	−)(xi	PROPN
hjic-486	48	22	,	,	PUNCT
hjic-486	48	23	k|k−1	k|k−1	NOUN
hjic-486	48	24	x	x	NOUN
hjic-486	48	25	−	−	NOUN
hjic-486	48	26	x̂k	x̂k	PROPN
hjic-486	48	27	−)t	−)t	PROPN
hjic-486	48	28	i=0	i=0	PROPN
hjic-486	48	29	2l	2l	PROPN
hjic-486	48	30	∑	∑	PUNCT
hjic-486	48	31	(	(	PUNCT
hjic-486	48	32	8)	8)	NUM
hjic-486	48	33	c	c	NOUN
hjic-486	48	34	)	)	PUNCT
hjic-486	48	35	measurement	measurement	NOUN
hjic-486	48	36	-	-	PUNCT
hjic-486	48	37	update	update	NOUN
hjic-486	48	38	:	:	PUNCT
hjic-486	48	39	yi	yi	NOUN
hjic-486	48	40	,	,	PUNCT
hjic-486	48	41	k|k−1	k|k−1	X
hjic-486	48	42	=	=	SYM
hjic-486	48	43	h(xi	h(xi	X
hjic-486	48	44	,	,	PUNCT
hjic-486	48	45	k|k−1	k|k−1	NOUN
hjic-486	48	46	x	x	NOUN
hjic-486	48	47	,	,	PUNCT
hjic-486	48	48	xk−1	xk−1	PROPN
hjic-486	48	49	n	n	PROPN
hjic-486	48	50	)	)	PUNCT
hjic-486	48	51	,	,	PUNCT
hjic-486	48	52	i	i	PRON
hjic-486	48	53	=	=	NOUN
hjic-486	48	54	0	0	NUM
hjic-486	48	55	,	,	PUNCT
hjic-486	48	56	…	…	PUNCT
hjic-486	48	57	,	,	PUNCT
hjic-486	48	58	2l	2l	X
hjic-486	48	59	ŷk	ŷk	X
hjic-486	48	60	−	−	PROPN
hjic-486	48	61	=	=	SYM
hjic-486	48	62	wi	wi	PROPN
hjic-486	48	63	myi	myi	PROPN
hjic-486	48	64	,	,	PUNCT
hjic-486	48	65	k|k−1	k|k−1	NOUN
hjic-486	48	66	i=0	i=0	PROPN
hjic-486	48	67	2l	2l	X
hjic-486	48	68	∑	∑	PUNCT
hjic-486	48	69	pŷk	pŷk	PROPN
hjic-486	48	70	=	=	SYM
hjic-486	48	71	wi	wi	PROPN
hjic-486	48	72	c(yi	c(yi	X
hjic-486	48	73	,	,	PUNCT
hjic-486	48	74	k|k−1	k|k−1	NOUN
hjic-486	48	75	−	−	NOUN
hjic-486	48	76	ŷk	ŷk	NOUN
hjic-486	48	77	−)(yi	−)(yi	PROPN
hjic-486	48	78	,	,	PUNCT
hjic-486	48	79	k|k−1	k|k−1	NOUN
hjic-486	48	80	−	−	PROPN
hjic-486	48	81	ŷk	ŷk	X
hjic-486	48	82	−)t	−)t	VERB
hjic-486	48	83	i=0	i=0	PROPN
hjic-486	48	84	2l	2l	PROPN
hjic-486	48	85	∑	∑	PUNCT
hjic-486	48	86	pxkyk	pxkyk	NOUN
hjic-486	48	87	=	=	SYM
hjic-486	48	88	wi	wi	PROPN
hjic-486	48	89	c(xi	c(xi	PROPN
hjic-486	48	90	,	,	PUNCT
hjic-486	48	91	k|k−1	k|k−1	NOUN
hjic-486	48	92	x	x	NOUN
hjic-486	48	93	−	−	NOUN
hjic-486	48	94	x̂k	x̂k	PROPN
hjic-486	49	1	−)(yi	−)(yi	PROPN
hjic-486	49	2	,	,	PUNCT
hjic-486	49	3	k|k−1	k|k−1	NOUN
hjic-486	49	4	−	−	NOUN
hjic-486	49	5	ŷk	ŷk	PROPN
hjic-486	49	6	−	−	NOUN
hjic-486	49	7	)	)	PUNCT
hjic-486	50	1	i=0	i=0	PROPN
hjic-486	50	2	2l	2l	NUM
hjic-486	50	3	∑	∑	PUNCT
hjic-486	50	4	(	(	PUNCT
hjic-486	50	5	9	9	NUM
hjic-486	50	6	)	)	PUNCT
hjic-486	50	7	kk	kk	NOUN
hjic-486	50	8	=	=	PUNCT
hjic-486	50	9	pxkyk	pxkyk	AUX
hjic-486	50	10	pŷk	pŷk	VERB
hjic-486	50	11	−1	−1	NOUN
hjic-486	50	12	x̂k	x̂k	PUNCT
hjic-486	50	13	=	=	PUNCT
hjic-486	51	1	x̂k	x̂k	NUM
hjic-486	52	1	−	−	PROPN
hjic-486	53	1	+	+	NOUN
hjic-486	53	2	kk	kk	X
hjic-486	53	3	(	(	PUNCT
hjic-486	53	4	yk	yk	PROPN
hjic-486	53	5	−	−	PROPN
hjic-486	53	6	ŷk	ŷk	PROPN
hjic-486	53	7	−	−	NOUN
hjic-486	53	8	)	)	PUNCT
hjic-486	53	9	pxk	pxk	NOUN
hjic-486	53	10	=	=	PUNCT
hjic-486	53	11	pxk	pxk	NOUN
hjic-486	53	12	−	−	PROPN
hjic-486	53	13	−kkpŷkkk	−kkpŷkkk	PROPN
hjic-486	53	14	t	t	PROPN
hjic-486	53	15	(	(	PUNCT
hjic-486	53	16	10	10	NUM
hjic-486	53	17	)	)	PUNCT
hjic-486	53	18	where	where	SCONJ
hjic-486	53	19	xk	xk	PROPN
hjic-486	53	20	a	a	X
hjic-486	53	21	=	=	PROPN
hjic-486	53	22	xk	xk	PROPN
hjic-486	53	23	t	t	PROPN
hjic-486	53	24	vk	vk	PROPN
hjic-486	53	25	t	t	PROPN
hjic-486	53	26	nk	nk	PROPN
hjic-486	53	27	t	t	PROPN
hjic-486	53	28	!	!	PUNCT
hjic-486	54	1	"	"	PUNCT
hjic-486	54	2	#	#	NOUN
hjic-486	54	3	$	$	SYM
hjic-486	54	4	%	%	NOUN
hjic-486	54	5	&	&	CCONJ
hjic-486	54	6	t	t	PROPN
hjic-486	54	7	and	and	CCONJ
hjic-486	54	8	xk	xk	PROPN
hjic-486	55	1	a	a	PRON
hjic-486	55	2	=	=	X
hjic-486	55	3	(	(	PUNCT
hjic-486	55	4	xk	xk	PROPN
hjic-486	55	5	x	x	PROPN
hjic-486	55	6	)	)	PUNCT
hjic-486	55	7	t	t	PROPN
hjic-486	55	8	(	(	PUNCT
hjic-486	55	9	xk	xk	PROPN
hjic-486	55	10	v	v	PROPN
hjic-486	55	11	)	)	PUNCT
hjic-486	55	12	t	t	PROPN
hjic-486	55	13	(	(	PUNCT
hjic-486	55	14	xk	xk	PROPN
hjic-486	55	15	n	n	PROPN
hjic-486	55	16	)	)	PUNCT
hjic-486	55	17	t	t	PROPN
hjic-486	55	18	!	!	PUNCT
hjic-486	56	1	"	"	PUNCT
hjic-486	56	2	#	#	NOUN
hjic-486	56	3	$	$	SYM
hjic-486	56	4	%	%	NOUN
hjic-486	56	5	&	&	CCONJ
hjic-486	56	6	t	t	PROPN
hjic-486	56	7	are	be	AUX
hjic-486	56	8	the	the	DET
hjic-486	56	9	l	l	NOUN
hjic-486	56	10	dimension	dimension	NOUN
hjic-486	56	11	vectors	vector	NOUN
hjic-486	56	12	of	of	ADP
hjic-486	56	13	the	the	DET
hjic-486	56	14	augmented	augment	VERB
hjic-486	56	15	states	state	NOUN
hjic-486	56	16	and	and	CCONJ
hjic-486	56	17	sigma	sigma	NOUN
hjic-486	56	18	-	-	PUNCT
hjic-486	56	19	points	point	NOUN
hjic-486	56	20	respectively	respectively	ADV
hjic-486	56	21	,	,	PUNCT
hjic-486	56	22	vr	vr	PROPN
hjic-486	56	23	and	and	CCONJ
hjic-486	56	24	nr	nr	PROPN
hjic-486	56	25	are	be	AUX
hjic-486	56	26	the	the	DET
hjic-486	56	27	covariances	covariance	NOUN
hjic-486	56	28	of	of	ADP
hjic-486	56	29	the	the	DET
hjic-486	56	30	process	process	NOUN
hjic-486	56	31	and	and	CCONJ
hjic-486	56	32	measurement	measurement	NOUN
hjic-486	56	33	noise	noise	NOUN
hjic-486	56	34	respectively	respectively	ADV
hjic-486	56	35	,	,	PUNCT
hjic-486	56	36	λγ	λγ	PROPN
hjic-486	56	37	+	+	NOUN
hjic-486	56	38	=	=	PROPN
hjic-486	56	39	l	l	NOUN
hjic-486	56	40	,	,	PUNCT
hjic-486	56	41	λ	λ	X
hjic-486	56	42	=	=	SYM
hjic-486	56	43	α2(l+κ)+l	α2(l+κ)+l	PROPN
hjic-486	56	44	,	,	PUNCT
hjic-486	56	45	α	α	NOUN
hjic-486	56	46	=	=	SYM
hjic-486	56	47	10	10	NUM
hjic-486	56	48	-	-	SYM
hjic-486	56	49	3	3	NUM
hjic-486	56	50	,	,	PUNCT
hjic-486	56	51	κ	κ	X
hjic-486	56	52	=	=	SYM
hjic-486	56	53	0	0	PROPN
hjic-486	56	54	,	,	PUNCT
hjic-486	56	55	β	β	X
hjic-486	56	56	=	=	SYM
hjic-486	56	57	2	2	NUM
hjic-486	56	58	,	,	PUNCT
hjic-486	56	59	and	and	CCONJ
hjic-486	56	60	wi	wi	PROPN
hjic-486	56	61	is	be	AUX
hjic-486	56	62	the	the	DET
hjic-486	56	63	weighting	weighting	NOUN
hjic-486	56	64	parameter	parameter	NOUN
hjic-486	56	65	defined	define	VERB
hjic-486	56	66	in	in	ADP
hjic-486	56	67	eq.(2	eq.(2	ADJ
hjic-486	56	68	)	)	PUNCT
hjic-486	56	69	.	.	PUNCT
hjic-486	57	1	the	the	DET
hjic-486	57	2	central	central	ADJ
hjic-486	57	3	-	-	PUNCT
hjic-486	57	4	difference	difference	NOUN
hjic-486	57	5	kalman	kalman	NOUN
hjic-486	57	6	filter	filter	NOUN
hjic-486	57	7	this	this	DET
hjic-486	57	8	approach	approach	NOUN
hjic-486	57	9	is	be	AUX
hjic-486	57	10	based	base	VERB
hjic-486	57	11	on	on	ADP
hjic-486	57	12	sterling	sterling	NOUN
hjic-486	57	13	’s	’s	PART
hjic-486	57	14	polynomial	polynomial	ADJ
hjic-486	57	15	interpolation	interpolation	NOUN
hjic-486	57	16	,	,	PUNCT
hjic-486	57	17	which	which	PRON
hjic-486	57	18	was	be	AUX
hjic-486	57	19	used	use	VERB
hjic-486	57	20	in	in	ADP
hjic-486	57	21	the	the	DET
hjic-486	57	22	derivations	derivation	NOUN
hjic-486	57	23	of	of	ADP
hjic-486	57	24	divided	divide	VERB
hjic-486	57	25	difference	difference	NOUN
hjic-486	57	26	filter	filter	NOUN
hjic-486	58	1	[	[	X
hjic-486	58	2	10	10	NUM
hjic-486	58	3	,	,	PUNCT
hjic-486	58	4	11	11	NUM
hjic-486	58	5	]	]	PUNCT
hjic-486	58	6	and	and	CCONJ
hjic-486	58	7	central	central	ADJ
hjic-486	58	8	difference	difference	NOUN
hjic-486	58	9	filter	filter	NOUN
hjic-486	58	10	in	in	ADP
hjic-486	58	11	ref	ref	NOUN
hjic-486	58	12	.	.	PUNCT
hjic-486	59	1	[	[	X
hjic-486	59	2	12	12	NUM
hjic-486	59	3	]	]	PUNCT
hjic-486	59	4	.	.	PUNCT
hjic-486	60	1	the	the	DET
hjic-486	60	2	result	result	NOUN
hjic-486	60	3	of	of	ADP
hjic-486	60	4	this	this	DET
hjic-486	60	5	approximation	approximation	NOUN
hjic-486	60	6	can	can	AUX
hjic-486	60	7	be	be	AUX
hjic-486	60	8	used	use	VERB
hjic-486	60	9	for	for	ADP
hjic-486	60	10	sigma	sigma	ADJ
hjic-486	60	11	-	-	PUNCT
hjic-486	60	12	point	point	NOUN
hjic-486	60	13	approach	approach	NOUN
hjic-486	60	14	as	as	ADP
hjic-486	60	15	in	in	ADP
hjic-486	60	16	the	the	DET
hjic-486	60	17	case	case	NOUN
hjic-486	60	18	of	of	ADP
hjic-486	60	19	sut	sut	PROPN
hjic-486	60	20	.	.	PUNCT
hjic-486	61	1	the	the	DET
hjic-486	61	2	algorithm	algorithm	NOUN
hjic-486	61	3	consists	consist	VERB
hjic-486	61	4	of	of	ADP
hjic-486	61	5	the	the	DET
hjic-486	61	6	following	follow	VERB
hjic-486	61	7	steps	step	NOUN
hjic-486	61	8	:	:	PUNCT
hjic-486	61	9	1	1	X
hjic-486	61	10	)	)	PUNCT
hjic-486	61	11	weighted	weight	VERB
hjic-486	61	12	sigma	sigma	ADJ
hjic-486	61	13	-	-	PUNCT
hjic-486	61	14	point	point	NOUN
hjic-486	61	15	selection	selection	NOUN
hjic-486	61	16	:	:	PUNCT
hjic-486	61	17	x0	x0	PROPN
hjic-486	62	1	=	=	PUNCT
hjic-486	62	2	x	x	X
hjic-486	63	1	xi	xi	X
hjic-486	63	2	=	=	PUNCT
hjic-486	63	3	x	x	PROPN
hjic-486	64	1	+	+	NUM
hjic-486	64	2	h	h	PROPN
hjic-486	64	3	px	px	PROPN
hjic-486	64	4	(	(	PUNCT
hjic-486	64	5	)	)	PUNCT
hjic-486	64	6	i=1	i=1	X
hjic-486	64	7	…	…	PUNCT
hjic-486	64	8	l	l	NOUN
hjic-486	64	9	xi	xi	PUNCT
hjic-486	65	1	=	=	PUNCT
hjic-486	65	2	x	x	SYM
hjic-486	65	3	−	−	NOUN
hjic-486	65	4	h	h	PROPN
hjic-486	65	5	px	px	PROPN
hjic-486	65	6	(	(	PUNCT
hjic-486	65	7	)	)	PUNCT
hjic-486	65	8	i	i	PROPN
hjic-486	65	9	=	=	NOUN
hjic-486	65	10	l+1	l+1	PRON
hjic-486	65	11	…	…	SYM
hjic-486	65	12	2l	2l	NUM
hjic-486	65	13	(	(	PUNCT
hjic-486	65	14	11	11	NUM
hjic-486	65	15	)	)	PUNCT
hjic-486	65	16	with	with	ADP
hjic-486	65	17	weights	weight	NOUN
hjic-486	65	18	w0	w0	PROPN
hjic-486	65	19	m	m	PROPN
hjic-486	65	20	=	=	SYM
hjic-486	65	21	h2−l	h2−l	PROPN
hjic-486	65	22	h2	h2	NOUN
hjic-486	65	23	,	,	PUNCT
hjic-486	65	24	wi	wi	PROPN
hjic-486	65	25	m	m	PROPN
hjic-486	65	26	=	=	SYM
hjic-486	65	27	1	1	NUM
hjic-486	65	28	2h2	2h2	NUM
hjic-486	65	29	,	,	PUNCT
hjic-486	65	30	wi	wi	PROPN
hjic-486	65	31	c1	c1	PROPN
hjic-486	65	32	=	=	PROPN
hjic-486	65	33	1	1	NUM
hjic-486	65	34	4h2	4h2	NUM
hjic-486	65	35	,	,	PUNCT
hjic-486	65	36	wi	wi	PROPN
hjic-486	65	37	c2	c2	PROPN
hjic-486	65	38	=	=	PROPN
hjic-486	66	1	h2−1	h2−1	PRON
hjic-486	66	2	4h2	4h2	NUM
hjic-486	66	3	,	,	PUNCT
hjic-486	66	4	(	(	PUNCT
hjic-486	66	5	12	12	NUM
hjic-486	66	6	)	)	PUNCT
hjic-486	66	7	where	where	SCONJ
hjic-486	66	8	wi	wi	PROPN
hjic-486	66	9	m	m	PROPN
hjic-486	66	10	,	,	PUNCT
hjic-486	66	11	and	and	CCONJ
hjic-486	66	12	wi	wi	PROPN
hjic-486	66	13	c	c	PROPN
hjic-486	66	14	are	be	AUX
hjic-486	66	15	associated	associate	VERB
hjic-486	66	16	with	with	ADP
hjic-486	66	17	i	i	PROPN
hjic-486	66	18	=	=	NOUN
hjic-486	66	19	1	1	NUM
hjic-486	66	20	,	,	PUNCT
hjic-486	66	21	…	…	PUNCT
hjic-486	66	22	,	,	PUNCT
hjic-486	66	23	2l	2l	VERB
hjic-486	66	24	sigma	sigma	NOUN
hjic-486	66	25	-	-	PUNCT
hjic-486	67	1	point	point	NOUN
hjic-486	67	2	.	.	PUNCT
hjic-486	68	1	2	2	NUM
hjic-486	68	2	)	)	PUNCT
hjic-486	68	3	initialization	initialization	NOUN
hjic-486	68	4	:	:	PUNCT
hjic-486	68	5	the	the	DET
hjic-486	68	6	same	same	ADJ
hjic-486	68	7	as	as	SCONJ
hjic-486	68	8	defined	define	VERB
hjic-486	68	9	in	in	ADP
hjic-486	68	10	eqs.(4	eqs.(4	PROPN
hjic-486	68	11	-	-	PUNCT
hjic-486	68	12	6	6	NUM
hjic-486	68	13	)	)	PUNCT
hjic-486	68	14	3	3	NUM
hjic-486	68	15	)	)	PUNCT
hjic-486	68	16	state	state	NOUN
hjic-486	68	17	estimation	estimation	NOUN
hjic-486	68	18	for	for	ADP
hjic-486	68	19	k	k	PROPN
hjic-486	68	20	=	=	SYM
hjic-486	68	21	1	1	NUM
hjic-486	68	22	,	,	PUNCT
hjic-486	68	23	…	…	PUNCT
hjic-486	68	24	,	,	PUNCT
hjic-486	68	25	∞	∞	PROPN
hjic-486	68	26	:	:	PUNCT
hjic-486	68	27	a	a	X
hjic-486	68	28	)	)	PUNCT
hjic-486	68	29	sigma	sigma	NOUN
hjic-486	68	30	-	-	PUNCT
hjic-486	68	31	points	point	NOUN
hjic-486	68	32	for	for	ADP
hjic-486	68	33	time	time	NOUN
hjic-486	68	34	-	-	PUNCT
hjic-486	68	35	update	update	NOUN
hjic-486	68	36	:	:	PUNCT
hjic-486	68	37	x̂k−1	x̂k−1	NUM
hjic-486	68	38	av	av	PROPN
hjic-486	69	1	=	=	PUNCT
hjic-486	69	2	x̂k−1	x̂k−1	NUM
hjic-486	69	3	v	v	X
hjic-486	69	4	"	"	PUNCT
hjic-486	69	5	#	#	NOUN
hjic-486	69	6	$	$	NUM
hjic-486	69	7	%	%	NOUN
hjic-486	69	8	,	,	PUNCT
hjic-486	69	9	pk−1	pk−1	INTJ
hjic-486	69	10	av	av	NOUN
hjic-486	69	11	=	=	PUNCT
hjic-486	70	1	pxk−1	pxk−1	PROPN
hjic-486	70	2	0	0	NUM
hjic-486	70	3	0	0	NUM
hjic-486	70	4	rv	rv	NOUN
hjic-486	70	5	"	"	PUNCT
hjic-486	70	6	#	#	NOUN
hjic-486	70	7	$	$	SYM
hjic-486	70	8	$	$	NUM
hjic-486	70	9	%	%	NOUN
hjic-486	70	10	&	&	CCONJ
hjic-486	70	11	'	'	PUNCT
hjic-486	70	12	'	'	PUNCT
hjic-486	70	13	(	(	PUNCT
hjic-486	70	14	13	13	NUM
hjic-486	70	15	)	)	PUNCT
hjic-486	70	16	xk−1	xk−1	PROPN
hjic-486	70	17	av	av	X
hjic-486	71	1	=	=	PUNCT
hjic-486	71	2	x̂k−1	x̂k−1	PROPN
hjic-486	71	3	av	av	PROPN
hjic-486	71	4	x̂k−1	x̂k−1	PROPN
hjic-486	71	5	av	av	PROPN
hjic-486	72	1	+	+	NUM
hjic-486	72	2	h	h	PROPN
hjic-486	72	3	pk−1	pk−1	PROPN
hjic-486	72	4	av	av	PROPN
hjic-486	72	5	x̂k−1	x̂k−1	PROPN
hjic-486	72	6	av	av	PROPN
hjic-486	73	1	−	−	PROPN
hjic-486	73	2	h	h	PROPN
hjic-486	73	3	pk−1	pk−1	PROPN
hjic-486	73	4	av	av	PROPN
hjic-486	73	5	"	"	PUNCT
hjic-486	73	6	#	#	NOUN
hjic-486	73	7	$	$	NUM
hjic-486	73	8	%	%	NOUN
hjic-486	73	9	&	&	CCONJ
hjic-486	73	10	'	'	PUNCT
hjic-486	73	11	(	(	PUNCT
hjic-486	73	12	14	14	NUM
hjic-486	73	13	)	)	SYM
hjic-486	73	14	b	b	NOUN
hjic-486	73	15	)	)	PUNCT
hjic-486	73	16	time	time	NOUN
hjic-486	73	17	-	-	PUNCT
hjic-486	73	18	update	update	NOUN
hjic-486	73	19	:	:	PUNCT
hjic-486	73	20	xi	xi	NUM
hjic-486	73	21	,	,	PUNCT
hjic-486	73	22	k|k−1	k|k−1	NOUN
hjic-486	73	23	x	x	PUNCT
hjic-486	73	24	=	=	SYM
hjic-486	73	25	f	f	X
hjic-486	73	26	(	(	PUNCT
hjic-486	73	27	xi	xi	PROPN
hjic-486	73	28	,	,	PUNCT
hjic-486	73	29	k−1	k−1	PROPN
hjic-486	73	30	x	x	X
hjic-486	73	31	,	,	PUNCT
hjic-486	73	32	xk−1	xk−1	PROPN
hjic-486	73	33	v	v	PROPN
hjic-486	73	34	,	,	PUNCT
hjic-486	73	35	uk−1	uk−1	PROPN
hjic-486	73	36	)	)	PUNCT
hjic-486	73	37	,	,	PUNCT
hjic-486	73	38	i	i	PRON
hjic-486	73	39	=	=	NOUN
hjic-486	73	40	0	0	NUM
hjic-486	73	41	,	,	PUNCT
hjic-486	73	42	…	…	PUNCT
hjic-486	73	43	,	,	PUNCT
hjic-486	73	44	2l	2l	NUM
hjic-486	73	45	x̂k	x̂k	NOUN
hjic-486	73	46	−	−	PROPN
hjic-486	74	1	=	=	SYM
hjic-486	74	2	wi	wi	PROPN
hjic-486	74	3	mxi	mxi	PROPN
hjic-486	74	4	,	,	PUNCT
hjic-486	74	5	k|k−1	k|k−1	X
hjic-486	74	6	x	x	PUNCT
hjic-486	74	7	i=0	i=0	PROPN
hjic-486	74	8	2l	2l	NUM
hjic-486	74	9	∑	∑	PUNCT
hjic-486	74	10	pxk	pxk	VERB
hjic-486	74	11	−	−	PROPN
hjic-486	74	12	=	=	SYM
hjic-486	74	13	wi	wi	PROPN
hjic-486	74	14	c1	c1	PROPN
hjic-486	74	15	(	(	PUNCT
hjic-486	74	16	xi	xi	PROPN
hjic-486	74	17	,	,	PUNCT
hjic-486	74	18	k|k−1	k|k−1	NOUN
hjic-486	74	19	x	x	ADJ
hjic-486	74	20	−	−	NOUN
hjic-486	74	21	xl+i	xl+i	PROPN
hjic-486	74	22	,	,	PUNCT
hjic-486	74	23	k|k−1	k|k−1	NOUN
hjic-486	74	24	x	x	NOUN
hjic-486	74	25	)	)	PUNCT
hjic-486	74	26	2	2	NUM
hjic-486	75	1	+	+	NUM
hjic-486	75	2	i=1	i=1	PROPN
hjic-486	75	3	l	l	NOUN
hjic-486	75	4	∑	∑	PROPN
hjic-486	75	5	wi	wi	PROPN
hjic-486	75	6	c2	c2	PROPN
hjic-486	75	7	(	(	PUNCT
hjic-486	75	8	xi	xi	PROPN
hjic-486	75	9	,	,	PUNCT
hjic-486	75	10	k|k−1	k|k−1	NOUN
hjic-486	75	11	x	x	NOUN
hjic-486	76	1	+	+	NUM
hjic-486	76	2	xl+i	xl+i	PROPN
hjic-486	76	3	,	,	PUNCT
hjic-486	76	4	k|k−1	k|k−1	NOUN
hjic-486	76	5	x	x	NOUN
hjic-486	76	6	−	−	PROPN
hjic-486	76	7	2x0,k|k−1	2x0,k|k−1	NUM
hjic-486	76	8	x	x	SYM
hjic-486	76	9	)	)	PUNCT
hjic-486	76	10	2	2	NUM
hjic-486	76	11	i=1	i=1	NOUN
hjic-486	76	12	l	l	NOUN
hjic-486	76	13	∑	∑	PUNCT
hjic-486	76	14	(	(	PUNCT
hjic-486	76	15	15	15	NUM
hjic-486	76	16	)	)	PUNCT
hjic-486	76	17	59	59	NUM
hjic-486	76	18	c	c	NOUN
hjic-486	76	19	)	)	PUNCT
hjic-486	76	20	sigma	sigma	NOUN
hjic-486	76	21	-	-	PUNCT
hjic-486	76	22	points	point	NOUN
hjic-486	76	23	for	for	ADP
hjic-486	76	24	measurement	measurement	NOUN
hjic-486	76	25	-	-	PUNCT
hjic-486	76	26	update	update	NOUN
hjic-486	76	27	:	:	PUNCT
hjic-486	76	28	x̂k−1	x̂k−1	NUM
hjic-486	77	1	an	an	DET
hjic-486	77	2	=	=	SYM
hjic-486	77	3	x̂k	x̂k	PROPN
hjic-486	77	4	−	−	PROPN
hjic-486	77	5	n	n	CCONJ
hjic-486	77	6	"	"	PUNCT
hjic-486	77	7	#	#	SYM
hjic-486	77	8	$	$	NUM
hjic-486	77	9	%	%	NOUN
hjic-486	77	10	&	&	CCONJ
hjic-486	77	11	'	'	PUNCT
hjic-486	77	12	,	,	PUNCT
hjic-486	78	1	pk|k−1	pk|k−1	PROPN
hjic-486	78	2	an	an	DET
hjic-486	78	3	=	=	X
hjic-486	78	4	pxk	pxk	NOUN
hjic-486	78	5	−	−	PROPN
hjic-486	78	6	0	0	NUM
hjic-486	78	7	0	0	NUM
hjic-486	78	8	rn	rn	PROPN
hjic-486	78	9	"	"	PUNCT
hjic-486	78	10	#	#	NOUN
hjic-486	78	11	$	$	SYM
hjic-486	78	12	$	$	NUM
hjic-486	78	13	%	%	NOUN
hjic-486	78	14	&	&	CCONJ
hjic-486	78	15	'	'	PUNCT
hjic-486	78	16	'	'	PUNCT
hjic-486	78	17	(	(	PUNCT
hjic-486	78	18	16	16	NUM
hjic-486	78	19	)	)	PUNCT
hjic-486	78	20	xk|k−1	xk|k−1	PROPN
hjic-486	79	1	an	an	DET
hjic-486	79	2	=	=	X
hjic-486	79	3	x̂k|k−1	x̂k|k−1	PROPN
hjic-486	79	4	an	an	DET
hjic-486	79	5	x̂k|k−1	x̂k|k−1	PROPN
hjic-486	80	1	an	an	DET
hjic-486	80	2	+	+	NOUN
hjic-486	80	3	h	h	NOUN
hjic-486	80	4	pk|k−1	pk|k−1	PROPN
hjic-486	80	5	an	an	DET
hjic-486	80	6	x̂k|k−1	x̂k|k−1	NOUN
hjic-486	80	7	an	an	DET
hjic-486	80	8	−	−	NOUN
hjic-486	80	9	h	h	NOUN
hjic-486	80	10	pk|k−1	pk|k−1	NOUN
hjic-486	80	11	an	an	DET
hjic-486	80	12	"	"	PUNCT
hjic-486	80	13	#	#	NOUN
hjic-486	80	14	$	$	NUM
hjic-486	80	15	%	%	NOUN
hjic-486	80	16	&	&	CCONJ
hjic-486	80	17	'	'	PUNCT
hjic-486	80	18	(	(	PUNCT
hjic-486	80	19	17	17	NUM
hjic-486	80	20	)	)	PUNCT
hjic-486	80	21	d	d	NOUN
hjic-486	80	22	)	)	PUNCT
hjic-486	80	23	measurement	measurement	NOUN
hjic-486	80	24	-	-	PUNCT
hjic-486	80	25	update	update	NOUN
hjic-486	80	26	:	:	PUNCT
hjic-486	80	27	yi	yi	NOUN
hjic-486	80	28	,	,	PUNCT
hjic-486	80	29	k|k−1	k|k−1	X
hjic-486	80	30	=	=	SYM
hjic-486	80	31	h(xi	h(xi	X
hjic-486	80	32	,	,	PUNCT
hjic-486	80	33	k|k−1	k|k−1	NOUN
hjic-486	80	34	x	x	NOUN
hjic-486	80	35	,	,	PUNCT
hjic-486	80	36	xk|k−1	xk|k−1	PROPN
hjic-486	80	37	n	n	PROPN
hjic-486	80	38	)	)	PUNCT
hjic-486	80	39	,	,	PUNCT
hjic-486	80	40	i	i	PRON
hjic-486	80	41	=	=	NOUN
hjic-486	80	42	0	0	NUM
hjic-486	80	43	,	,	PUNCT
hjic-486	80	44	…	…	PUNCT
hjic-486	80	45	,	,	PUNCT
hjic-486	80	46	2l	2l	X
hjic-486	80	47	ŷk	ŷk	X
hjic-486	80	48	−	−	PROPN
hjic-486	80	49	=	=	SYM
hjic-486	80	50	wi	wi	PROPN
hjic-486	80	51	myi	myi	PROPN
hjic-486	80	52	,	,	PUNCT
hjic-486	80	53	k|k−1	k|k−1	NOUN
hjic-486	80	54	i=0	i=0	PROPN
hjic-486	80	55	2l	2l	X
hjic-486	80	56	∑	∑	PUNCT
hjic-486	80	57	pŷk	pŷk	PROPN
hjic-486	80	58	=	=	SYM
hjic-486	80	59	wi	wi	PROPN
hjic-486	80	60	c1	c1	PROPN
hjic-486	80	61	(	(	PUNCT
hjic-486	80	62	yi	yi	PROPN
hjic-486	80	63	,	,	PUNCT
hjic-486	80	64	k|k−1	k|k−1	X
hjic-486	80	65	−yl+i	−yl+i	NOUN
hjic-486	80	66	,	,	PUNCT
hjic-486	80	67	k|k−1)2	k|k−1)2	PROPN
hjic-486	80	68	i=0	i=0	PROPN
hjic-486	80	69	2l	2l	PROPN
hjic-486	80	70	∑	∑	PUNCT
hjic-486	80	71	+	+	NUM
hjic-486	80	72	wi	wi	PROPN
hjic-486	80	73	c2	c2	PROPN
hjic-486	80	74	(	(	PUNCT
hjic-486	80	75	yi	yi	PROPN
hjic-486	80	76	,	,	PUNCT
hjic-486	80	77	k|k−1	k|k−1	X
hjic-486	80	78	+	+	PROPN
hjic-486	80	79	yl+i	yl+i	PROPN
hjic-486	80	80	,	,	PUNCT
hjic-486	80	81	k|k−1	k|k−1	NOUN
hjic-486	80	82	−	−	PROPN
hjic-486	80	83	2y0,k|k−1)2	2y0,k|k−1)2	PROPN
hjic-486	80	84	i=0	i=0	PROPN
hjic-486	80	85	2l	2l	NUM
hjic-486	80	86	∑	∑	PUNCT
hjic-486	80	87	pxkyk	pxkyk	NOUN
hjic-486	80	88	=	=	SYM
hjic-486	80	89	w1	w1	NOUN
hjic-486	80	90	c1pxk	c1pxk	NOUN
hjic-486	80	91	−	−	PROPN
hjic-486	80	92	(	(	PUNCT
hjic-486	80	93	y1	y1	INTJ
hjic-486	80	94	:	:	PUNCT
hjic-486	80	95	l	l	NOUN
hjic-486	80	96	,	,	PUNCT
hjic-486	80	97	k|k−1	k|k−1	X
hjic-486	80	98	−yl+1:2l	−yl+1:2l	NOUN
hjic-486	80	99	,	,	PUNCT
hjic-486	80	100	k|k−1)t	k|k−1)t	PROPN
hjic-486	80	101	kk	kk	PROPN
hjic-486	80	102	=	=	PUNCT
hjic-486	81	1	pxkyk	pxkyk	AUX
hjic-486	81	2	pŷk	pŷk	VERB
hjic-486	81	3	−1	−1	NOUN
hjic-486	81	4	x̂k	x̂k	PUNCT
hjic-486	81	5	=	=	PUNCT
hjic-486	82	1	x̂k	x̂k	NUM
hjic-486	83	1	−	−	PROPN
hjic-486	84	1	+	+	NOUN
hjic-486	84	2	kk	kk	X
hjic-486	84	3	(	(	PUNCT
hjic-486	84	4	yk	yk	PROPN
hjic-486	84	5	−	−	PROPN
hjic-486	84	6	ŷk	ŷk	PROPN
hjic-486	84	7	−	−	NOUN
hjic-486	84	8	)	)	PUNCT
hjic-486	84	9	pxk	pxk	NOUN
hjic-486	84	10	=	=	PUNCT
hjic-486	84	11	pxk	pxk	NOUN
hjic-486	84	12	−	−	PROPN
hjic-486	84	13	−kkpŷkkk	−kkpŷkkk	PROPN
hjic-486	84	14	t	t	PROPN
hjic-486	84	15	(	(	PUNCT
hjic-486	84	16	18	18	NUM
hjic-486	84	17	)	)	PUNCT
hjic-486	84	18	symmetry	symmetry	NOUN
hjic-486	84	19	-	-	PUNCT
hjic-486	84	20	preserving	preserve	VERB
hjic-486	84	21	observers	observer	NOUN
hjic-486	84	22	among	among	ADP
hjic-486	84	23	many	many	ADJ
hjic-486	84	24	problems	problem	NOUN
hjic-486	84	25	in	in	ADP
hjic-486	84	26	control	control	NOUN
hjic-486	84	27	theory	theory	NOUN
hjic-486	84	28	,	,	PUNCT
hjic-486	84	29	the	the	DET
hjic-486	84	30	symmetric	symmetric	ADJ
hjic-486	84	31	nature	nature	NOUN
hjic-486	84	32	of	of	ADP
hjic-486	84	33	the	the	DET
hjic-486	84	34	system	system	NOUN
hjic-486	84	35	can	can	AUX
hjic-486	84	36	be	be	AUX
hjic-486	84	37	utilized	utilize	VERB
hjic-486	84	38	,	,	PUNCT
hjic-486	84	39	such	such	ADJ
hjic-486	84	40	as	as	ADP
hjic-486	84	41	in	in	ADP
hjic-486	84	42	the	the	DET
hjic-486	84	43	case	case	NOUN
hjic-486	84	44	of	of	ADP
hjic-486	84	45	optimal	optimal	ADJ
hjic-486	84	46	control	control	NOUN
hjic-486	84	47	for	for	ADP
hjic-486	84	48	feedback	feedback	NOUN
hjic-486	84	49	or	or	CCONJ
hjic-486	84	50	regulations	regulation	NOUN
hjic-486	84	51	.	.	PUNCT
hjic-486	85	1	the	the	DET
hjic-486	85	2	symmetry	symmetry	NOUN
hjic-486	85	3	properties	property	NOUN
hjic-486	85	4	can	can	AUX
hjic-486	85	5	also	also	ADV
hjic-486	85	6	be	be	AUX
hjic-486	85	7	used	use	VERB
hjic-486	85	8	in	in	ADP
hjic-486	85	9	the	the	DET
hjic-486	85	10	design	design	NOUN
hjic-486	85	11	of	of	ADP
hjic-486	85	12	observers	observer	NOUN
hjic-486	85	13	.	.	PUNCT
hjic-486	86	1	symmetry	symmetry	NOUN
hjic-486	86	2	-	-	PUNCT
hjic-486	86	3	preserving	preserve	VERB
hjic-486	86	4	observers	observer	NOUN
hjic-486	86	5	are	be	AUX
hjic-486	86	6	also	also	ADV
hjic-486	86	7	known	know	VERB
hjic-486	86	8	as	as	ADP
hjic-486	86	9	invariant	invariant	ADJ
hjic-486	86	10	observers	observer	NOUN
hjic-486	86	11	that	that	PRON
hjic-486	86	12	are	be	AUX
hjic-486	86	13	based	base	VERB
hjic-486	86	14	on	on	ADP
hjic-486	86	15	the	the	DET
hjic-486	86	16	differential	differential	ADJ
hjic-486	86	17	geometric	geometric	ADJ
hjic-486	86	18	background	background	NOUN
hjic-486	86	19	of	of	ADP
hjic-486	86	20	abstract	abstract	ADJ
hjic-486	86	21	liegroups	liegroup	NOUN
hjic-486	86	22	[	[	X
hjic-486	86	23	15	15	NUM
hjic-486	86	24	,	,	PUNCT
hjic-486	86	25	16	16	NUM
hjic-486	86	26	,	,	PUNCT
hjic-486	86	27	18	18	NUM
hjic-486	86	28	]	]	PUNCT
hjic-486	86	29	.	.	PUNCT
hjic-486	87	1	the	the	DET
hjic-486	87	2	constructive	constructive	ADJ
hjic-486	87	3	algorithm	algorithm	NOUN
hjic-486	87	4	can	can	AUX
hjic-486	87	5	be	be	AUX
hjic-486	87	6	defined	define	VERB
hjic-486	87	7	for	for	ADP
hjic-486	87	8	designing	design	VERB
hjic-486	87	9	invariant	invariant	ADJ
hjic-486	87	10	observers	observer	NOUN
hjic-486	87	11	,	,	PUNCT
hjic-486	87	12	which	which	PRON
hjic-486	87	13	is	be	AUX
hjic-486	87	14	based	base	VERB
hjic-486	87	15	on	on	ADP
hjic-486	87	16	the	the	DET
hjic-486	87	17	group	group	NOUN
hjic-486	87	18	transformation	transformation	NOUN
hjic-486	87	19	of	of	ADP
hjic-486	87	20	symmetry	symmetry	NOUN
hjic-486	87	21	.	.	PUNCT
hjic-486	88	1	the	the	DET
hjic-486	88	2	aim	aim	NOUN
hjic-486	88	3	is	be	AUX
hjic-486	88	4	to	to	PART
hjic-486	88	5	produce	produce	VERB
hjic-486	88	6	invariant	invariant	ADJ
hjic-486	88	7	frames	frame	NOUN
hjic-486	88	8	and	and	CCONJ
hjic-486	88	9	invariant	invariant	ADJ
hjic-486	88	10	output	output	NOUN
hjic-486	88	11	errors	error	NOUN
hjic-486	88	12	to	to	PART
hjic-486	88	13	transform	transform	VERB
hjic-486	88	14	a	a	DET
hjic-486	88	15	locally	locally	ADV
hjic-486	88	16	asymptotically	asymptotically	ADV
hjic-486	88	17	convergent	convergent	ADJ
hjic-486	88	18	observer	observer	NOUN
hjic-486	88	19	around	around	ADP
hjic-486	88	20	an	an	DET
hjic-486	88	21	equilibrium	equilibrium	NOUN
hjic-486	88	22	point	point	NOUN
hjic-486	88	23	into	into	ADP
hjic-486	88	24	an	an	DET
hjic-486	88	25	invariant	invariant	ADJ
hjic-486	88	26	one	one	NOUN
hjic-486	88	27	,	,	PUNCT
hjic-486	88	28	retaining	retain	VERB
hjic-486	88	29	its	its	PRON
hjic-486	88	30	first	first	ADJ
hjic-486	88	31	-	-	PUNCT
hjic-486	88	32	order	order	NOUN
hjic-486	88	33	approximation	approximation	NOUN
hjic-486	88	34	.	.	PUNCT
hjic-486	89	1	the	the	DET
hjic-486	89	2	method	method	NOUN
hjic-486	89	3	in	in	ADP
hjic-486	89	4	refs	ref	NOUN
hjic-486	89	5	.	.	PUNCT
hjic-486	90	1	[	[	X
hjic-486	90	2	16	16	NUM
hjic-486	90	3	,	,	PUNCT
hjic-486	90	4	18	18	NUM
hjic-486	90	5	]	]	PUNCT
hjic-486	90	6	benefits	benefit	NOUN
hjic-486	90	7	from	from	ADP
hjic-486	90	8	the	the	DET
hjic-486	90	9	fact	fact	NOUN
hjic-486	90	10	that	that	SCONJ
hjic-486	90	11	the	the	DET
hjic-486	90	12	error	error	NOUN
hjic-486	90	13	equations	equation	NOUN
hjic-486	90	14	and	and	CCONJ
hjic-486	90	15	the	the	DET
hjic-486	90	16	first	first	ADJ
hjic-486	90	17	-	-	PUNCT
hjic-486	90	18	order	order	NOUN
hjic-486	90	19	approximation	approximation	NOUN
hjic-486	90	20	can	can	AUX
hjic-486	90	21	be	be	AUX
hjic-486	90	22	calculated	calculate	VERB
hjic-486	90	23	explicitly	explicitly	ADV
hjic-486	90	24	and	and	CCONJ
hjic-486	90	25	the	the	DET
hjic-486	90	26	relationships	relationship	NOUN
hjic-486	90	27	can	can	AUX
hjic-486	90	28	be	be	AUX
hjic-486	90	29	defined	define	VERB
hjic-486	90	30	globally	globally	ADV
hjic-486	90	31	.	.	PUNCT
hjic-486	91	1	in	in	ADP
hjic-486	91	2	addition	addition	NOUN
hjic-486	91	3	,	,	PUNCT
hjic-486	91	4	the	the	DET
hjic-486	91	5	invariant	invariant	ADJ
hjic-486	91	6	error	error	NOUN
hjic-486	91	7	equations	equation	NOUN
hjic-486	91	8	make	make	VERB
hjic-486	91	9	stability	stability	NOUN
hjic-486	91	10	issues	issue	NOUN
hjic-486	91	11	easier	easy	ADJ
hjic-486	91	12	to	to	PART
hjic-486	91	13	deal	deal	VERB
hjic-486	91	14	with	with	ADP
hjic-486	91	15	[	[	X
hjic-486	91	16	1921	1921	NUM
hjic-486	91	17	]	]	PUNCT
hjic-486	91	18	.	.	PUNCT
hjic-486	92	1	assumptions	assumption	NOUN
hjic-486	92	2	suppose	suppose	VERB
hjic-486	92	3	g	g	NOUN
hjic-486	92	4	is	be	AUX
hjic-486	92	5	a	a	DET
hjic-486	92	6	lie	lie	NOUN
hjic-486	92	7	-	-	PUNCT
hjic-486	92	8	group	group	NOUN
hjic-486	92	9	with	with	ADP
hjic-486	92	10	identity	identity	NOUN
hjic-486	92	11	e	e	NOUN
hjic-486	92	12	on	on	ADP
hjic-486	92	13	manifold	manifold	PROPN
hjic-486	92	14	σ	σ	PROPN
hjic-486	92	15	.	.	PUNCT
hjic-486	93	1	the	the	DET
hjic-486	93	2	group	group	NOUN
hjic-486	93	3	transformation	transformation	NOUN
hjic-486	93	4	(	(	PUNCT
hjic-486	93	5	ϕg	ϕg	NOUN
hjic-486	93	6	)	)	PUNCT
hjic-486	93	7	g∈g	g∈g	PROPN
hjic-486	93	8	on	on	ADP
hjic-486	93	9	σ	σ	PROPN
hjic-486	93	10	is	be	AUX
hjic-486	93	11	a	a	DET
hjic-486	93	12	smooth	smooth	ADJ
hjic-486	93	13	mapping	mapping	NOUN
hjic-486	93	14	(	(	PUNCT
hjic-486	93	15	g	g	PROPN
hjic-486	93	16	,	,	PUNCT
hjic-486	93	17	ξ	ξ	PROPN
hjic-486	93	18	)	)	PUNCT
hjic-486	93	19	∈g	∈g	NOUN
hjic-486	93	20	×σ→ϕg(ξ	×σ→ϕg(ξ	X
hjic-486	93	21	)	)	PUNCT
hjic-486	94	1	∈	∈	PROPN
hjic-486	94	2	σ	σ	PROPN
hjic-486	94	3	(	(	PUNCT
hjic-486	94	4	19	19	NUM
hjic-486	94	5	)	)	PUNCT
hjic-486	94	6	such	such	ADJ
hjic-486	94	7	that	that	PRON
hjic-486	94	8	ϕe(ξ	ϕe(ξ	PUNCT
hjic-486	94	9	)	)	PUNCT
hjic-486	94	10	=	=	SYM
hjic-486	94	11	ξ	ξ	PROPN
hjic-486	94	12	and	and	CCONJ
hjic-486	94	13	ϕg2	ϕg2	PROPN
hjic-486	94	14	(	(	PUNCT
hjic-486	94	15	ϕg1	ϕg1	NOUN
hjic-486	94	16	(	(	PUNCT
hjic-486	94	17	ξ	ξ	PROPN
hjic-486	94	18	)	)	PUNCT
hjic-486	94	19	)	)	PUNCT
hjic-486	95	1	=	=	PRON
hjic-486	95	2	ϕg2g1	ϕg2g1	PROPN
hjic-486	95	3	(	(	PUNCT
hjic-486	95	4	ξ	ξ	PROPN
hjic-486	95	5	)	)	PUNCT
hjic-486	95	6	for	for	ADP
hjic-486	95	7	ζ	ζ	NOUN
hjic-486	95	8	,	,	PUNCT
hjic-486	95	9	g1	g1	NOUN
hjic-486	95	10	,	,	PUNCT
hjic-486	95	11	and	and	CCONJ
hjic-486	95	12	g2	g2	PROPN
hjic-486	95	13	.	.	PUNCT
hjic-486	96	1	the	the	DET
hjic-486	96	2	transformation	transformation	NOUN
hjic-486	96	3	group	group	NOUN
hjic-486	96	4	is	be	AUX
hjic-486	96	5	local	local	ADJ
hjic-486	96	6	if	if	SCONJ
hjic-486	96	7	ϕg(ξ	ϕg(ξ	NUM
hjic-486	96	8	)	)	PUNCT
hjic-486	96	9	is	be	AUX
hjic-486	96	10	defined	define	VERB
hjic-486	96	11	only	only	ADV
hjic-486	96	12	when	when	SCONJ
hjic-486	96	13	g	g	PROPN
hjic-486	96	14	lies	lie	VERB
hjic-486	96	15	sufficiently	sufficiently	ADV
hjic-486	96	16	near	near	ADV
hjic-486	96	17	to	to	ADP
hjic-486	96	18	e.	e.	PROPN
hjic-486	96	19	we	we	PRON
hjic-486	96	20	consider	consider	VERB
hjic-486	96	21	only	only	ADV
hjic-486	96	22	local	local	ADJ
hjic-486	96	23	transformations	transformation	NOUN
hjic-486	96	24	.	.	PUNCT
hjic-486	97	1	invariant	invariant	ADJ
hjic-486	97	2	observers	observer	NOUN
hjic-486	97	3	are	be	AUX
hjic-486	97	4	designed	design	VERB
hjic-486	97	5	for	for	ADP
hjic-486	97	6	the	the	DET
hjic-486	97	7	smooth	smooth	ADJ
hjic-486	97	8	nonlinear	nonlinear	ADJ
hjic-486	97	9	system	system	NOUN
hjic-486	98	1	d	d	NOUN
hjic-486	98	2	dt	dt	NOUN
hjic-486	98	3	x	x	X
hjic-486	98	4	=	=	SYM
hjic-486	98	5	f	f	X
hjic-486	98	6	(	(	PUNCT
hjic-486	98	7	x	x	X
hjic-486	98	8	,	,	PUNCT
hjic-486	98	9	u	u	NOUN
hjic-486	98	10	)	)	PUNCT
hjic-486	98	11	,	,	PUNCT
hjic-486	98	12	y	y	PROPN
hjic-486	98	13	=	=	SYM
hjic-486	98	14	h(x	h(x	PROPN
hjic-486	98	15	,	,	PUNCT
hjic-486	98	16	u	u	NOUN
hjic-486	98	17	)	)	PUNCT
hjic-486	98	18	(	(	PUNCT
hjic-486	98	19	20	20	NUM
hjic-486	98	20	)	)	PUNCT
hjic-486	99	1	where	where	SCONJ
hjic-486	99	2	x	x	X
hjic-486	99	3	,	,	PUNCT
hjic-486	99	4	u	u	NOUN
hjic-486	99	5	,	,	PUNCT
hjic-486	99	6	and	and	CCONJ
hjic-486	99	7	y	y	PROPN
hjic-486	99	8	belong	belong	VERB
hjic-486	99	9	to	to	ADP
hjic-486	99	10	the	the	DET
hjic-486	99	11	open	open	ADJ
hjic-486	99	12	subsets	subset	NOUN
hjic-486	99	13	x	x	X
hjic-486	99	14	⊂	⊂	PROPN
hjic-486	99	15	ℝn	ℝn	PROPN
hjic-486	99	16	,	,	PUNCT
hjic-486	99	17	⊂u	⊂u	PROPN
hjic-486	99	18	ℝm	ℝm	PROPN
hjic-486	99	19	,	,	PUNCT
hjic-486	99	20	and	and	CCONJ
hjic-486	99	21	⊂y	⊂y	NOUN
hjic-486	99	22	ℝp	ℝp	ADP
hjic-486	99	23	respectively	respectively	ADV
hjic-486	99	24	and	and	CCONJ
hjic-486	99	25	p	p	NOUN
hjic-486	99	26	≤	≤	NUM
hjic-486	99	27	n	n	NOUN
hjic-486	99	28	.	.	PUNCT
hjic-486	100	1	let	let	VERB
hjic-486	100	2	r	r	NOUN
hjic-486	100	3	≤	≤	NOUN
hjic-486	100	4	n	n	CCONJ
hjic-486	100	5	be	be	AUX
hjic-486	100	6	the	the	DET
hjic-486	100	7	dimension	dimension	NOUN
hjic-486	100	8	of	of	ADP
hjic-486	100	9	the	the	DET
hjic-486	100	10	lie	lie	NOUN
hjic-486	100	11	-	-	PUNCT
hjic-486	100	12	group	group	NOUN
hjic-486	100	13	.	.	PUNCT
hjic-486	101	1	we	we	PRON
hjic-486	101	2	assume	assume	VERB
hjic-486	101	3	that	that	SCONJ
hjic-486	101	4	for	for	ADP
hjic-486	101	5	each	each	DET
hjic-486	101	6	x	x	PUNCT
hjic-486	101	7	the	the	DET
hjic-486	101	8	mapping	mapping	NOUN
hjic-486	101	9	x→φg(x	x→φg(x	PROPN
hjic-486	101	10	)	)	PUNCT
hjic-486	101	11	is	be	AUX
hjic-486	101	12	full	full	ADJ
hjic-486	101	13	rank	rank	NOUN
hjic-486	101	14	.	.	PUNCT
hjic-486	102	1	time	time	NOUN
hjic-486	102	2	functions	function	NOUN
hjic-486	102	3	u(t	u(t	NOUN
hjic-486	102	4	)	)	PUNCT
hjic-486	102	5	and	and	CCONJ
hjic-486	102	6	y(t	y(t	NUM
hjic-486	102	7	)	)	PUNCT
hjic-486	102	8	are	be	AUX
hjic-486	102	9	known	know	VERB
hjic-486	102	10	.	.	PUNCT
hjic-486	103	1	invariant	invariant	ADJ
hjic-486	103	2	pre	pre	NOUN
hjic-486	103	3	-	-	NOUN
hjic-486	103	4	observer	observer	NOUN
hjic-486	103	5	for	for	ADP
hjic-486	103	6	the	the	DET
hjic-486	103	7	differential	differential	ADJ
hjic-486	103	8	geometric	geometric	ADJ
hjic-486	103	9	description	description	NOUN
hjic-486	103	10	of	of	ADP
hjic-486	103	11	the	the	DET
hjic-486	103	12	symmetric	symmetric	ADJ
hjic-486	103	13	observers	observer	NOUN
hjic-486	103	14	[	[	X
hjic-486	103	15	14	14	NUM
hjic-486	103	16	]	]	PUNCT
hjic-486	103	17	,	,	PUNCT
hjic-486	103	18	the	the	DET
hjic-486	103	19	following	follow	VERB
hjic-486	103	20	definitions	definition	NOUN
hjic-486	103	21	and	and	CCONJ
hjic-486	103	22	theorems	theorem	NOUN
hjic-486	103	23	should	should	AUX
hjic-486	103	24	be	be	AUX
hjic-486	103	25	introduced	introduce	VERB
hjic-486	103	26	:	:	PUNCT
hjic-486	103	27	definition	definition	NOUN
hjic-486	103	28	1	1	NUM
hjic-486	103	29	.	.	PUNCT
hjic-486	104	1	the	the	DET
hjic-486	104	2	group	group	NOUN
hjic-486	104	3	of	of	ADP
hjic-486	104	4	local	local	ADJ
hjic-486	104	5	transformation	transformation	NOUN
hjic-486	104	6	on	on	ADP
hjic-486	104	7	manifold	manifold	ADJ
hjic-486	104	8	ux×	ux×	NOUN
hjic-486	104	9	is	be	AUX
hjic-486	104	10	expressed	express	VERB
hjic-486	104	11	by	by	ADP
hjic-486	104	12	(	(	PUNCT
hjic-486	104	13	x	x	NOUN
hjic-486	104	14	,	,	PUNCT
hjic-486	104	15	u	u	NOUN
hjic-486	104	16	)	)	PUNCT
hjic-486	104	17	=	=	SYM
hjic-486	104	18	(	(	PUNCT
hjic-486	104	19	φg(x),ψg(u	φg(x),ψg(u	NOUN
hjic-486	104	20	)	)	PUNCT
hjic-486	104	21	)	)	PUNCT
hjic-486	104	22	(	(	PUNCT
hjic-486	104	23	21	21	NUM
hjic-486	104	24	)	)	PUNCT
hjic-486	104	25	where	where	SCONJ
hjic-486	104	26	φg(x),ψg(u	φg(x),ψg(u	X
hjic-486	104	27	)	)	PUNCT
hjic-486	104	28	is	be	AUX
hjic-486	104	29	local	local	ADJ
hjic-486	104	30	diffeomorphism	diffeomorphism	NOUN
hjic-486	104	31	and	and	CCONJ
hjic-486	104	32	g	g	NOUN
hjic-486	104	33	∈g	∈g	NOUN
hjic-486	104	34	definition	definition	NOUN
hjic-486	104	35	2	2	NUM
hjic-486	104	36	.	.	PUNCT
hjic-486	104	37	system	system	NOUN
hjic-486	105	1	d	d	NOUN
hjic-486	105	2	dt	dt	NOUN
hjic-486	105	3	x	x	X
hjic-486	105	4	=	=	SYM
hjic-486	105	5	f	f	X
hjic-486	105	6	(	(	PUNCT
hjic-486	105	7	x	x	X
hjic-486	105	8	,	,	PUNCT
hjic-486	105	9	u	u	NOUN
hjic-486	105	10	)	)	PUNCT
hjic-486	105	11	is	be	AUX
hjic-486	105	12	g	g	NOUN
hjic-486	105	13	-	-	PUNCT
hjic-486	105	14	invariant	invariant	ADJ
hjic-486	105	15	,	,	PUNCT
hjic-486	105	16	if	if	SCONJ
hjic-486	105	17	f	f	PROPN
hjic-486	105	18	(	(	PUNCT
hjic-486	105	19	φg(x),ψg(u	φg(x),ψg(u	NUM
hjic-486	105	20	)	)	PUNCT
hjic-486	105	21	)	)	PUNCT
hjic-486	106	1	=	=	PUNCT
hjic-486	106	2	dφg(x	dφg(x	NOUN
hjic-486	106	3	)	)	PUNCT
hjic-486	106	4	⋅	⋅	PROPN
hjic-486	106	5	f	f	X
hjic-486	106	6	(	(	PUNCT
hjic-486	106	7	x	x	X
hjic-486	106	8	,	,	PUNCT
hjic-486	106	9	u	u	NOUN
hjic-486	106	10	)	)	PUNCT
hjic-486	106	11	for	for	ADP
hjic-486	106	12	g	g	PROPN
hjic-486	106	13	,	,	PUNCT
hjic-486	106	14	x	x	PRON
hjic-486	106	15	,	,	PUNCT
hjic-486	106	16	u.	u.	PROPN
hjic-486	106	17	thus	thus	ADV
hjic-486	106	18	,	,	PUNCT
hjic-486	106	19	the	the	DET
hjic-486	106	20	system	system	NOUN
hjic-486	106	21	remains	remain	VERB
hjic-486	106	22	unchanged	unchanged	ADJ
hjic-486	106	23	for	for	ADP
hjic-486	106	24	the	the	DET
hjic-486	106	25	local	local	ADJ
hjic-486	106	26	transformation	transformation	NOUN
hjic-486	106	27	,	,	PUNCT
hjic-486	106	28	!	!	PUNCT
hjic-486	106	29	x	x	X
hjic-486	107	1	=	=	SYM
hjic-486	107	2	f	f	X
hjic-486	107	3	(	(	PUNCT
hjic-486	107	4	x	x	X
hjic-486	107	5	,	,	PUNCT
hjic-486	107	6	u	u	NOUN
hjic-486	107	7	)	)	PUNCT
hjic-486	107	8	.	.	PUNCT
hjic-486	108	1	definition	definition	NOUN
hjic-486	108	2	3	3	NUM
hjic-486	108	3	.	.	PUNCT
hjic-486	109	1	the	the	DET
hjic-486	109	2	output	output	NOUN
hjic-486	109	3	y	y	PROPN
hjic-486	109	4	=	=	SYM
hjic-486	109	5	h(x	h(x	PROPN
hjic-486	109	6	,	,	PUNCT
hjic-486	109	7	u	u	NOUN
hjic-486	109	8	)	)	PUNCT
hjic-486	109	9	is	be	AUX
hjic-486	109	10	g	g	NOUN
hjic-486	109	11	-	-	PUNCT
hjic-486	109	12	equivariant	equivariant	ADJ
hjic-486	109	13	,	,	PUNCT
hjic-486	109	14	if	if	SCONJ
hjic-486	109	15	there	there	PRON
hjic-486	109	16	exists	exist	VERB
hjic-486	109	17	ρg	ρg	ADP
hjic-486	109	18	transformation	transformation	NOUN
hjic-486	109	19	on	on	ADP
hjic-486	109	20	y	y	PROPN
hjic-486	109	21	,	,	PUNCT
hjic-486	109	22	such	such	ADJ
hjic-486	109	23	that	that	SCONJ
hjic-486	109	24	g	g	PROPN
hjic-486	109	25	∈g	∈g	NOUN
hjic-486	109	26	and	and	CCONJ
hjic-486	109	27	h(φg(x),ψg(u	h(φg(x),ψg(u	NUM
hjic-486	109	28	)	)	PUNCT
hjic-486	109	29	)	)	PUNCT
hjic-486	110	1	=	=	SYM
hjic-486	110	2	ρg(h(x	ρg(h(x	PROPN
hjic-486	110	3	,	,	PUNCT
hjic-486	110	4	u	u	NOUN
hjic-486	110	5	)	)	PUNCT
hjic-486	110	6	)	)	PUNCT
hjic-486	110	7	for	for	ADP
hjic-486	110	8	g	g	NOUN
hjic-486	110	9	,	,	PUNCT
hjic-486	110	10	x	x	PRON
hjic-486	110	11	,	,	PUNCT
hjic-486	110	12	u.	u.	PROPN
hjic-486	110	13	thus	thus	ADV
hjic-486	110	14	,	,	PUNCT
hjic-486	110	15	the	the	DET
hjic-486	110	16	output	output	NOUN
hjic-486	110	17	remains	remain	VERB
hjic-486	110	18	unchanged	unchanged	ADJ
hjic-486	110	19	for	for	ADP
hjic-486	110	20	the	the	DET
hjic-486	110	21	local	local	ADJ
hjic-486	110	22	transformation	transformation	NOUN
hjic-486	110	23	,	,	PUNCT
hjic-486	110	24	y	y	PROPN
hjic-486	110	25	=	=	SYM
hjic-486	110	26	h(x	h(x	PROPN
hjic-486	110	27	,	,	PUNCT
hjic-486	110	28	u	u	NOUN
hjic-486	110	29	)	)	PUNCT
hjic-486	110	30	.	.	PUNCT
hjic-486	111	1	definition	definition	NOUN
hjic-486	111	2	4	4	NUM
hjic-486	111	3	.	.	PUNCT
hjic-486	112	1	the	the	DET
hjic-486	112	2	vector	vector	NOUN
hjic-486	112	3	field	field	NOUN
hjic-486	112	4	w	w	NOUN
hjic-486	112	5	is	be	AUX
hjic-486	112	6	g	g	NOUN
hjic-486	112	7	-	-	PUNCT
hjic-486	112	8	invariant	invariant	ADJ
hjic-486	112	9	on	on	ADP
hjic-486	112	10	manifold	manifold	ADJ
hjic-486	112	11	x	x	NOUN
hjic-486	112	12	,	,	PUNCT
hjic-486	112	13	if	if	SCONJ
hjic-486	112	14	d	d	PROPN
hjic-486	112	15	dt	dt	X
hjic-486	112	16	x	x	SYM
hjic-486	112	17	=	=	SYM
hjic-486	112	18	w(x	w(x	NOUN
hjic-486	112	19	)	)	PUNCT
hjic-486	112	20	is	be	AUX
hjic-486	112	21	invariant	invariant	ADJ
hjic-486	112	22	to	to	ADP
hjic-486	112	23	the	the	DET
hjic-486	112	24	transformation	transformation	NOUN
hjic-486	112	25	,	,	PUNCT
hjic-486	112	26	i.e.	i.e.	X
hjic-486	112	27	w(φg(x	w(φg(x	NUM
hjic-486	112	28	)	)	PUNCT
hjic-486	112	29	)	)	PUNCT
hjic-486	113	1	=	=	PUNCT
hjic-486	113	2	dφg(x	dφg(x	PROPN
hjic-486	113	3	)	)	PUNCT
hjic-486	113	4	⋅w(x	⋅w(x	NOUN
hjic-486	113	5	)	)	PUNCT
hjic-486	113	6	for	for	ADP
hjic-486	113	7	g	g	NOUN
hjic-486	113	8	,	,	PUNCT
hjic-486	113	9	x.	x.	NOUN
hjic-486	113	10	definition	definition	NOUN
hjic-486	113	11	5	5	NUM
hjic-486	113	12	.	.	PUNCT
hjic-486	114	1	an	an	DET
hjic-486	114	2	invariant	invariant	ADJ
hjic-486	114	3	frame	frame	NOUN
hjic-486	114	4	(	(	PUNCT
hjic-486	114	5	w1	w1	NOUN
hjic-486	114	6	,	,	PUNCT
hjic-486	114	7	w2	w2	NOUN
hjic-486	114	8	,	,	PUNCT
hjic-486	114	9	…	…	PUNCT
hjic-486	114	10	,	,	PUNCT
hjic-486	114	11	w3	w3	PROPN
hjic-486	114	12	)	)	PUNCT
hjic-486	114	13	consists	consist	VERB
hjic-486	114	14	of	of	ADP
hjic-486	114	15	n	n	CCONJ
hjic-486	114	16	linearly	linearly	ADV
hjic-486	114	17	point	point	ADV
hjic-486	114	18	-	-	PUNCT
hjic-486	114	19	wise	wise	ADJ
hjic-486	114	20	independent	independent	ADJ
hjic-486	114	21	ginvariant	ginvariant	ADJ
hjic-486	114	22	vector	vector	NOUN
hjic-486	114	23	fields	field	NOUN
hjic-486	114	24	on	on	ADP
hjic-486	114	25	x	x	PUNCT
hjic-486	114	26	thus	thus	ADV
hjic-486	114	27	(	(	PUNCT
hjic-486	114	28	w1(x),w2(x),	w1(x),w2(x),	NOUN
hjic-486	114	29	…	…	SYM
hjic-486	114	30	,wn	,wn	X
hjic-486	114	31	(	(	PUNCT
hjic-486	114	32	x	x	NOUN
hjic-486	114	33	)	)	PUNCT
hjic-486	114	34	)	)	PUNCT
hjic-486	114	35	is	be	AUX
hjic-486	114	36	a	a	DET
hjic-486	114	37	basis	basis	NOUN
hjic-486	114	38	of	of	ADP
hjic-486	114	39	the	the	DET
hjic-486	114	40	tangent	tangent	ADJ
hjic-486	114	41	space	space	NOUN
hjic-486	114	42	tx(x	tx(x	NOUN
hjic-486	114	43	)	)	PUNCT
hjic-486	114	44	.	.	PUNCT
hjic-486	115	1	lemma	lemma	PROPN
hjic-486	115	2	1	1	NUM
hjic-486	115	3	.	.	PUNCT
hjic-486	116	1	the	the	DET
hjic-486	116	2	invariant	invariant	ADJ
hjic-486	116	3	frame	frame	NOUN
hjic-486	116	4	can	can	AUX
hjic-486	116	5	be	be	AUX
hjic-486	116	6	constructed	construct	VERB
hjic-486	116	7	from	from	ADP
hjic-486	116	8	the	the	DET
hjic-486	116	9	canonical	canonical	ADJ
hjic-486	116	10	basis	basis	NOUN
hjic-486	116	11	of	of	ADP
hjic-486	116	12	x.	x.	NOUN
hjic-486	116	13	the	the	DET
hjic-486	116	14	vector	vector	NOUN
hjic-486	116	15	field	field	NOUN
hjic-486	116	16	defined	define	VERB
hjic-486	116	17	by	by	ADP
hjic-486	116	18	wi(x	wi(x	NOUN
hjic-486	116	19	)	)	PUNCT
hjic-486	116	20	=	=	PUNCT
hjic-486	117	1	(	(	PUNCT
hjic-486	117	2	dφγ	dφγ	NOUN
hjic-486	117	3	(	(	PUNCT
hjic-486	117	4	x	x	NOUN
hjic-486	117	5	)	)	PUNCT
hjic-486	117	6	)	)	PUNCT
hjic-486	117	7	−1	−1	NOUN
hjic-486	117	8	⋅	⋅	PROPN
hjic-486	117	9	∂∂xi	∂∂xi	PROPN
hjic-486	117	10	(	(	PUNCT
hjic-486	117	11	22	22	NUM
hjic-486	117	12	)	)	PUNCT
hjic-486	117	13	for	for	ADP
hjic-486	117	14	i	i	PROPN
hjic-486	117	15	=	=	NOUN
hjic-486	117	16	1	1	NUM
hjic-486	117	17	,	,	PUNCT
hjic-486	117	18	…	…	PUNCT
hjic-486	117	19	,	,	PUNCT
hjic-486	117	20	n	n	PRON
hjic-486	117	21	forms	form	VERB
hjic-486	117	22	an	an	DET
hjic-486	117	23	invariant	invariant	ADJ
hjic-486	117	24	frame	frame	NOUN
hjic-486	117	25	.	.	PUNCT
hjic-486	118	1	definition	definition	NOUN
hjic-486	118	2	6	6	NUM
hjic-486	118	3	.	.	PUNCT
hjic-486	119	1	the	the	DET
hjic-486	119	2	system	system	NOUN
hjic-486	119	3	d	d	NOUN
hjic-486	119	4	dt	dt	NOUN
hjic-486	119	5	x̂	x̂	PUNCT
hjic-486	119	6	=	=	SYM
hjic-486	119	7	f(x̂,u	f(x̂,u	PROPN
hjic-486	119	8	,	,	PUNCT
hjic-486	119	9	y	y	NOUN
hjic-486	119	10	)	)	PUNCT
hjic-486	119	11	is	be	AUX
hjic-486	119	12	a	a	DET
hjic-486	119	13	preobserver	preobserver	NOUN
hjic-486	119	14	,	,	PUNCT
hjic-486	119	15	if	if	SCONJ
hjic-486	119	16	f(x	f(x	PROPN
hjic-486	119	17	,	,	PUNCT
hjic-486	119	18	u	u	NOUN
hjic-486	119	19	,	,	PUNCT
hjic-486	119	20	h(x	h(x	PROPN
hjic-486	119	21	,	,	PUNCT
hjic-486	119	22	u	u	NOUN
hjic-486	119	23	)	)	PUNCT
hjic-486	119	24	)	)	PUNCT
hjic-486	120	1	=	=	SYM
hjic-486	120	2	f	f	X
hjic-486	120	3	(	(	PUNCT
hjic-486	120	4	x	x	X
hjic-486	120	5	,	,	PUNCT
hjic-486	120	6	u	u	NOUN
hjic-486	120	7	)	)	PUNCT
hjic-486	120	8	is	be	AUX
hjic-486	120	9	satisfied	satisfied	ADJ
hjic-486	120	10	for	for	ADP
hjic-486	120	11	x	x	PUNCT
hjic-486	120	12	and	and	CCONJ
hjic-486	120	13	u.	u.	PROPN
hjic-486	120	14	furthermore	furthermore	ADV
hjic-486	120	15	,	,	PUNCT
hjic-486	120	16	if	if	SCONJ
hjic-486	120	17	lim	lim	PROPN
hjic-486	120	18	x̂(t	x̂(t	PRON
hjic-486	120	19	)	)	PUNCT
hjic-486	120	20	=	=	SYM
hjic-486	121	1	x(t	x(t	PROPN
hjic-486	121	2	)	)	PUNCT
hjic-486	121	3	as	as	ADP
hjic-486	121	4	t→∞	t→∞	NUM
hjic-486	121	5	,	,	PUNCT
hjic-486	121	6	then	then	ADV
hjic-486	121	7	the	the	DET
hjic-486	121	8	pre	pre	NOUN
hjic-486	121	9	-	-	NOUN
hjic-486	121	10	observer	observer	NOUN
hjic-486	121	11	is	be	AUX
hjic-486	121	12	asymptotic	asymptotic	ADJ
hjic-486	121	13	.	.	PUNCT
hjic-486	122	1	60	60	NUM
hjic-486	122	2	definition	definition	NOUN
hjic-486	122	3	7	7	NUM
hjic-486	122	4	.	.	PUNCT
hjic-486	123	1	the	the	DET
hjic-486	123	2	pre	pre	NOUN
hjic-486	123	3	-	-	NOUN
hjic-486	123	4	observer	observer	NOUN
hjic-486	123	5	is	be	AUX
hjic-486	123	6	g	g	NOUN
hjic-486	123	7	-	-	PUNCT
hjic-486	123	8	invariant	invariant	ADJ
hjic-486	123	9	,	,	PUNCT
hjic-486	123	10	if	if	SCONJ
hjic-486	123	11	)	)	PUNCT
hjic-486	123	12	,	,	PUNCT
hjic-486	123	13	,	,	PUNCT
hjic-486	123	14	ˆ()ˆ())(),(),ˆ	ˆ()ˆ())(),(),ˆ	PROPN
hjic-486	123	15	(	(	PUNCT
hjic-486	123	16	(	(	PUNCT
hjic-486	123	17	yuxfxdyuxf	yuxfxdyuxf	PROPN
hjic-486	123	18	gggg	gggg	PROPN
hjic-486	123	19	⋅=	⋅=	PROPN
hjic-486	123	20	ϕρψϕ	ϕρψϕ	NOUN
hjic-486	123	21	(	(	PUNCT
hjic-486	123	22	23	23	NUM
hjic-486	123	23	)	)	PUNCT
hjic-486	123	24	is	be	AUX
hjic-486	123	25	satisfied	satisfied	ADJ
hjic-486	123	26	for	for	ADP
hjic-486	123	27	g	g	NOUN
hjic-486	123	28	,	,	PUNCT
hjic-486	123	29	x̂	x̂	NUM
hjic-486	123	30	,	,	PUNCT
hjic-486	123	31	u	u	NOUN
hjic-486	123	32	,	,	PUNCT
hjic-486	123	33	and	and	CCONJ
hjic-486	123	34	y	y	PROPN
hjic-486	123	35	i.e.	i.e.	X
hjic-486	123	36	the	the	DET
hjic-486	123	37	observer	observer	NOUN
hjic-486	123	38	remains	remain	VERB
hjic-486	123	39	unchanged	unchanged	ADJ
hjic-486	123	40	for	for	ADP
hjic-486	123	41	the	the	DET
hjic-486	123	42	group	group	NOUN
hjic-486	123	43	transformation	transformation	NOUN
hjic-486	123	44	on	on	ADP
hjic-486	123	45	yu,,x	yu,,x	PRON
hjic-486	123	46	.	.	PUNCT
hjic-486	124	1	thus	thus	ADV
hjic-486	124	2	,	,	PUNCT
hjic-486	124	3	x	x	X
hjic-486	124	4	=	=	PUNCT
hjic-486	124	5	φg(x	φg(x	X
hjic-486	124	6	)	)	PUNCT
hjic-486	124	7	,	,	PUNCT
hjic-486	124	8	u	u	NOUN
hjic-486	124	9	=	=	NOUN
hjic-486	124	10	ψg(u	ψg(u	X
hjic-486	124	11	)	)	PUNCT
hjic-486	124	12	,	,	PUNCT
hjic-486	124	13	y	y	PROPN
hjic-486	124	14	=	=	SYM
hjic-486	124	15	ρg(y	ρg(y	NUM
hjic-486	124	16	)	)	PUNCT
hjic-486	124	17	,	,	PUNCT
hjic-486	124	18	and	and	CCONJ
hjic-486	124	19	d	d	ADP
hjic-486	124	20	dt	dt	X
hjic-486	124	21	x̂	x̂	PUNCT
hjic-486	124	22	=	=	SYM
hjic-486	124	23	f(x̂,u	f(x̂,u	PROPN
hjic-486	124	24	,	,	PUNCT
hjic-486	124	25	y	y	PROPN
hjic-486	124	26	)	)	PUNCT
hjic-486	124	27	.	.	PUNCT
hjic-486	125	1	an	an	DET
hjic-486	125	2	invariant	invariant	ADJ
hjic-486	125	3	observer	observer	NOUN
hjic-486	125	4	is	be	AUX
hjic-486	125	5	an	an	DET
hjic-486	125	6	asymptotic	asymptotic	ADJ
hjic-486	125	7	g	g	NOUN
hjic-486	125	8	-	-	PUNCT
hjic-486	125	9	invariant	invariant	ADJ
hjic-486	125	10	pre	pre	NOUN
hjic-486	125	11	-	-	NOUN
hjic-486	125	12	observer	observer	NOUN
hjic-486	125	13	.	.	PUNCT
hjic-486	126	1	moreover	moreover	ADV
hjic-486	126	2	,	,	PUNCT
hjic-486	126	3	if	if	SCONJ
hjic-486	126	4	the	the	DET
hjic-486	126	5	pre	pre	NOUN
hjic-486	126	6	-	-	NOUN
hjic-486	126	7	observer	observer	NOUN
hjic-486	126	8	is	be	AUX
hjic-486	126	9	ginvariant	ginvariant	ADJ
hjic-486	126	10	and	and	CCONJ
hjic-486	126	11	rank	rank	NOUN
hjic-486	126	12	(	(	PUNCT
hjic-486	126	13	f	f	X
hjic-486	126	14	)	)	PUNCT
hjic-486	126	15	=	=	VERB
hjic-486	127	1	dim	dim	ADJ
hjic-486	127	2	y	y	NOUN
hjic-486	127	3	,	,	PUNCT
hjic-486	127	4	then	then	ADV
hjic-486	127	5	the	the	DET
hjic-486	127	6	output	output	NOUN
hjic-486	127	7	map	map	NOUN
hjic-486	127	8	y	y	PROPN
hjic-486	127	9	is	be	AUX
hjic-486	127	10	g	g	NOUN
hjic-486	127	11	-	-	PUNCT
hjic-486	127	12	equivariant	equivariant	NOUN
hjic-486	127	13	.	.	PUNCT
hjic-486	128	1	definition	definition	NOUN
hjic-486	128	2	8	8	NUM
hjic-486	128	3	.	.	PUNCT
hjic-486	128	4	smooth	smooth	ADJ
hjic-486	128	5	map	map	NOUN
hjic-486	128	6	(	(	PUNCT
hjic-486	128	7	x̂,u	x̂,u	PROPN
hjic-486	128	8	,	,	PUNCT
hjic-486	128	9	y)→	y)→	NUM
hjic-486	128	10	e(x̂,u	e(x̂,u	VERB
hjic-486	128	11	,	,	PUNCT
hjic-486	128	12	y)∈	y)∈	PROPN
hjic-486	129	1	ℝp	ℝp	PROPN
hjic-486	129	2	is	be	AUX
hjic-486	129	3	an	an	DET
hjic-486	129	4	invariant	invariant	ADJ
hjic-486	129	5	output	output	NOUN
hjic-486	129	6	error	error	NOUN
hjic-486	129	7	if	if	SCONJ
hjic-486	129	8	a	a	PRON
hjic-486	129	9	)	)	PUNCT
hjic-486	129	10	y→	y→	X
hjic-486	129	11	e(x̂,u	e(x̂,u	PROPN
hjic-486	129	12	,	,	PUNCT
hjic-486	129	13	y	y	NOUN
hjic-486	129	14	)	)	PUNCT
hjic-486	129	15	is	be	AUX
hjic-486	129	16	invertible	invertible	ADJ
hjic-486	129	17	for	for	ADP
hjic-486	129	18	x̂	x̂	NUM
hjic-486	129	19	,	,	PUNCT
hjic-486	129	20	u	u	NOUN
hjic-486	129	21	,	,	PUNCT
hjic-486	129	22	and	and	CCONJ
hjic-486	129	23	y	y	PROPN
hjic-486	129	24	b	b	PROPN
hjic-486	129	25	)	)	PUNCT
hjic-486	129	26	e(x̂,u	e(x̂,u	PROPN
hjic-486	129	27	,	,	PUNCT
hjic-486	129	28	h(x̂,u	h(x̂,u	PROPN
hjic-486	129	29	)	)	PUNCT
hjic-486	129	30	)	)	PUNCT
hjic-486	130	1	=	=	SYM
hjic-486	130	2	0	0	NUM
hjic-486	131	1	for	for	ADP
hjic-486	131	2	x̂	x̂	NUM
hjic-486	131	3	and	and	CCONJ
hjic-486	131	4	u	u	NOUN
hjic-486	131	5	c	c	NOUN
hjic-486	131	6	)	)	PUNCT
hjic-486	131	7	e(φg(x̂),ψg(u),ρg(y	e(φg(x̂),ψg(u),ρg(y	PROPN
hjic-486	131	8	)	)	PUNCT
hjic-486	131	9	)	)	PUNCT
hjic-486	132	1	=	=	SYM
hjic-486	132	2	e(x̂,u	e(x̂,u	PROPN
hjic-486	132	3	,	,	PUNCT
hjic-486	132	4	y	y	NOUN
hjic-486	132	5	)	)	PUNCT
hjic-486	132	6	for	for	ADP
hjic-486	132	7	x̂	x̂	NUM
hjic-486	132	8	,	,	PUNCT
hjic-486	132	9	u	u	NOUN
hjic-486	132	10	,	,	PUNCT
hjic-486	132	11	and	and	CCONJ
hjic-486	132	12	y.	y.	NOUN
hjic-486	132	13	the	the	DET
hjic-486	132	14	first	first	ADJ
hjic-486	132	15	two	two	NUM
hjic-486	132	16	properties	property	NOUN
hjic-486	132	17	mean	mean	VERB
hjic-486	132	18	e	e	NOUN
hjic-486	132	19	is	be	AUX
hjic-486	132	20	an	an	DET
hjic-486	132	21	output	output	NOUN
hjic-486	132	22	error	error	NOUN
hjic-486	132	23	,	,	PUNCT
hjic-486	132	24	the	the	DET
hjic-486	132	25	third	third	ADJ
hjic-486	132	26	expresses	express	VERB
hjic-486	132	27	the	the	DET
hjic-486	132	28	invariance	invariance	NOUN
hjic-486	132	29	.	.	PUNCT
hjic-486	133	1	the	the	DET
hjic-486	133	2	introduction	introduction	NOUN
hjic-486	133	3	of	of	ADP
hjic-486	133	4	the	the	DET
hjic-486	133	5	invariant	invariant	ADJ
hjic-486	133	6	error	error	NOUN
hjic-486	133	7	is	be	AUX
hjic-486	133	8	necessary	necessary	ADJ
hjic-486	133	9	,	,	PUNCT
hjic-486	133	10	because	because	SCONJ
hjic-486	133	11	the	the	DET
hjic-486	133	12	output	output	NOUN
hjic-486	133	13	error	error	NOUN
hjic-486	133	14	ŷ−	ŷ−	PROPN
hjic-486	133	15	y	y	PROPN
hjic-486	133	16	does	do	AUX
hjic-486	133	17	not	not	PART
hjic-486	133	18	usually	usually	ADV
hjic-486	133	19	preserve	preserve	VERB
hjic-486	133	20	the	the	DET
hjic-486	133	21	geometry	geometry	NOUN
hjic-486	133	22	of	of	ADP
hjic-486	133	23	the	the	DET
hjic-486	133	24	system	system	NOUN
hjic-486	133	25	[	[	X
hjic-486	133	26	21	21	NUM
hjic-486	133	27	]	]	PUNCT
hjic-486	133	28	.	.	PUNCT
hjic-486	134	1	the	the	DET
hjic-486	134	2	following	follow	VERB
hjic-486	134	3	three	three	NUM
hjic-486	134	4	theorems	theorem	NOUN
hjic-486	134	5	[	[	X
hjic-486	134	6	15	15	NUM
hjic-486	134	7	,	,	PUNCT
hjic-486	134	8	16	16	NUM
hjic-486	134	9	]	]	PUNCT
hjic-486	134	10	support	support	VERB
hjic-486	134	11	the	the	DET
hjic-486	134	12	construction	construction	NOUN
hjic-486	134	13	of	of	ADP
hjic-486	134	14	the	the	DET
hjic-486	134	15	symmetry	symmetry	NOUN
hjic-486	134	16	-	-	PUNCT
hjic-486	134	17	preserving	preserve	VERB
hjic-486	134	18	observers	observer	NOUN
hjic-486	134	19	.	.	PUNCT
hjic-486	135	1	theorem	theorem	NOUN
hjic-486	135	2	1	1	NUM
hjic-486	135	3	.	.	PUNCT
hjic-486	136	1	the	the	DET
hjic-486	136	2	observer	observer	NOUN
hjic-486	136	3	d	d	X
hjic-486	136	4	dt	dt	NOUN
hjic-486	136	5	x̂	x̂	PUNCT
hjic-486	136	6	=	=	SYM
hjic-486	136	7	f(x̂,u	f(x̂,u	PROPN
hjic-486	136	8	,	,	PUNCT
hjic-486	136	9	y	y	NOUN
hjic-486	136	10	)	)	PUNCT
hjic-486	136	11	is	be	AUX
hjic-486	136	12	a	a	DET
hjic-486	136	13	ginvariant	ginvariant	ADJ
hjic-486	136	14	pre	pre	NOUN
hjic-486	136	15	-	-	NOUN
hjic-486	136	16	observer	observer	NOUN
hjic-486	136	17	for	for	ADP
hjic-486	136	18	the	the	DET
hjic-486	136	19	g	g	NOUN
hjic-486	136	20	-	-	PUNCT
hjic-486	136	21	invariant	invariant	ADJ
hjic-486	136	22	non	non	ADJ
hjic-486	136	23	-	-	ADJ
hjic-486	136	24	linear	linear	ADJ
hjic-486	136	25	eq.(20	eq.(20	PROPN
hjic-486	136	26	)	)	PUNCT
hjic-486	136	27	with	with	ADP
hjic-486	136	28	a	a	DET
hjic-486	136	29	g	g	NOUN
hjic-486	136	30	-	-	PUNCT
hjic-486	136	31	equivariant	equivariant	ADJ
hjic-486	136	32	output	output	NOUN
hjic-486	136	33	if	if	SCONJ
hjic-486	136	34	and	and	CCONJ
hjic-486	136	35	only	only	ADV
hjic-486	136	36	if	if	SCONJ
hjic-486	136	37	f(x̂,u	f(x̂,u	PROPN
hjic-486	136	38	,	,	PUNCT
hjic-486	136	39	y	y	NOUN
hjic-486	136	40	)	)	PUNCT
hjic-486	137	1	=	=	SYM
hjic-486	137	2	f	f	PROPN
hjic-486	137	3	(	(	PUNCT
hjic-486	137	4	x̂,u)+	x̂,u)+	PROPN
hjic-486	137	5	li(i(x̂,u),e(x	li(i(x̂,u),e(x	PROPN
hjic-486	137	6	,	,	PUNCT
hjic-486	137	7	u	u	NOUN
hjic-486	137	8	,	,	PUNCT
hjic-486	137	9	y	y	NOUN
hjic-486	137	10	)	)	PUNCT
hjic-486	137	11	)	)	PUNCT
hjic-486	138	1	i=1	i=1	PROPN
hjic-486	138	2	n	n	CCONJ
hjic-486	138	3	∑	∑	ADV
hjic-486	138	4	wi(x̂	wi(x̂	PROPN
hjic-486	138	5	)	)	PUNCT
hjic-486	138	6	(	(	PUNCT
hjic-486	138	7	24	24	NUM
hjic-486	138	8	)	)	PUNCT
hjic-486	138	9	where	where	SCONJ
hjic-486	138	10	e	e	NOUN
hjic-486	138	11	is	be	AUX
hjic-486	138	12	an	an	DET
hjic-486	138	13	invariant	invariant	ADJ
hjic-486	138	14	output	output	NOUN
hjic-486	138	15	error	error	NOUN
hjic-486	138	16	,	,	PUNCT
hjic-486	138	17	(	(	PUNCT
hjic-486	138	18	x̂,u)→	x̂,u)→	NOUN
hjic-486	138	19	i(x̂,u)∈	i(x̂,u)∈	NOUN
hjic-486	138	20	ℝn+m&r	ℝn+m&r	VERB
hjic-486	138	21	is	be	AUX
hjic-486	138	22	a	a	DET
hjic-486	138	23	full	full	ADJ
hjic-486	138	24	rank	rank	NOUN
hjic-486	138	25	function	function	NOUN
hjic-486	138	26	,	,	PUNCT
hjic-486	138	27	li	li	PROPN
hjic-486	138	28	is	be	AUX
hjic-486	138	29	a	a	DET
hjic-486	138	30	smooth	smooth	ADJ
hjic-486	138	31	function	function	NOUN
hjic-486	138	32	,	,	PUNCT
hjic-486	138	33	such	such	ADJ
hjic-486	138	34	that	that	DET
hjic-486	138	35	li(i(x̂,u	li(i(x̂,u	NOUN
hjic-486	138	36	)	)	PUNCT
hjic-486	138	37	,	,	PUNCT
hjic-486	138	38	0	0	X
hjic-486	138	39	)	)	PUNCT
hjic-486	138	40	=	=	SYM
hjic-486	138	41	0	0	NUM
hjic-486	139	1	and	and	CCONJ
hjic-486	139	2	(	(	PUNCT
hjic-486	139	3	w1,w2,	w1,w2,	PROPN
hjic-486	139	4	…	…	SYM
hjic-486	139	5	,wn	,wn	X
hjic-486	139	6	)	)	PUNCT
hjic-486	139	7	is	be	AUX
hjic-486	139	8	an	an	DET
hjic-486	139	9	invariant	invariant	ADJ
hjic-486	139	10	frame	frame	NOUN
hjic-486	139	11	.	.	PUNCT
hjic-486	140	1	since	since	SCONJ
hjic-486	140	2	li(i	li(i	NOUN
hjic-486	140	3	,	,	PUNCT
hjic-486	140	4	e	e	NOUN
hjic-486	140	5	)	)	PUNCT
hjic-486	140	6	=	=	SYM
hjic-486	140	7	li(i	li(i	NOUN
hjic-486	140	8	,	,	PUNCT
hjic-486	140	9	e)e	e)e	ADP
hjic-486	140	10	li(i	li(i	NOUN
hjic-486	140	11	,	,	PUNCT
hjic-486	140	12	e)wi	e)wi	PROPN
hjic-486	140	13	i=1	i=1	PROPN
hjic-486	140	14	n	n	CCONJ
hjic-486	140	15	∑	∑	PROPN
hjic-486	140	16	=	=	SYM
hjic-486	140	17	wi(li(i	wi(li(i	PROPN
hjic-486	140	18	,	,	PUNCT
hjic-486	140	19	e	e	NOUN
hjic-486	140	20	)	)	PUNCT
hjic-486	140	21	i=1	i=1	PROPN
hjic-486	140	22	n	n	CCONJ
hjic-486	140	23	∑	∑	ADV
hjic-486	140	24	e	e	X
hjic-486	140	25	)	)	PUNCT
hjic-486	140	26	=	=	SYM
hjic-486	140	27	w1	w1	NOUN
hjic-486	140	28	…	…	PUNCT
hjic-486	140	29	wn	wn	PROPN
hjic-486	140	30	(	(	PUNCT
hjic-486	140	31	)	)	PUNCT
hjic-486	140	32	l1(i	l1(i	PROPN
hjic-486	140	33	,	,	PUNCT
hjic-486	140	34	e	e	NOUN
hjic-486	140	35	)	)	PUNCT
hjic-486	140	36	!	!	PUNCT
hjic-486	141	1	ln	ln	INTJ
hjic-486	142	1	(	(	PUNCT
hjic-486	142	2	i	i	NOUN
hjic-486	142	3	,	,	PUNCT
hjic-486	142	4	e	e	NOUN
hjic-486	142	5	)	)	PUNCT
hjic-486	142	6	"	"	PUNCT
hjic-486	142	7	#	#	NOUN
hjic-486	142	8	$	$	SYM
hjic-486	142	9	$	$	SYM
hjic-486	142	10	$	$	SYM
hjic-486	142	11	$	$	NUM
hjic-486	142	12	%	%	NOUN
hjic-486	142	13	&	&	CCONJ
hjic-486	142	14	'	'	PUNCT
hjic-486	142	15	'	'	PUNCT
hjic-486	142	16	'	'	PUNCT
hjic-486	142	17	'	'	PUNCT
hjic-486	142	18	e	e	X
hjic-486	142	19	(	(	PUNCT
hjic-486	142	20	25	25	NUM
hjic-486	142	21	)	)	PUNCT
hjic-486	142	22	the	the	DET
hjic-486	142	23	observer	observer	NOUN
hjic-486	142	24	can	can	AUX
hjic-486	142	25	be	be	AUX
hjic-486	142	26	written	write	VERB
hjic-486	142	27	as	as	SCONJ
hjic-486	142	28	follows	follow	VERB
hjic-486	142	29	f(x̂,u	f(x̂,u	PROPN
hjic-486	142	30	,	,	PUNCT
hjic-486	142	31	y	y	NOUN
hjic-486	142	32	)	)	PUNCT
hjic-486	143	1	=	=	SYM
hjic-486	143	2	f	f	PROPN
hjic-486	143	3	(	(	PUNCT
hjic-486	143	4	x̂,u)+w	x̂,u)+w	PROPN
hjic-486	143	5	(	(	PUNCT
hjic-486	143	6	x̂)l(i(x̂,u),e(x̂,u	x̂)l(i(x̂,u),e(x̂,u	PROPN
hjic-486	143	7	,	,	PUNCT
hjic-486	143	8	y))e(x̂,u	y))e(x̂,u	NOUN
hjic-486	143	9	,	,	PUNCT
hjic-486	143	10	y	y	NOUN
hjic-486	143	11	)	)	PUNCT
hjic-486	143	12	.	.	PUNCT
hjic-486	144	1	(	(	PUNCT
hjic-486	144	2	26	26	NUM
hjic-486	144	3	)	)	PUNCT
hjic-486	144	4	theorem	theorem	NOUN
hjic-486	144	5	2	2	NUM
hjic-486	144	6	.	.	PUNCT
hjic-486	145	1	the	the	DET
hjic-486	145	2	following	follow	VERB
hjic-486	145	3	statements	statement	NOUN
hjic-486	145	4	are	be	AUX
hjic-486	145	5	valid	valid	ADJ
hjic-486	145	6	:	:	PUNCT
hjic-486	145	7	•	•	PRON
hjic-486	145	8	(	(	PUNCT
hjic-486	145	9	x̂,u	x̂,u	PROPN
hjic-486	145	10	,	,	PUNCT
hjic-486	145	11	y)→	y)→	NUM
hjic-486	145	12	e(x̂,u	e(x̂,u	PROPN
hjic-486	145	13	,	,	PUNCT
hjic-486	145	14	y	y	NOUN
hjic-486	145	15	)	)	PUNCT
hjic-486	145	16	invariant	invariant	ADJ
hjic-486	145	17	output	output	NOUN
hjic-486	145	18	error	error	NOUN
hjic-486	145	19	exists	exist	VERB
hjic-486	145	20	,	,	PUNCT
hjic-486	145	21	•	•	ADP
hjic-486	145	22	there	there	PRON
hjic-486	145	23	is	be	VERB
hjic-486	145	24	a	a	DET
hjic-486	145	25	(	(	PUNCT
hjic-486	145	26	x̂,u)→	x̂,u)→	PROPN
hjic-486	145	27	i(x̂,u)∈ℝn+m&r	i(x̂,u)∈ℝn+m&r	VERB
hjic-486	145	28	invariant	invariant	ADJ
hjic-486	145	29	function	function	NOUN
hjic-486	145	30	,	,	PUNCT
hjic-486	145	31	•	•	CCONJ
hjic-486	145	32	every	every	DET
hjic-486	145	33	other	other	ADJ
hjic-486	145	34	invariant	invariant	ADJ
hjic-486	145	35	output	output	NOUN
hjic-486	145	36	error	error	NOUN
hjic-486	145	37	has	have	VERB
hjic-486	145	38	the	the	DET
hjic-486	145	39	form	form	NOUN
hjic-486	145	40	of	of	ADP
hjic-486	145	41	!	!	PUNCT
hjic-486	146	1	e(x̂,u	e(x̂,u	NOUN
hjic-486	146	2	,	,	PUNCT
hjic-486	146	3	y	y	NOUN
hjic-486	146	4	)	)	PUNCT
hjic-486	146	5	=	=	SYM
hjic-486	146	6	l(i(x̂,u),e(x̂,u	l(i(x̂,u),e(x̂,u	PROPN
hjic-486	146	7	,	,	PUNCT
hjic-486	146	8	y	y	NOUN
hjic-486	146	9	)	)	PUNCT
hjic-486	146	10	)	)	PUNCT
hjic-486	146	11	(	(	PUNCT
hjic-486	146	12	27	27	NUM
hjic-486	146	13	)	)	PUNCT
hjic-486	146	14	where	where	SCONJ
hjic-486	146	15	l	l	NOUN
hjic-486	146	16	is	be	AUX
hjic-486	146	17	a	a	DET
hjic-486	146	18	smooth	smooth	ADJ
hjic-486	146	19	function	function	NOUN
hjic-486	146	20	such	such	ADJ
hjic-486	146	21	that	that	SCONJ
hjic-486	146	22	l(i	l(i	NOUN
hjic-486	146	23	,	,	PUNCT
hjic-486	146	24	0	0	NUM
hjic-486	146	25	)	)	PUNCT
hjic-486	146	26	=	=	SYM
hjic-486	146	27	0	0	NUM
hjic-486	146	28	and	and	CCONJ
hjic-486	146	29	e	e	X
hjic-486	146	30	→l(i	→l(i	PROPN
hjic-486	146	31	,	,	PUNCT
hjic-486	146	32	e	e	NOUN
hjic-486	146	33	)	)	PUNCT
hjic-486	146	34	is	be	AUX
hjic-486	146	35	invertible	invertible	ADJ
hjic-486	146	36	.	.	PUNCT
hjic-486	147	1	theorem	theorem	NOUN
hjic-486	147	2	3	3	X
hjic-486	147	3	.	.	PUNCT
hjic-486	147	4	consider	consider	VERB
hjic-486	147	5	the	the	DET
hjic-486	147	6	equilibrium	equilibrium	NOUN
hjic-486	147	7	of	of	ADP
hjic-486	147	8	a	a	DET
hjic-486	147	9	non	non	ADJ
hjic-486	147	10	-	-	ADJ
hjic-486	147	11	linear	linear	ADJ
hjic-486	147	12	system	system	NOUN
hjic-486	148	1	f	f	X
hjic-486	148	2	(	(	PUNCT
hjic-486	148	3	x	x	X
hjic-486	148	4	,	,	PUNCT
hjic-486	148	5	u	u	NOUN
hjic-486	148	6	)	)	PUNCT
hjic-486	148	7	=	=	SYM
hjic-486	148	8	0	0	PUNCT
hjic-486	148	9	and	and	CCONJ
hjic-486	148	10	y	y	PROPN
hjic-486	148	11	=	=	SYM
hjic-486	148	12	h(x	h(x	PROPN
hjic-486	148	13	,	,	PUNCT
hjic-486	148	14	u	u	NOUN
hjic-486	148	15	)	)	PUNCT
hjic-486	148	16	assume	assume	VERB
hjic-486	148	17	that	that	SCONJ
hjic-486	148	18	the	the	DET
hjic-486	148	19	linearized	linearize	VERB
hjic-486	148	20	system	system	NOUN
hjic-486	148	21	a	a	DET
hjic-486	148	22	,	,	PUNCT
hjic-486	148	23	b	b	NOUN
hjic-486	148	24	,	,	PUNCT
hjic-486	148	25	c	c	NOUN
hjic-486	148	26	,	,	PUNCT
hjic-486	148	27	d	d	NOUN
hjic-486	148	28	around	around	ADP
hjic-486	148	29	this	this	DET
hjic-486	148	30	equilibrium	equilibrium	NOUN
hjic-486	148	31	is	be	AUX
hjic-486	148	32	observable	observable	ADJ
hjic-486	148	33	,	,	PUNCT
hjic-486	148	34	where	where	SCONJ
hjic-486	148	35	a	a	DET
hjic-486	148	36	=	=	SYM
hjic-486	148	37	∂f	∂f	PROPN
hjic-486	148	38	∂x	∂x	PROPN
hjic-486	148	39	(	(	PUNCT
hjic-486	148	40	x	x	NOUN
hjic-486	148	41	,	,	PUNCT
hjic-486	148	42	u	u	NOUN
hjic-486	148	43	)	)	PUNCT
hjic-486	148	44	,	,	PUNCT
hjic-486	148	45	b	b	X
hjic-486	148	46	=	=	SYM
hjic-486	148	47	∂f	∂f	PROPN
hjic-486	148	48	∂u	∂u	PROPN
hjic-486	148	49	(	(	PUNCT
hjic-486	148	50	x	x	X
hjic-486	148	51	,	,	PUNCT
hjic-486	148	52	u	u	NOUN
hjic-486	148	53	)	)	PUNCT
hjic-486	148	54	,	,	PUNCT
hjic-486	148	55	c	c	X
hjic-486	148	56	=	=	SYM
hjic-486	148	57	∂h	∂h	PROPN
hjic-486	148	58	∂x	∂x	PROPN
hjic-486	148	59	(	(	PUNCT
hjic-486	148	60	x	x	X
hjic-486	148	61	,	,	PUNCT
hjic-486	148	62	u	u	NOUN
hjic-486	148	63	)	)	PUNCT
hjic-486	148	64	,	,	PUNCT
hjic-486	148	65	a	a	PRON
hjic-486	148	66	=	=	SYM
hjic-486	148	67	∂h	∂h	PROPN
hjic-486	148	68	∂u	∂u	PROPN
hjic-486	148	69	(	(	PUNCT
hjic-486	148	70	x	x	X
hjic-486	148	71	,	,	PUNCT
hjic-486	148	72	u	u	NOUN
hjic-486	148	73	)	)	PUNCT
hjic-486	148	74	and	and	CCONJ
hjic-486	148	75	let	let	VERB
hjic-486	148	76	l	l	NOUN
hjic-486	148	77	be	be	AUX
hjic-486	148	78	such	such	ADJ
hjic-486	148	79	that	that	SCONJ
hjic-486	148	80	a+	a+	PUNCT
hjic-486	148	81	lc	lc	PROPN
hjic-486	148	82	is	be	AUX
hjic-486	148	83	a	a	DET
hjic-486	148	84	stable	stable	ADJ
hjic-486	148	85	matrix	matrix	NOUN
hjic-486	148	86	.	.	PUNCT
hjic-486	149	1	from	from	ADP
hjic-486	149	2	the	the	DET
hjic-486	149	3	locally	locally	ADV
hjic-486	149	4	asymptotically	asymptotically	ADV
hjic-486	149	5	convergent	convergent	ADJ
hjic-486	149	6	observer	observer	NOUN
hjic-486	149	7	d	d	NOUN
hjic-486	149	8	dt	dt	NOUN
hjic-486	149	9	x̂	x̂	PUNCT
hjic-486	149	10	=	=	SYM
hjic-486	149	11	f	f	PROPN
hjic-486	149	12	(	(	PUNCT
hjic-486	149	13	x̂,u)+	x̂,u)+	PROPN
hjic-486	149	14	l(ŷ−	l(ŷ−	PROPN
hjic-486	149	15	y	y	PROPN
hjic-486	149	16	)	)	PUNCT
hjic-486	149	17	,	,	PUNCT
hjic-486	149	18	ŷ	ŷ	NUM
hjic-486	149	19	=	=	SYM
hjic-486	149	20	h(x̂,u	h(x̂,u	PROPN
hjic-486	149	21	)	)	PUNCT
hjic-486	149	22	(	(	PUNCT
hjic-486	149	23	28	28	NUM
hjic-486	149	24	)	)	PUNCT
hjic-486	149	25	an	an	DET
hjic-486	149	26	invariant	invariant	ADJ
hjic-486	149	27	observer	observer	NOUN
hjic-486	149	28	can	can	AUX
hjic-486	149	29	be	be	AUX
hjic-486	149	30	constructed	construct	VERB
hjic-486	149	31	by	by	ADP
hjic-486	149	32	the	the	DET
hjic-486	149	33	same	same	ADJ
hjic-486	149	34	linear	linear	NOUN
hjic-486	149	35	approximation	approximation	NOUN
hjic-486	149	36	d	d	NOUN
hjic-486	149	37	dt	dt	NOUN
hjic-486	149	38	x̂	x̂	PUNCT
hjic-486	150	1	=	=	SYM
hjic-486	150	2	f	f	PROPN
hjic-486	150	3	(	(	PUNCT
hjic-486	150	4	x̂,u)+w	x̂,u)+w	PROPN
hjic-486	150	5	(	(	PUNCT
hjic-486	150	6	x̂)l(i(x̂,u),e(x̂,u	x̂)l(i(x̂,u),e(x̂,u	PROPN
hjic-486	150	7	,	,	PUNCT
hjic-486	150	8	y))e(x̂,u	y))e(x̂,u	NOUN
hjic-486	150	9	,	,	PUNCT
hjic-486	150	10	y	y	NOUN
hjic-486	150	11	)	)	PUNCT
hjic-486	150	12	(	(	PUNCT
hjic-486	150	13	29	29	NUM
hjic-486	150	14	)	)	PUNCT
hjic-486	150	15	where	where	SCONJ
hjic-486	150	16	l	l	NOUN
hjic-486	150	17	=	=	PUNCT
hjic-486	151	1	−w	−w	ADV
hjic-486	151	2	(	(	PUNCT
hjic-486	151	3	x)−1lv−1	x)−1lv−1	NUM
hjic-486	151	4	and	and	CCONJ
hjic-486	151	5	v	v	X
hjic-486	151	6	=	=	SYM
hjic-486	151	7	∂e	∂e	PROPN
hjic-486	151	8	∂y(x	∂y(x	PROPN
hjic-486	151	9	,	,	PUNCT
hjic-486	151	10	u	u	NOUN
hjic-486	151	11	,	,	PUNCT
hjic-486	151	12	y	y	PROPN
hjic-486	151	13	)	)	PUNCT
hjic-486	151	14	is	be	AUX
hjic-486	151	15	an	an	DET
hjic-486	151	16	invertible	invertible	ADJ
hjic-486	151	17	matrix	matrix	NOUN
hjic-486	151	18	of	of	ADP
hjic-486	151	19	pp×	pp×	NOUN
hjic-486	151	20	dimensions	dimension	NOUN
hjic-486	151	21	.	.	PUNCT
hjic-486	152	1	there	there	PRON
hjic-486	152	2	is	be	VERB
hjic-486	152	3	no	no	DET
hjic-486	152	4	general	general	ADJ
hjic-486	152	5	algorithm	algorithm	NOUN
hjic-486	152	6	for	for	ADP
hjic-486	152	7	designing	design	VERB
hjic-486	152	8	the	the	DET
hjic-486	152	9	li	li	PROPN
hjic-486	152	10	gain	gain	NOUN
hjic-486	152	11	functions	function	NOUN
hjic-486	152	12	of	of	ADP
hjic-486	152	13	theorem	theorem	NOUN
hjic-486	152	14	1	1	NUM
hjic-486	152	15	.	.	PUNCT
hjic-486	153	1	however	however	ADV
hjic-486	153	2	,	,	PUNCT
hjic-486	153	3	if	if	SCONJ
hjic-486	153	4	we	we	PRON
hjic-486	153	5	consider	consider	VERB
hjic-486	153	6	the	the	DET
hjic-486	153	7	following	follow	VERB
hjic-486	153	8	invariant	invariant	ADJ
hjic-486	153	9	state	state	NOUN
hjic-486	153	10	error	error	NOUN
hjic-486	153	11	η(x	η(x	NOUN
hjic-486	153	12	,	,	PUNCT
hjic-486	153	13	x̂	x̂	NUM
hjic-486	153	14	)	)	PUNCT
hjic-486	153	15	=	=	PUNCT
hjic-486	153	16	φγ	φγ	PROPN
hjic-486	153	17	(	(	PUNCT
hjic-486	153	18	x)(x̂)−φγ	x)(x̂)−φγ	PROPN
hjic-486	153	19	(	(	PUNCT
hjic-486	153	20	x)(x	x)(x	PROPN
hjic-486	153	21	)	)	PUNCT
hjic-486	153	22	(	(	PUNCT
hjic-486	153	23	30	30	NUM
hjic-486	153	24	)	)	PUNCT
hjic-486	153	25	instead	instead	ADV
hjic-486	153	26	of	of	ADP
hjic-486	153	27	the	the	DET
hjic-486	153	28	xx	xx	NUM
hjic-486	153	29	−ˆ	−ˆ	PROPN
hjic-486	153	30	state	state	NOUN
hjic-486	153	31	error	error	NOUN
hjic-486	153	32	,	,	PUNCT
hjic-486	153	33	where	where	SCONJ
hjic-486	153	34	)	)	PUNCT
hjic-486	153	35	(	(	PUNCT
hjic-486	153	36	xγ	xγ	PROPN
hjic-486	153	37	is	be	AUX
hjic-486	153	38	the	the	DET
hjic-486	153	39	solution	solution	NOUN
hjic-486	153	40	of	of	ADP
hjic-486	153	41	φg	φg	ADP
hjic-486	153	42	a	a	DET
hjic-486	153	43	(	(	PUNCT
hjic-486	153	44	x	x	NOUN
hjic-486	153	45	)	)	PUNCT
hjic-486	153	46	=	=	SYM
hjic-486	153	47	c	c	X
hjic-486	153	48	(	(	PUNCT
hjic-486	153	49	31	31	NUM
hjic-486	153	50	)	)	PUNCT
hjic-486	153	51	with	with	ADP
hjic-486	153	52	respect	respect	NOUN
hjic-486	153	53	to	to	ADP
hjic-486	153	54	g	g	NOUN
hjic-486	153	55	,	,	PUNCT
hjic-486	153	56	then	then	ADV
hjic-486	153	57	the	the	DET
hjic-486	153	58	invariant	invariant	ADJ
hjic-486	153	59	error	error	NOUN
hjic-486	153	60	will	will	AUX
hjic-486	153	61	only	only	ADV
hjic-486	153	62	depend	depend	VERB
hjic-486	153	63	on	on	ADP
hjic-486	153	64	the	the	DET
hjic-486	153	65	i(x	i(x	PROPN
hjic-486	153	66	,	,	PUNCT
hjic-486	153	67	u	u	NOUN
hjic-486	153	68	)	)	PUNCT
hjic-486	153	69	trajectories	trajectory	NOUN
hjic-486	153	70	.	.	PUNCT
hjic-486	154	1	constructive	constructive	ADJ
hjic-486	154	2	algorithm	algorithm	NOUN
hjic-486	154	3	consider	consider	VERB
hjic-486	154	4	an	an	DET
hjic-486	154	5	invariant	invariant	ADJ
hjic-486	154	6	system	system	NOUN
hjic-486	154	7	,	,	PUNCT
hjic-486	154	8	i.e.	i.e.	X
hjic-486	154	9	unchanged	unchanged	ADJ
hjic-486	154	10	by	by	ADP
hjic-486	154	11	transformation	transformation	NOUN
hjic-486	154	12	eq.(21	eq.(21	PROPN
hjic-486	154	13	)	)	PUNCT
hjic-486	154	14	with	with	ADP
hjic-486	154	15	an	an	DET
hjic-486	154	16	equivariant	equivariant	ADJ
hjic-486	154	17	output	output	NOUN
hjic-486	154	18	(	(	PUNCT
hjic-486	154	19	definition	definition	NOUN
hjic-486	154	20	3	3	NUM
hjic-486	154	21	)	)	PUNCT
hjic-486	154	22	.	.	PUNCT
hjic-486	155	1	the	the	DET
hjic-486	155	2	non	non	ADJ
hjic-486	155	3	-	-	ADJ
hjic-486	155	4	linear	linear	ADJ
hjic-486	155	5	observer	observer	NOUN
hjic-486	155	6	design	design	NOUN
hjic-486	155	7	for	for	ADP
hjic-486	155	8	nonlinear	nonlinear	ADJ
hjic-486	155	9	dynamic	dynamic	ADJ
hjic-486	155	10	systems	system	NOUN
hjic-486	155	11	[	[	X
hjic-486	155	12	10	10	NUM
hjic-486	155	13	,	,	PUNCT
hjic-486	155	14	11	11	NUM
hjic-486	155	15	]	]	PUNCT
hjic-486	155	16	can	can	AUX
hjic-486	155	17	be	be	AUX
hjic-486	155	18	divided	divide	VERB
hjic-486	155	19	into	into	ADP
hjic-486	155	20	the	the	DET
hjic-486	155	21	following	follow	VERB
hjic-486	155	22	steps	step	NOUN
hjic-486	155	23	:	:	PUNCT
hjic-486	155	24	a	a	X
hjic-486	155	25	)	)	PUNCT
hjic-486	155	26	choose	choose	VERB
hjic-486	155	27	a	a	DET
hjic-486	155	28	g	g	NOUN
hjic-486	155	29	lie	lie	NOUN
hjic-486	155	30	-	-	PUNCT
hjic-486	155	31	group	group	NOUN
hjic-486	155	32	and	and	CCONJ
hjic-486	155	33	a	a	DET
hjic-486	155	34	group	group	NOUN
hjic-486	155	35	transformation	transformation	NOUN
hjic-486	155	36	taking	take	VERB
hjic-486	155	37	into	into	ADP
hjic-486	155	38	account	account	NOUN
hjic-486	155	39	the	the	DET
hjic-486	155	40	symmetrical	symmetrical	ADJ
hjic-486	155	41	properties	property	NOUN
hjic-486	155	42	of	of	ADP
hjic-486	155	43	the	the	DET
hjic-486	155	44	system	system	NOUN
hjic-486	155	45	.	.	PUNCT
hjic-486	156	1	b	b	X
hjic-486	156	2	)	)	PUNCT
hjic-486	156	3	solve	solve	VERB
hjic-486	156	4	the	the	DET
hjic-486	156	5	normalization	normalization	NOUN
hjic-486	156	6	eq.(31	eq.(31	NOUN
hjic-486	156	7	)	)	PUNCT
hjic-486	156	8	.	.	PUNCT
hjic-486	157	1	build	build	VERB
hjic-486	157	2	an	an	DET
hjic-486	157	3	invariant	invariant	ADJ
hjic-486	157	4	error	error	NOUN
hjic-486	157	5	e	e	NOUN
hjic-486	157	6	and	and	CCONJ
hjic-486	157	7	the	the	DET
hjic-486	157	8	complete	complete	ADJ
hjic-486	157	9	set	set	NOUN
hjic-486	157	10	of	of	ADP
hjic-486	157	11	scalar	scalar	ADJ
hjic-486	157	12	invariants	invariant	NOUN
hjic-486	157	13	i.	i.	PROPN
hjic-486	157	14	c	c	PROPN
hjic-486	157	15	)	)	PUNCT
hjic-486	157	16	construct	construct	VERB
hjic-486	157	17	the	the	DET
hjic-486	157	18	invariant	invariant	ADJ
hjic-486	157	19	frame	frame	NOUN
hjic-486	157	20	eq.(22	eq.(22	NOUN
hjic-486	157	21	)	)	PUNCT
hjic-486	157	22	.	.	PUNCT
hjic-486	158	1	d	d	X
hjic-486	158	2	)	)	PUNCT
hjic-486	158	3	determine	determine	VERB
hjic-486	158	4	the	the	DET
hjic-486	158	5	pre	pre	ADJ
hjic-486	158	6	-	-	ADJ
hjic-486	158	7	observer	observer	ADJ
hjic-486	158	8	eq.(25	eq.(25	NOUN
hjic-486	158	9	)	)	PUNCT
hjic-486	158	10	.	.	PUNCT
hjic-486	159	1	e	e	X
hjic-486	159	2	)	)	PUNCT
hjic-486	159	3	linearize	linearize	VERB
hjic-486	159	4	the	the	DET
hjic-486	159	5	system	system	NOUN
hjic-486	159	6	f	f	X
hjic-486	159	7	(	(	PUNCT
hjic-486	159	8	x	x	X
hjic-486	159	9	,	,	PUNCT
hjic-486	159	10	u	u	NOUN
hjic-486	159	11	)	)	PUNCT
hjic-486	159	12	=	=	SYM
hjic-486	159	13	0	0	NUM
hjic-486	159	14	around	around	ADP
hjic-486	159	15	the	the	DET
hjic-486	159	16	equilibrium	equilibrium	NOUN
hjic-486	159	17	and	and	CCONJ
hjic-486	159	18	obtain	obtain	VERB
hjic-486	159	19	a	a	DET
hjic-486	159	20	,	,	PUNCT
hjic-486	159	21	b	b	NOUN
hjic-486	159	22	,	,	PUNCT
hjic-486	159	23	c	c	X
hjic-486	159	24	,	,	PUNCT
hjic-486	159	25	d	d	NOUN
hjic-486	159	26	matrices	matrix	NOUN
hjic-486	159	27	.	.	PUNCT
hjic-486	160	1	check	check	VERB
hjic-486	160	2	the	the	DET
hjic-486	160	3	observability	observability	NOUN
hjic-486	160	4	and	and	CCONJ
hjic-486	160	5	design	design	VERB
hjic-486	160	6	an	an	DET
hjic-486	160	7	invariant	invariant	ADJ
hjic-486	160	8	observer	observer	NOUN
hjic-486	160	9	from	from	ADP
hjic-486	160	10	the	the	DET
hjic-486	160	11	chosen	choose	VERB
hjic-486	160	12	linear	linear	ADJ
hjic-486	160	13	observer	observer	NOUN
hjic-486	160	14	by	by	ADP
hjic-486	160	15	using	use	VERB
hjic-486	160	16	theorem	theorem	ADJ
hjic-486	160	17	3	3	X
hjic-486	160	18	.	.	PUNCT
hjic-486	161	1	choose	choose	VERB
hjic-486	161	2	an	an	DET
hjic-486	161	3	appropriate	appropriate	ADJ
hjic-486	161	4	l	l	NOUN
hjic-486	161	5	.	.	PUNCT
hjic-486	162	1	f	f	X
hjic-486	162	2	)	)	PUNCT
hjic-486	162	3	choose	choose	VERB
hjic-486	162	4	the	the	DET
hjic-486	162	5	parameters	parameter	NOUN
hjic-486	162	6	of	of	ADP
hjic-486	162	7	the	the	DET
hjic-486	162	8	linearized	linearize	VERB
hjic-486	162	9	error	error	NOUN
hjic-486	162	10	equations	equation	NOUN
hjic-486	162	11	,	,	PUNCT
hjic-486	162	12	based	base	VERB
hjic-486	162	13	on	on	ADP
hjic-486	162	14	the	the	DET
hjic-486	162	15	invariant	invariant	ADJ
hjic-486	162	16	state	state	NOUN
hjic-486	162	17	-	-	PUNCT
hjic-486	162	18	errors	error	NOUN
hjic-486	162	19	η	η	PROPN
hjic-486	162	20	,	,	PUNCT
hjic-486	162	21	such	such	ADJ
hjic-486	162	22	that	that	SCONJ
hjic-486	162	23	the	the	DET
hjic-486	162	24	invariant	invariant	ADJ
hjic-486	162	25	system	system	NOUN
hjic-486	162	26	will	will	AUX
hjic-486	162	27	be	be	AUX
hjic-486	162	28	asymptotically	asymptotically	ADV
hjic-486	162	29	stable	stable	ADJ
hjic-486	162	30	.	.	PUNCT
hjic-486	163	1	61	61	NUM
hjic-486	163	2	then	then	ADV
hjic-486	163	3	the	the	DET
hjic-486	163	4	non	non	ADJ
hjic-486	163	5	-	-	ADJ
hjic-486	163	6	linear	linear	ADJ
hjic-486	163	7	symmetry	symmetry	NOUN
hjic-486	163	8	-	-	PUNCT
hjic-486	163	9	preserving	preserve	VERB
hjic-486	163	10	observer	observer	NOUN
hjic-486	163	11	is	be	AUX
hjic-486	163	12	asymptotically	asymptotically	ADV
hjic-486	163	13	stable	stable	ADJ
hjic-486	163	14	,	,	PUNCT
hjic-486	163	15	and	and	CCONJ
hjic-486	163	16	converges	converge	VERB
hjic-486	163	17	locally	locally	ADV
hjic-486	163	18	and	and	CCONJ
hjic-486	163	19	exponentially	exponentially	ADV
hjic-486	163	20	along	along	ADP
hjic-486	163	21	all	all	DET
hjic-486	163	22	system	system	NOUN
hjic-486	163	23	trajectories	trajectory	NOUN
hjic-486	163	24	.	.	PUNCT
hjic-486	164	1	case	case	NOUN
hjic-486	164	2	study	study	NOUN
hjic-486	164	3	:	:	PUNCT
hjic-486	164	4	a	a	DET
hjic-486	164	5	non	non	ADJ
hjic-486	164	6	-	-	ADJ
hjic-486	164	7	holonomic	holonomic	ADJ
hjic-486	164	8	vehicle	vehicle	NOUN
hjic-486	164	9	in	in	ADP
hjic-486	164	10	this	this	DET
hjic-486	164	11	section	section	NOUN
hjic-486	164	12	,	,	PUNCT
hjic-486	164	13	the	the	DET
hjic-486	164	14	previously	previously	ADV
hjic-486	164	15	introduced	introduce	VERB
hjic-486	164	16	state	state	NOUN
hjic-486	164	17	estimation	estimation	NOUN
hjic-486	164	18	procedures	procedure	NOUN
hjic-486	164	19	are	be	AUX
hjic-486	164	20	employed	employ	VERB
hjic-486	164	21	for	for	ADP
hjic-486	164	22	an	an	DET
hjic-486	164	23	example	example	NOUN
hjic-486	164	24	of	of	ADP
hjic-486	164	25	a	a	DET
hjic-486	164	26	non	non	ADJ
hjic-486	164	27	-	-	ADJ
hjic-486	164	28	holonomic	holonomic	ADJ
hjic-486	164	29	vehicle	vehicle	NOUN
hjic-486	164	30	tracking	tracking	NOUN
hjic-486	164	31	control	control	NOUN
hjic-486	164	32	.	.	PUNCT
hjic-486	165	1	the	the	DET
hjic-486	165	2	wellknown	wellknown	ADJ
hjic-486	165	3	model	model	NOUN
hjic-486	165	4	in	in	ADP
hjic-486	165	5	the	the	DET
hjic-486	165	6	robotics	robotic	NOUN
hjic-486	165	7	of	of	ADP
hjic-486	165	8	the	the	DET
hjic-486	165	9	simplified	simplified	ADJ
hjic-486	165	10	vehicle	vehicle	NOUN
hjic-486	165	11	kinematics	kinematic	NOUN
hjic-486	165	12	is	be	AUX
hjic-486	165	13	considered	consider	VERB
hjic-486	165	14	.	.	PUNCT
hjic-486	166	1	the	the	DET
hjic-486	166	2	tracking	tracking	NOUN
hjic-486	166	3	is	be	AUX
hjic-486	166	4	maintained	maintain	VERB
hjic-486	166	5	by	by	ADP
hjic-486	166	6	satisfying	satisfy	VERB
hjic-486	166	7	the	the	DET
hjic-486	166	8	kinematic	kinematic	ADJ
hjic-486	166	9	constraints	constraint	NOUN
hjic-486	166	10	with	with	ADP
hjic-486	166	11	the	the	DET
hjic-486	166	12	appropriate	appropriate	ADJ
hjic-486	166	13	choice	choice	NOUN
hjic-486	166	14	of	of	ADP
hjic-486	166	15	reference	reference	NOUN
hjic-486	166	16	signals	signal	NOUN
hjic-486	166	17	.	.	PUNCT
hjic-486	167	1	kinematic	kinematic	ADJ
hjic-486	167	2	model	model	NOUN
hjic-486	167	3	the	the	DET
hjic-486	167	4	simplified	simplified	ADJ
hjic-486	167	5	kinematic	kinematic	ADJ
hjic-486	167	6	model	model	NOUN
hjic-486	167	7	of	of	ADP
hjic-486	167	8	the	the	DET
hjic-486	167	9	vehicle	vehicle	NOUN
hjic-486	167	10	can	can	AUX
hjic-486	167	11	be	be	AUX
hjic-486	167	12	written	write	VERB
hjic-486	167	13	in	in	ADP
hjic-486	167	14	the	the	DET
hjic-486	167	15	following	follow	VERB
hjic-486	167	16	form	form	NOUN
hjic-486	167	17	!	!	PUNCT
hjic-486	167	18	x	x	PUNCT
hjic-486	167	19	!	!	PUNCT
hjic-486	168	1	y	y	INTJ
hjic-486	168	2	!	!	PUNCT
hjic-486	169	1	θ	θ	INTJ
hjic-486	169	2	!	!	PUNCT
hjic-486	169	3	"	"	PUNCT
hjic-486	170	1	#	#	NOUN
hjic-486	170	2	#	#	NOUN
hjic-486	170	3	#	#	NOUN
hjic-486	170	4	$	$	NUM
hjic-486	170	5	%	%	NOUN
hjic-486	170	6	&	&	CCONJ
hjic-486	170	7	&	&	CCONJ
hjic-486	170	8	&	&	CCONJ
hjic-486	170	9	=	=	PROPN
hjic-486	170	10	ucosθ	ucosθ	PROPN
hjic-486	170	11	usinθ	usinθ	NOUN
hjic-486	170	12	uv	uv	INTJ
hjic-486	170	13	!	!	PUNCT
hjic-486	170	14	"	"	PUNCT
hjic-486	171	1	#	#	NOUN
hjic-486	171	2	#	#	NOUN
hjic-486	171	3	#	#	NOUN
hjic-486	171	4	$	$	NUM
hjic-486	171	5	%	%	NOUN
hjic-486	171	6	&	&	CCONJ
hjic-486	171	7	&	&	CCONJ
hjic-486	171	8	&	&	CCONJ
hjic-486	171	9	,	,	PUNCT
hjic-486	171	10	h(x	h(x	PROPN
hjic-486	171	11	,	,	PUNCT
hjic-486	171	12	y	y	PROPN
hjic-486	171	13	,	,	PUNCT
hjic-486	171	14	θ	θ	NOUN
hjic-486	171	15	)	)	PUNCT
hjic-486	172	1	=	=	SYM
hjic-486	172	2	(	(	PUNCT
hjic-486	172	3	x	x	X
hjic-486	172	4	,	,	PUNCT
hjic-486	172	5	y	y	PROPN
hjic-486	172	6	)	)	PUNCT
hjic-486	172	7	(	(	PUNCT
hjic-486	172	8	32	32	NUM
hjic-486	172	9	)	)	PUNCT
hjic-486	172	10	where	where	SCONJ
hjic-486	172	11	u	u	NOUN
hjic-486	172	12	is	be	AUX
hjic-486	172	13	the	the	DET
hjic-486	172	14	velocity	velocity	NOUN
hjic-486	172	15	,	,	PUNCT
hjic-486	172	16	v	v	NOUN
hjic-486	172	17	is	be	AUX
hjic-486	172	18	the	the	DET
hjic-486	172	19	curvature	curvature	NOUN
hjic-486	172	20	,	,	PUNCT
hjic-486	172	21	i.e.	i.e.	X
hjic-486	172	22	a	a	DET
hjic-486	172	23	function	function	NOUN
hjic-486	172	24	of	of	ADP
hjic-486	172	25	the	the	DET
hjic-486	172	26	steering	steering	NOUN
hjic-486	172	27	angle	angle	NOUN
hjic-486	172	28	and	and	CCONJ
hjic-486	172	29	h	h	NOUN
hjic-486	172	30	is	be	AUX
hjic-486	172	31	the	the	DET
hjic-486	172	32	measured	measure	VERB
hjic-486	172	33	output	output	NOUN
hjic-486	172	34	.	.	PUNCT
hjic-486	173	1	all	all	DET
hjic-486	173	2	signals	signal	NOUN
hjic-486	173	3	contain	contain	VERB
hjic-486	173	4	additive	additive	ADJ
hjic-486	173	5	gaussian	gaussian	ADJ
hjic-486	173	6	noise	noise	NOUN
hjic-486	173	7	.	.	PUNCT
hjic-486	174	1	the	the	DET
hjic-486	174	2	model	model	NOUN
hjic-486	174	3	assumes	assume	VERB
hjic-486	174	4	that	that	SCONJ
hjic-486	174	5	the	the	DET
hjic-486	174	6	contact	contact	NOUN
hjic-486	174	7	point	point	NOUN
hjic-486	174	8	of	of	ADP
hjic-486	174	9	the	the	DET
hjic-486	174	10	wheel	wheel	NOUN
hjic-486	174	11	and	and	CCONJ
hjic-486	174	12	the	the	DET
hjic-486	174	13	ground	ground	NOUN
hjic-486	174	14	does	do	AUX
hjic-486	174	15	not	not	PART
hjic-486	174	16	slip	slip	VERB
hjic-486	174	17	.	.	PUNCT
hjic-486	175	1	notice	notice	NOUN
hjic-486	175	2	,	,	PUNCT
hjic-486	175	3	that	that	SCONJ
hjic-486	175	4	the	the	DET
hjic-486	175	5	linearized	linearize	VERB
hjic-486	175	6	system	system	NOUN
hjic-486	175	7	is	be	AUX
hjic-486	175	8	not	not	PART
hjic-486	175	9	observable	observable	ADJ
hjic-486	175	10	.	.	PUNCT
hjic-486	176	1	tracking	track	VERB
hjic-486	176	2	for	for	ADP
hjic-486	176	3	path	path	NOUN
hjic-486	176	4	tracking	track	VERB
hjic-486	176	5	the	the	DET
hjic-486	176	6	control	control	NOUN
hjic-486	176	7	signals	signal	NOUN
hjic-486	176	8	are	be	AUX
hjic-486	176	9	set	set	VERB
hjic-486	176	10	to	to	PART
hjic-486	176	11	satisfy	satisfy	VERB
hjic-486	176	12	the	the	DET
hjic-486	176	13	kinematic	kinematic	ADJ
hjic-486	176	14	constraints	constraint	NOUN
hjic-486	176	15	,	,	PUNCT
hjic-486	176	16	thus	thus	ADV
hjic-486	176	17	u	u	NOUN
hjic-486	176	18	and	and	CCONJ
hjic-486	176	19	v	v	NOUN
hjic-486	176	20	are	be	AUX
hjic-486	176	21	calculated	calculate	VERB
hjic-486	176	22	as	as	SCONJ
hjic-486	176	23	follows	follow	VERB
hjic-486	176	24	:	:	PUNCT
hjic-486	176	25	u(t	u(t	NOUN
hjic-486	176	26	)	)	PUNCT
hjic-486	176	27	=	=	PUNCT
hjic-486	176	28	!	!	PUNCT
hjic-486	177	1	xr	xr	PROPN
hjic-486	177	2	2(t)+	2(t)+	NUM
hjic-486	177	3	!	!	PUNCT
hjic-486	178	1	yr	yr	NOUN
hjic-486	178	2	2(t	2(t	NUM
hjic-486	178	3	)	)	PUNCT
hjic-486	178	4	and	and	CCONJ
hjic-486	178	5	v(t	v(t	NOUN
hjic-486	178	6	)	)	PUNCT
hjic-486	178	7	=	=	PUNCT
hjic-486	178	8	!	!	PUNCT
hjic-486	178	9	!	!	PUNCT
hjic-486	179	1	yr	yr	PROPN
hjic-486	179	2	(	(	PUNCT
hjic-486	179	3	t	t	PROPN
hjic-486	179	4	)	)	PUNCT
hjic-486	179	5	!	!	PUNCT
hjic-486	180	1	xr	xr	PROPN
hjic-486	181	1	(	(	PUNCT
hjic-486	181	2	t)−	t)−	PROPN
hjic-486	181	3	!	!	PUNCT
hjic-486	181	4	xr	xr	PROPN
hjic-486	182	1	(	(	PUNCT
hjic-486	182	2	t)!!yr	t)!!yr	X
hjic-486	182	3	(	(	PUNCT
hjic-486	182	4	t	t	NOUN
hjic-486	182	5	)	)	PUNCT
hjic-486	182	6	u3(t	u3(t	PROPN
hjic-486	182	7	)	)	PUNCT
hjic-486	182	8	(	(	PUNCT
hjic-486	182	9	33	33	NUM
hjic-486	182	10	)	)	PUNCT
hjic-486	182	11	where	where	SCONJ
hjic-486	182	12	xr(t	xr(t	NUM
hjic-486	182	13	)	)	PUNCT
hjic-486	182	14	and	and	CCONJ
hjic-486	182	15	yr(t	yr(t	NOUN
hjic-486	182	16	)	)	PUNCT
hjic-486	182	17	are	be	AUX
hjic-486	182	18	time	time	NOUN
hjic-486	182	19	functions	function	NOUN
hjic-486	182	20	of	of	ADP
hjic-486	182	21	the	the	DET
hjic-486	182	22	reference	reference	NOUN
hjic-486	182	23	signal	signal	NOUN
hjic-486	182	24	.	.	PUNCT
hjic-486	183	1	the	the	DET
hjic-486	183	2	initial	initial	ADJ
hjic-486	183	3	conditions	condition	NOUN
hjic-486	183	4	for	for	ADP
hjic-486	183	5	tracking	track	VERB
hjic-486	183	6	control	control	NOUN
hjic-486	183	7	is	be	AUX
hjic-486	183	8	θr	θr	PRON
hjic-486	183	9	(	(	PUNCT
hjic-486	183	10	0	0	NUM
hjic-486	183	11	)	)	PUNCT
hjic-486	183	12	=	=	PRON
hjic-486	183	13	tan	tan	PROPN
hjic-486	183	14	−1	−1	NOUN
hjic-486	183	15	!	!	PUNCT
hjic-486	184	1	yr	yr	PROPN
hjic-486	185	1	(	(	PUNCT
hjic-486	185	2	0	0	NUM
hjic-486	185	3	)	)	PUNCT
hjic-486	185	4	!	!	PUNCT
hjic-486	186	1	xr	xr	PROPN
hjic-486	186	2	(	(	PUNCT
hjic-486	186	3	0	0	NUM
hjic-486	186	4	)	)	PUNCT
hjic-486	186	5	"	"	PUNCT
hjic-486	186	6	#	#	NOUN
hjic-486	186	7	$	$	NUM
hjic-486	186	8	%	%	NOUN
hjic-486	186	9	&	&	CCONJ
hjic-486	186	10	'	'	PUNCT
hjic-486	186	11	.	.	PUNCT
hjic-486	187	1	(	(	PUNCT
hjic-486	187	2	34	34	NUM
hjic-486	187	3	)	)	PUNCT
hjic-486	187	4	hence	hence	ADV
hjic-486	187	5	,	,	PUNCT
hjic-486	187	6	the	the	DET
hjic-486	187	7	reference	reference	NOUN
hjic-486	187	8	signals	signal	VERB
hjic-486	187	9	for	for	ADP
hjic-486	187	10	the	the	DET
hjic-486	187	11	vehicle	vehicle	NOUN
hjic-486	187	12	velocity	velocity	NOUN
hjic-486	187	13	and	and	CCONJ
hjic-486	187	14	steering	steering	NOUN
hjic-486	187	15	function	function	NOUN
hjic-486	187	16	can	can	AUX
hjic-486	187	17	be	be	AUX
hjic-486	187	18	calculated	calculate	VERB
hjic-486	187	19	.	.	PUNCT
hjic-486	188	1	in	in	ADP
hjic-486	188	2	the	the	DET
hjic-486	188	3	simulations	simulation	NOUN
hjic-486	188	4	,	,	PUNCT
hjic-486	188	5	sinusoidal	sinusoidal	NOUN
hjic-486	188	6	path	path	NOUN
hjic-486	188	7	tracking	tracking	NOUN
hjic-486	188	8	is	be	AUX
hjic-486	188	9	implemented	implement	VERB
hjic-486	188	10	using	use	VERB
hjic-486	188	11	the	the	DET
hjic-486	188	12	reference	reference	NOUN
hjic-486	188	13	signals	signal	NOUN
hjic-486	188	14	xr	xr	PROPN
hjic-486	188	15	(	(	PUNCT
hjic-486	188	16	t	t	PROPN
hjic-486	188	17	)	)	PUNCT
hjic-486	188	18	=	=	SYM
hjic-486	188	19	t	t	PROPN
hjic-486	188	20	,	,	PUNCT
hjic-486	188	21	and	and	CCONJ
hjic-486	188	22	yr	yr	PROPN
hjic-486	188	23	(	(	PUNCT
hjic-486	188	24	t	t	PROPN
hjic-486	188	25	)	)	PUNCT
hjic-486	188	26	=	=	SYM
hjic-486	188	27	asin(ωt	asin(ωt	NOUN
hjic-486	188	28	)	)	PUNCT
hjic-486	188	29	.	.	PUNCT
hjic-486	189	1	invariant	invariant	ADJ
hjic-486	189	2	observer	observer	NOUN
hjic-486	189	3	design	design	NOUN
hjic-486	189	4	group	group	NOUN
hjic-486	189	5	transformation	transformation	NOUN
hjic-486	189	6	eq.(32	eq.(32	PROPN
hjic-486	189	7	)	)	PUNCT
hjic-486	189	8	is	be	AUX
hjic-486	189	9	independent	independent	ADJ
hjic-486	189	10	of	of	ADP
hjic-486	189	11	the	the	DET
hjic-486	189	12	origin	origin	NOUN
hjic-486	189	13	and	and	CCONJ
hjic-486	189	14	of	of	ADP
hjic-486	189	15	the	the	DET
hjic-486	189	16	orientation	orientation	NOUN
hjic-486	189	17	of	of	ADP
hjic-486	189	18	the	the	DET
hjic-486	189	19	frame	frame	NOUN
hjic-486	189	20	chosen	choose	VERB
hjic-486	189	21	,	,	PUNCT
hjic-486	189	22	i.e.	i.e.	X
hjic-486	189	23	it	it	PRON
hjic-486	189	24	is	be	AUX
hjic-486	189	25	invariant	invariant	ADJ
hjic-486	189	26	with	with	ADP
hjic-486	189	27	regards	regard	NOUN
hjic-486	189	28	to	to	ADP
hjic-486	189	29	the	the	DET
hjic-486	189	30	group	group	NOUN
hjic-486	189	31	of	of	ADP
hjic-486	189	32	rotations	rotation	NOUN
hjic-486	189	33	and	and	CCONJ
hjic-486	189	34	translations	translation	NOUN
hjic-486	189	35	.	.	PUNCT
hjic-486	190	1	we	we	PRON
hjic-486	190	2	chose	choose	VERB
hjic-486	190	3	the	the	DET
hjic-486	190	4	lie	lie	NOUN
hjic-486	190	5	-	-	PUNCT
hjic-486	190	6	group	group	NOUN
hjic-486	190	7	g	g	PROPN
hjic-486	190	8	=	=	SYM
hjic-486	190	9	se(2	se(2	PROPN
hjic-486	190	10	)	)	PUNCT
hjic-486	190	11	and	and	CCONJ
hjic-486	190	12	defined	define	VERB
hjic-486	190	13	the	the	DET
hjic-486	190	14	group	group	NOUN
hjic-486	190	15	transformation	transformation	NOUN
hjic-486	190	16	as	as	SCONJ
hjic-486	190	17	follows	follow	VERB
hjic-486	190	18	:	:	PUNCT
hjic-486	190	19	φ(xg	φ(xg	PROPN
hjic-486	190	20	,	,	PUNCT
hjic-486	190	21	yg	yg	PROPN
hjic-486	190	22	,	,	PUNCT
hjic-486	190	23	θg	θg	NOUN
hjic-486	190	24	)	)	PUNCT
hjic-486	190	25	(	(	PUNCT
hjic-486	190	26	x	x	X
hjic-486	190	27	,	,	PUNCT
hjic-486	190	28	y	y	PROPN
hjic-486	190	29	,	,	PUNCT
hjic-486	190	30	θ	θ	NOUN
hjic-486	190	31	)	)	PUNCT
hjic-486	191	1	=	=	PUNCT
hjic-486	191	2	xg	xg	PROPN
hjic-486	191	3	yg	yg	PROPN
hjic-486	191	4	θg	θg	PROPN
hjic-486	191	5	!	!	PUNCT
hjic-486	191	6	"	"	PUNCT
hjic-486	192	1	#	#	NOUN
hjic-486	192	2	#	#	NOUN
hjic-486	192	3	#	#	NOUN
hjic-486	192	4	#	#	NOUN
hjic-486	192	5	$	$	NUM
hjic-486	192	6	%	%	NOUN
hjic-486	192	7	&	&	CCONJ
hjic-486	192	8	&	&	CCONJ
hjic-486	192	9	&	&	CCONJ
hjic-486	192	10	&	&	CCONJ
hjic-486	192	11	⋅	⋅	PROPN
hjic-486	192	12	x	x	PROPN
hjic-486	192	13	y	y	PROPN
hjic-486	192	14	θ	θ	PROPN
hjic-486	192	15	!	!	PUNCT
hjic-486	192	16	"	"	PUNCT
hjic-486	193	1	#	#	NOUN
hjic-486	193	2	#	#	NOUN
hjic-486	193	3	#	#	NOUN
hjic-486	193	4	$	$	NUM
hjic-486	193	5	%	%	NOUN
hjic-486	193	6	&	&	CCONJ
hjic-486	193	7	&	&	CCONJ
hjic-486	193	8	&	&	CCONJ
hjic-486	193	9	=	=	SYM
hjic-486	193	10	=	=	PUNCT
hjic-486	193	11	x	x	SYM
hjic-486	193	12	cosθg	cosθg	NOUN
hjic-486	193	13	−	−	PROPN
hjic-486	193	14	ysinθg	ysinθg	NOUN
hjic-486	193	15	+	+	CCONJ
hjic-486	193	16	xg	xg	NOUN
hjic-486	193	17	xsinθg	xsinθg	PROPN
hjic-486	194	1	+	+	CCONJ
hjic-486	194	2	ycosθg	ycosθg	NOUN
hjic-486	195	1	+	+	CCONJ
hjic-486	195	2	yg	yg	PROPN
hjic-486	195	3	θ	θ	PROPN
hjic-486	195	4	+	+	NOUN
hjic-486	195	5	θg	θg	X
hjic-486	195	6	!	!	PUNCT
hjic-486	195	7	"	"	PUNCT
hjic-486	196	1	#	#	NOUN
hjic-486	196	2	#	#	NOUN
hjic-486	196	3	#	#	NOUN
hjic-486	196	4	#	#	NOUN
hjic-486	196	5	$	$	NUM
hjic-486	196	6	%	%	NOUN
hjic-486	196	7	&	&	CCONJ
hjic-486	196	8	&	&	CCONJ
hjic-486	196	9	&	&	CCONJ
hjic-486	196	10	&	&	CCONJ
hjic-486	196	11	(	(	PUNCT
hjic-486	196	12	35	35	NUM
hjic-486	196	13	)	)	PUNCT
hjic-486	196	14	ψ(xg	ψ(xg	PROPN
hjic-486	196	15	,	,	PUNCT
hjic-486	196	16	yg	yg	PROPN
hjic-486	196	17	,	,	PUNCT
hjic-486	196	18	θg	θg	NOUN
hjic-486	196	19	)	)	PUNCT
hjic-486	196	20	(	(	PUNCT
hjic-486	196	21	u	u	NOUN
hjic-486	196	22	,	,	PUNCT
hjic-486	196	23	v	v	NOUN
hjic-486	196	24	)	)	PUNCT
hjic-486	196	25	=	=	SYM
hjic-486	196	26	u	u	NOUN
hjic-486	196	27	v	v	NOUN
hjic-486	196	28	!	!	PUNCT
hjic-486	196	29	"	"	PUNCT
hjic-486	197	1	#	#	NOUN
hjic-486	197	2	$	$	NUM
hjic-486	197	3	%	%	NOUN
hjic-486	197	4	&	&	CCONJ
hjic-486	197	5	ρ(xg	ρ(xg	PROPN
hjic-486	197	6	,	,	PUNCT
hjic-486	197	7	yg	yg	PROPN
hjic-486	197	8	,	,	PUNCT
hjic-486	197	9	θg	θg	NOUN
hjic-486	197	10	)	)	PUNCT
hjic-486	197	11	(	(	PUNCT
hjic-486	197	12	x	x	X
hjic-486	197	13	,	,	PUNCT
hjic-486	197	14	y	y	NOUN
hjic-486	197	15	)	)	PUNCT
hjic-486	197	16	=	=	PUNCT
hjic-486	198	1	x	x	PUNCT
hjic-486	198	2	cosθg	cosθg	VERB
hjic-486	198	3	−	−	PROPN
hjic-486	198	4	ysinθg	ysinθg	NOUN
hjic-486	198	5	+	+	CCONJ
hjic-486	198	6	xg	xg	NOUN
hjic-486	198	7	xsinθg	xsinθg	PROPN
hjic-486	199	1	+	+	CCONJ
hjic-486	199	2	ycosθg	ycosθg	NOUN
hjic-486	199	3	+	+	CCONJ
hjic-486	199	4	yg	yg	PROPN
hjic-486	199	5	!	!	PUNCT
hjic-486	199	6	"	"	PUNCT
hjic-486	200	1	#	#	NOUN
hjic-486	200	2	#	#	NOUN
hjic-486	200	3	$	$	NUM
hjic-486	200	4	%	%	NOUN
hjic-486	200	5	&	&	CCONJ
hjic-486	200	6	&	&	CCONJ
hjic-486	200	7	one	one	NUM
hjic-486	200	8	can	can	AUX
hjic-486	200	9	check	check	VERB
hjic-486	200	10	that	that	DET
hjic-486	200	11	eq.(32	eq.(32	NOUN
hjic-486	200	12	)	)	PUNCT
hjic-486	200	13	is	be	AUX
hjic-486	200	14	invariant	invariant	ADJ
hjic-486	200	15	to	to	ADP
hjic-486	200	16	the	the	DET
hjic-486	200	17	transformations	transformation	NOUN
hjic-486	200	18	ϕ	ϕ	NOUN
hjic-486	200	19	,	,	PUNCT
hjic-486	200	20	and	and	CCONJ
hjic-486	200	21	ψ	ψ	X
hjic-486	200	22	in	in	ADP
hjic-486	200	23	terms	term	NOUN
hjic-486	200	24	of	of	ADP
hjic-486	200	25	definition	definition	NOUN
hjic-486	200	26	1	1	NUM
hjic-486	200	27	and	and	CCONJ
hjic-486	200	28	the	the	DET
hjic-486	200	29	output	output	NOUN
hjic-486	200	30	is	be	AUX
hjic-486	200	31	equivariant	equivariant	ADJ
hjic-486	200	32	to	to	ADP
hjic-486	200	33	transformation	transformation	NOUN
hjic-486	200	34	ρ	ρ	PROPN
hjic-486	200	35	in	in	ADP
hjic-486	200	36	terms	term	NOUN
hjic-486	200	37	of	of	ADP
hjic-486	200	38	definition	definition	NOUN
hjic-486	200	39	3	3	NUM
hjic-486	200	40	.	.	PUNCT
hjic-486	200	41	invariant	invariant	ADJ
hjic-486	200	42	output	output	NOUN
hjic-486	200	43	errors	error	NOUN
hjic-486	200	44	the	the	DET
hjic-486	200	45	normalization	normalization	NOUN
hjic-486	200	46	eq.(31	eq.(31	PROPN
hjic-486	200	47	)	)	PUNCT
hjic-486	200	48	for	for	ADP
hjic-486	200	49	:0	:0	PUNCT
hjic-486	200	50	=	=	NOUN
hjic-486	200	51	c	c	NOUN
hjic-486	200	52	0	0	PUNCT
hjic-486	201	1	=	=	SYM
hjic-486	201	2	x	x	SYM
hjic-486	201	3	cosθγ	cosθγ	NOUN
hjic-486	201	4	−	−	NOUN
hjic-486	201	5	ysinθγ	ysinθγ	NOUN
hjic-486	201	6	+	+	CCONJ
hjic-486	201	7	xγ	xγ	PROPN
hjic-486	201	8	0	0	NUM
hjic-486	202	1	=	=	SYM
hjic-486	202	2	xsinθγ	xsinθγ	PROPN
hjic-486	203	1	+	+	X
hjic-486	203	2	ycosθγ	ycosθγ	NOUN
hjic-486	203	3	+	+	CCONJ
hjic-486	203	4	yγ	yγ	NOUN
hjic-486	203	5	0	0	NUM
hjic-486	204	1	=	=	NUM
hjic-486	204	2	θ	θ	X
hjic-486	204	3	+	+	NOUN
hjic-486	204	4	θγ	θγ	NOUN
hjic-486	204	5	(	(	PUNCT
hjic-486	204	6	36	36	NUM
hjic-486	204	7	)	)	PUNCT
hjic-486	204	8	the	the	DET
hjic-486	204	9	solution	solution	NOUN
hjic-486	204	10	of	of	ADP
hjic-486	204	11	eq.(36	eq.(36	NOUN
hjic-486	204	12	)	)	PUNCT
hjic-486	204	13	,	,	PUNCT
hjic-486	204	14	the	the	DET
hjic-486	204	15	scalar	scalar	ADJ
hjic-486	204	16	invariants	invariant	NOUN
hjic-486	204	17	and	and	CCONJ
hjic-486	204	18	output	output	NOUN
hjic-486	204	19	errors	error	NOUN
hjic-486	204	20	can	can	AUX
hjic-486	204	21	be	be	AUX
hjic-486	204	22	written	write	VERB
hjic-486	204	23	as	as	SCONJ
hjic-486	204	24	follows	follow	VERB
hjic-486	204	25	respectively	respectively	ADV
hjic-486	204	26	xγ	xγ	PROPN
hjic-486	204	27	yγ	yγ	INTJ
hjic-486	204	28	θγ	θγ	INTJ
hjic-486	204	29	!	!	PUNCT
hjic-486	204	30	"	"	PUNCT
hjic-486	205	1	#	#	NOUN
hjic-486	205	2	#	#	NOUN
hjic-486	205	3	#	#	NOUN
hjic-486	205	4	#	#	NOUN
hjic-486	205	5	$	$	NUM
hjic-486	205	6	%	%	NOUN
hjic-486	205	7	&	&	CCONJ
hjic-486	205	8	&	&	CCONJ
hjic-486	205	9	&	&	CCONJ
hjic-486	205	10	&	&	CCONJ
hjic-486	205	11	=	=	PROPN
hjic-486	205	12	x	x	PROPN
hjic-486	205	13	y	y	PROPN
hjic-486	205	14	θ	θ	PROPN
hjic-486	205	15	!	!	PUNCT
hjic-486	205	16	"	"	PUNCT
hjic-486	206	1	#	#	NOUN
hjic-486	206	2	#	#	NOUN
hjic-486	206	3	#	#	NOUN
hjic-486	206	4	$	$	NUM
hjic-486	206	5	%	%	NOUN
hjic-486	206	6	&	&	CCONJ
hjic-486	206	7	&	&	CCONJ
hjic-486	206	8	&	&	CCONJ
hjic-486	206	9	−1	−1	NOUN
hjic-486	206	10	=	=	PROPN
hjic-486	206	11	−x	−x	NOUN
hjic-486	206	12	cosθ	cosθ	PROPN
hjic-486	206	13	−	−	PROPN
hjic-486	206	14	ysinθ	ysinθ	PROPN
hjic-486	206	15	xsinθ	xsinθ	PROPN
hjic-486	207	1	−	−	PROPN
hjic-486	207	2	ycosθ	ycosθ	ADV
hjic-486	207	3	−θ	−θ	ADV
hjic-486	207	4	!	!	PUNCT
hjic-486	207	5	"	"	PUNCT
hjic-486	208	1	#	#	NOUN
hjic-486	208	2	#	#	NOUN
hjic-486	208	3	#	#	NOUN
hjic-486	208	4	#	#	NOUN
hjic-486	208	5	$	$	NUM
hjic-486	208	6	%	%	NOUN
hjic-486	208	7	&	&	CCONJ
hjic-486	208	8	&	&	CCONJ
hjic-486	208	9	&	&	PROPN
hjic-486	208	10	&	&	CCONJ
hjic-486	208	11	=	=	NOUN
hjic-486	208	12	γ	γ	X
hjic-486	208	13	x	x	X
hjic-486	208	14	y	y	PROPN
hjic-486	208	15	θ	θ	PROPN
hjic-486	208	16	!	!	PUNCT
hjic-486	208	17	"	"	PUNCT
hjic-486	209	1	#	#	NOUN
hjic-486	209	2	#	#	NOUN
hjic-486	209	3	#	#	NOUN
hjic-486	209	4	$	$	NUM
hjic-486	209	5	%	%	NOUN
hjic-486	209	6	&	&	CCONJ
hjic-486	209	7	&	&	CCONJ
hjic-486	209	8	&	&	CCONJ
hjic-486	209	9	(	(	PUNCT
hjic-486	209	10	37	37	NUM
hjic-486	209	11	)	)	PUNCT
hjic-486	209	12	i(x	i(x	PROPN
hjic-486	209	13	,	,	PUNCT
hjic-486	209	14	y	y	PROPN
hjic-486	209	15	,	,	PUNCT
hjic-486	209	16	θ	θ	PROPN
hjic-486	209	17	,	,	PUNCT
hjic-486	209	18	u	u	NOUN
hjic-486	209	19	,	,	PUNCT
hjic-486	209	20	v	v	NOUN
hjic-486	209	21	)	)	PUNCT
hjic-486	209	22	=	=	NOUN
hjic-486	209	23	ψγ	ψγ	NUM
hjic-486	209	24	(	(	PUNCT
hjic-486	209	25	x	x	NOUN
hjic-486	209	26	,	,	PUNCT
hjic-486	209	27	y	y	PROPN
hjic-486	209	28	,	,	PUNCT
hjic-486	209	29	θ	θ	PROPN
hjic-486	209	30	)	)	PUNCT
hjic-486	209	31	(	(	PUNCT
hjic-486	209	32	u	u	NOUN
hjic-486	209	33	,	,	PUNCT
hjic-486	209	34	v	v	NOUN
hjic-486	209	35	)	)	PUNCT
hjic-486	209	36	=	=	SYM
hjic-486	209	37	u	u	NOUN
hjic-486	209	38	v	v	NOUN
hjic-486	209	39	!	!	PUNCT
hjic-486	209	40	"	"	PUNCT
hjic-486	210	1	#	#	NOUN
hjic-486	210	2	$	$	NUM
hjic-486	210	3	%	%	NOUN
hjic-486	210	4	&	&	CCONJ
hjic-486	210	5	(	(	PUNCT
hjic-486	210	6	38	38	NUM
hjic-486	210	7	)	)	PUNCT
hjic-486	210	8	e	e	NOUN
hjic-486	210	9	=	=	SYM
hjic-486	210	10	ρ(xγ	ρ(xγ	PROPN
hjic-486	210	11	,	,	PUNCT
hjic-486	210	12	yγ	yγ	INTJ
hjic-486	210	13	,	,	PUNCT
hjic-486	210	14	θγ	θγ	NOUN
hjic-486	210	15	)	)	PUNCT
hjic-486	210	16	(	(	PUNCT
hjic-486	210	17	x̂	x̂	NUM
hjic-486	210	18	,	,	PUNCT
hjic-486	210	19	ŷ)−	ŷ)−	X
hjic-486	210	20	ρ(xγ	ρ(xγ	NUM
hjic-486	210	21	,	,	PUNCT
hjic-486	210	22	yγ	yγ	INTJ
hjic-486	210	23	,	,	PUNCT
hjic-486	210	24	θγ	θγ	NOUN
hjic-486	210	25	)	)	PUNCT
hjic-486	210	26	(	(	PUNCT
hjic-486	210	27	x	x	X
hjic-486	210	28	,	,	PUNCT
hjic-486	210	29	y	y	NOUN
hjic-486	210	30	)	)	PUNCT
hjic-486	210	31	=	=	PRON
hjic-486	210	32	cosθ̂	cosθ̂	X
hjic-486	210	33	sinθ̂	sinθ̂	X
hjic-486	210	34	−sinθ̂	−sinθ̂	NOUN
hjic-486	210	35	cosθ̂	cosθ̂	NOUN
hjic-486	210	36	"	"	PUNCT
hjic-486	210	37	#	#	NOUN
hjic-486	210	38	$	$	SYM
hjic-486	210	39	$	$	NUM
hjic-486	210	40	%	%	NOUN
hjic-486	210	41	&	&	CCONJ
hjic-486	210	42	'	'	PUNCT
hjic-486	210	43	'	'	PUNCT
hjic-486	210	44	x̂	x̂	PUNCT
hjic-486	211	1	−	−	PROPN
hjic-486	211	2	x	x	SYM
hjic-486	211	3	ŷ−	ŷ−	PROPN
hjic-486	211	4	y	y	PROPN
hjic-486	211	5	"	"	PUNCT
hjic-486	211	6	#	#	NOUN
hjic-486	211	7	$	$	SYM
hjic-486	211	8	$	$	NUM
hjic-486	211	9	%	%	NOUN
hjic-486	211	10	&	&	CCONJ
hjic-486	211	11	''	''	PUNCT
hjic-486	211	12	(	(	PUNCT
hjic-486	211	13	39	39	NUM
hjic-486	211	14	)	)	PUNCT
hjic-486	211	15	invariant	invariant	ADJ
hjic-486	211	16	frame	frame	NOUN
hjic-486	211	17	w	w	NOUN
hjic-486	211	18	=	=	PUNCT
hjic-486	211	19	(	(	PUNCT
hjic-486	211	20	dφγ	dφγ	PROPN
hjic-486	211	21	(	(	PUNCT
hjic-486	211	22	x	x	X
hjic-486	211	23	,	,	PUNCT
hjic-486	211	24	y	y	PROPN
hjic-486	211	25	,	,	PUNCT
hjic-486	211	26	θ	θ	PROPN
hjic-486	211	27	)	)	PUNCT
hjic-486	211	28	(	(	PUNCT
hjic-486	211	29	x	x	X
hjic-486	211	30	,	,	PUNCT
hjic-486	211	31	y	y	PROPN
hjic-486	211	32	,	,	PUNCT
hjic-486	211	33	θ	θ	PROPN
hjic-486	211	34	)	)	PUNCT
hjic-486	211	35	)	)	PUNCT
hjic-486	211	36	−1	−1	NOUN
hjic-486	211	37	∂	∂	NUM
hjic-486	212	1	∂(x	∂(x	ADJ
hjic-486	212	2	,	,	PUNCT
hjic-486	212	3	y	y	PROPN
hjic-486	212	4	,	,	PUNCT
hjic-486	212	5	θ	θ	NOUN
hjic-486	212	6	)	)	PUNCT
hjic-486	213	1	=	=	PUNCT
hjic-486	214	1	=	=	PRON
hjic-486	214	2	dφγ	dφγ	ADJ
hjic-486	214	3	(	(	PUNCT
hjic-486	214	4	x	x	X
hjic-486	214	5	,	,	PUNCT
hjic-486	214	6	y	y	PROPN
hjic-486	214	7	,	,	PUNCT
hjic-486	214	8	θ	θ	PROPN
hjic-486	214	9	)	)	PUNCT
hjic-486	214	10	(	(	PUNCT
hjic-486	214	11	x	x	X
hjic-486	214	12	,	,	PUNCT
hjic-486	214	13	y	y	PROPN
hjic-486	214	14	,	,	PUNCT
hjic-486	214	15	θ	θ	NOUN
hjic-486	214	16	)	)	PUNCT
hjic-486	215	1	=	=	SYM
hjic-486	215	2	cosθ	cosθ	X
hjic-486	215	3	−sinθ	−sinθ	NOUN
hjic-486	215	4	0	0	NUM
hjic-486	215	5	sinθ	sinθ	PROPN
hjic-486	215	6	cosθ	cosθ	X
hjic-486	215	7	0	0	NUM
hjic-486	215	8	0	0	NUM
hjic-486	215	9	0	0	NUM
hjic-486	215	10	1	1	NUM
hjic-486	215	11	#	#	NOUN
hjic-486	215	12	$	$	NUM
hjic-486	215	13	%	%	NOUN
hjic-486	215	14	%	%	NOUN
hjic-486	215	15	%	%	NOUN
hjic-486	215	16	&	&	CCONJ
hjic-486	215	17	'	'	PUNCT
hjic-486	215	18	(	(	PUNCT
hjic-486	215	19	(	(	PUNCT
hjic-486	215	20	(	(	PUNCT
hjic-486	215	21	.	.	PUNCT
hjic-486	216	1	(	(	PUNCT
hjic-486	216	2	40	40	NUM
hjic-486	216	3	)	)	PUNCT
hjic-486	216	4	62	62	NUM
hjic-486	216	5	invariant	invariant	ADJ
hjic-486	216	6	pre	pre	NOUN
hjic-486	216	7	-	-	NOUN
hjic-486	216	8	observer	observer	ADJ
hjic-486	216	9	d	d	NOUN
hjic-486	216	10	dt	dt	NOUN
hjic-486	216	11	x̂	x̂	PROPN
hjic-486	216	12	ŷ	ŷ	NUM
hjic-486	216	13	θ̂	θ̂	X
hjic-486	216	14	!	!	PUNCT
hjic-486	216	15	"	"	PUNCT
hjic-486	217	1	#	#	NOUN
hjic-486	217	2	#	#	NOUN
hjic-486	217	3	#	#	NOUN
hjic-486	217	4	$	$	NUM
hjic-486	217	5	%	%	NOUN
hjic-486	217	6	&	&	CCONJ
hjic-486	217	7	&	&	CCONJ
hjic-486	217	8	&	&	CCONJ
hjic-486	217	9	=	=	PROPN
hjic-486	217	10	ucosθ̂	ucosθ̂	PUNCT
hjic-486	217	11	usinθ̂	usinθ̂	NUM
hjic-486	217	12	uv	uv	NOUN
hjic-486	217	13	!	!	PUNCT
hjic-486	217	14	"	"	PUNCT
hjic-486	218	1	#	#	NOUN
hjic-486	218	2	#	#	NOUN
hjic-486	218	3	#	#	NOUN
hjic-486	218	4	#	#	NOUN
hjic-486	218	5	$	$	NUM
hjic-486	218	6	%	%	NOUN
hjic-486	218	7	&	&	CCONJ
hjic-486	218	8	&	&	CCONJ
hjic-486	218	9	&	&	CCONJ
hjic-486	218	10	&	&	CCONJ
hjic-486	218	11	+	+	X
hjic-486	218	12	cosθ̂	cosθ̂	X
hjic-486	218	13	−sinθ̂	−sinθ̂	X
hjic-486	218	14	0	0	NUM
hjic-486	218	15	sinθ̂	sinθ̂	X
hjic-486	218	16	cosθ̂	cosθ̂	X
hjic-486	218	17	0	0	NUM
hjic-486	218	18	0	0	NUM
hjic-486	218	19	0	0	NUM
hjic-486	218	20	1	1	NUM
hjic-486	218	21	!	!	PUNCT
hjic-486	218	22	"	"	PUNCT
hjic-486	219	1	#	#	NOUN
hjic-486	219	2	#	#	NOUN
hjic-486	219	3	#	#	NOUN
hjic-486	219	4	#	#	NOUN
hjic-486	219	5	$	$	NUM
hjic-486	219	6	%	%	NOUN
hjic-486	219	7	&	&	CCONJ
hjic-486	219	8	&	&	CCONJ
hjic-486	219	9	&	&	CCONJ
hjic-486	219	10	&	&	CCONJ
hjic-486	219	11	l	l	PROPN
hjic-486	219	12	×	×	PROPN
hjic-486	219	13	cosθ̂	cosθ̂	ADV
hjic-486	219	14	sinθ̂	sinθ̂	ADJ
hjic-486	219	15	−sinθ̂	−sinθ̂	NOUN
hjic-486	219	16	cosθ̂	cosθ̂	PUNCT
hjic-486	219	17	!	!	PUNCT
hjic-486	219	18	"	"	PUNCT
hjic-486	220	1	#	#	NOUN
hjic-486	220	2	#	#	NOUN
hjic-486	220	3	$	$	NUM
hjic-486	220	4	%	%	NOUN
hjic-486	220	5	&	&	CCONJ
hjic-486	220	6	&	&	CCONJ
hjic-486	220	7	x̂	x̂	PUNCT
hjic-486	221	1	−	−	PROPN
hjic-486	221	2	x	x	X
hjic-486	221	3	ŷ−	ŷ−	PROPN
hjic-486	221	4	y	y	PROPN
hjic-486	221	5	!	!	PUNCT
hjic-486	221	6	"	"	PUNCT
hjic-486	222	1	#	#	SYM
hjic-486	222	2	#	#	NOUN
hjic-486	222	3	$	$	NUM
hjic-486	222	4	%	%	NOUN
hjic-486	222	5	&	&	CCONJ
hjic-486	222	6	&	&	CCONJ
hjic-486	222	7	(	(	PUNCT
hjic-486	222	8	41	41	NUM
hjic-486	222	9	)	)	PUNCT
hjic-486	222	10	where	where	SCONJ
hjic-486	222	11	l	l	NOUN
hjic-486	222	12	is	be	AUX
hjic-486	222	13	a	a	DET
hjic-486	222	14	smooth	smooth	ADJ
hjic-486	222	15	23×	23×	NUM
hjic-486	222	16	gain	gain	NOUN
hjic-486	222	17	matrix	matrix	NOUN
hjic-486	222	18	,	,	PUNCT
hjic-486	222	19	whose	whose	DET
hjic-486	222	20	elements	element	NOUN
hjic-486	222	21	depend	depend	VERB
hjic-486	222	22	on	on	ADP
hjic-486	222	23	the	the	DET
hjic-486	222	24	invariant	invariant	ADJ
hjic-486	222	25	error	error	NOUN
hjic-486	222	26	e	e	NOUN
hjic-486	222	27	and	and	CCONJ
hjic-486	222	28	the	the	DET
hjic-486	222	29	invariants	invariants	PROPN
hjic-486	222	30	i.	i.	NOUN
hjic-486	222	31	error	error	NOUN
hjic-486	222	32	equations	equation	NOUN
hjic-486	222	33	and	and	CCONJ
hjic-486	222	34	error	error	NOUN
hjic-486	222	35	dynamics	dynamic	NOUN
hjic-486	222	36	η	η	X
hjic-486	222	37	=	=	PROPN
hjic-486	222	38	ηx	ηx	PROPN
hjic-486	222	39	ηy	ηy	ADJ
hjic-486	222	40	ηθ	ηθ	ADV
hjic-486	222	41	!	!	PUNCT
hjic-486	222	42	"	"	PUNCT
hjic-486	223	1	#	#	NOUN
hjic-486	223	2	#	#	NOUN
hjic-486	223	3	#	#	NOUN
hjic-486	223	4	#	#	NOUN
hjic-486	223	5	$	$	NUM
hjic-486	223	6	%	%	NOUN
hjic-486	223	7	&	&	CCONJ
hjic-486	223	8	&	&	CCONJ
hjic-486	223	9	&	&	CCONJ
hjic-486	223	10	&	&	CCONJ
hjic-486	223	11	=	=	PROPN
hjic-486	223	12	γ	γ	X
hjic-486	223	13	(	(	PUNCT
hjic-486	223	14	x̂	x̂	PROPN
hjic-486	223	15	,	,	PUNCT
hjic-486	223	16	ŷ,θ̂	ŷ,θ̂	PROPN
hjic-486	223	17	)	)	PUNCT
hjic-486	223	18	x̂	x̂	PUNCT
hjic-486	223	19	ŷ	ŷ	NUM
hjic-486	223	20	θ̂	θ̂	X
hjic-486	223	21	!	!	PUNCT
hjic-486	223	22	"	"	PUNCT
hjic-486	224	1	#	#	NOUN
hjic-486	224	2	#	#	NOUN
hjic-486	224	3	#	#	NOUN
hjic-486	224	4	$	$	NUM
hjic-486	224	5	%	%	NOUN
hjic-486	224	6	&	&	CCONJ
hjic-486	224	7	&	&	CCONJ
hjic-486	224	8	&	&	CCONJ
hjic-486	224	9	−γ	−γ	PROPN
hjic-486	224	10	(	(	PUNCT
hjic-486	224	11	x̂	x̂	NUM
hjic-486	224	12	,	,	PUNCT
hjic-486	224	13	ŷ,θ̂	ŷ,θ̂	PROPN
hjic-486	224	14	)	)	PUNCT
hjic-486	224	15	x	x	PUNCT
hjic-486	224	16	y	y	PROPN
hjic-486	224	17	θ	θ	PROPN
hjic-486	224	18	!	!	PUNCT
hjic-486	224	19	"	"	PUNCT
hjic-486	225	1	#	#	NOUN
hjic-486	225	2	#	#	NOUN
hjic-486	225	3	#	#	NOUN
hjic-486	225	4	$	$	NUM
hjic-486	225	5	%	%	NOUN
hjic-486	225	6	&	&	CCONJ
hjic-486	225	7	&	&	CCONJ
hjic-486	225	8	&	&	CCONJ
hjic-486	225	9	=	=	SYM
hjic-486	225	10	=	=	PROPN
hjic-486	225	11	(	(	PUNCT
hjic-486	225	12	x̂	x̂	NUM
hjic-486	225	13	−	−	PROPN
hjic-486	225	14	x)cosθ̂	x)cosθ̂	PUNCT
hjic-486	226	1	+	+	CCONJ
hjic-486	226	2	(	(	PUNCT
hjic-486	226	3	ŷ−	ŷ−	PROPN
hjic-486	226	4	y)sinθ̂	y)sinθ̂	PROPN
hjic-486	226	5	−(x̂	−(x̂	PROPN
hjic-486	226	6	−	−	X
hjic-486	226	7	x)sinθ̂	x)sinθ̂	PROPN
hjic-486	227	1	+	+	CCONJ
hjic-486	227	2	(	(	PUNCT
hjic-486	227	3	ŷ−	ŷ−	PROPN
hjic-486	227	4	y)cosθ̂	y)cosθ̂	PROPN
hjic-486	227	5	(	(	PUNCT
hjic-486	227	6	θ̂	θ̂	X
hjic-486	227	7	−θ	−θ	ADJ
hjic-486	227	8	)	)	PUNCT
hjic-486	227	9	!	!	PUNCT
hjic-486	227	10	"	"	PUNCT
hjic-486	228	1	#	#	NOUN
hjic-486	228	2	#	#	NOUN
hjic-486	228	3	#	#	NOUN
hjic-486	228	4	#	#	NOUN
hjic-486	228	5	$	$	NUM
hjic-486	228	6	%	%	NOUN
hjic-486	228	7	&	&	CCONJ
hjic-486	228	8	&	&	CCONJ
hjic-486	228	9	&	&	CCONJ
hjic-486	228	10	&	&	CCONJ
hjic-486	228	11	(	(	PUNCT
hjic-486	228	12	42	42	NUM
hjic-486	228	13	)	)	PUNCT
hjic-486	228	14	!	!	PUNCT
hjic-486	229	1	ηx	ηx	INTJ
hjic-486	229	2	!	!	PUNCT
hjic-486	230	1	ηy	ηy	PROPN
hjic-486	230	2	!	!	PUNCT
hjic-486	230	3	ηθ	ηθ	PROPN
hjic-486	230	4	!	!	PUNCT
hjic-486	230	5	"	"	PUNCT
hjic-486	231	1	#	#	NOUN
hjic-486	231	2	#	#	NOUN
hjic-486	231	3	#	#	NOUN
hjic-486	231	4	#	#	NOUN
hjic-486	231	5	$	$	NUM
hjic-486	231	6	%	%	NOUN
hjic-486	231	7	&	&	CCONJ
hjic-486	231	8	&	&	CCONJ
hjic-486	231	9	&	&	CCONJ
hjic-486	231	10	&	&	CCONJ
hjic-486	231	11	=	=	PROPN
hjic-486	231	12	u(1−	u(1−	PROPN
hjic-486	231	13	cosηθ	cosηθ	ADJ
hjic-486	231	14	)	)	PUNCT
hjic-486	232	1	+	+	CCONJ
hjic-486	232	2	(	(	PUNCT
hjic-486	232	3	uv+	uv+	ADJ
hjic-486	232	4	l31ηx	l31ηx	VERB
hjic-486	232	5	+	+	PROPN
hjic-486	232	6	l32ηy	l32ηy	ADJ
hjic-486	232	7	)	)	PUNCT
hjic-486	232	8	ηy	ηy	PROPN
hjic-486	232	9	usinηθ	usinηθ	PROPN
hjic-486	232	10	−	−	PROPN
hjic-486	232	11	(	(	PUNCT
hjic-486	232	12	uv+	uv+	PROPN
hjic-486	232	13	l31ηx	l31ηx	VERB
hjic-486	232	14	+	+	CCONJ
hjic-486	232	15	l32ηy	l32ηy	ADJ
hjic-486	232	16	)	)	PUNCT
hjic-486	232	17	ηx	ηx	PROPN
hjic-486	232	18	0	0	NUM
hjic-486	232	19	!	!	PUNCT
hjic-486	232	20	"	"	PUNCT
hjic-486	233	1	#	#	NOUN
hjic-486	233	2	#	#	NOUN
hjic-486	233	3	#	#	NOUN
hjic-486	233	4	#	#	NOUN
hjic-486	233	5	$	$	NUM
hjic-486	233	6	%	%	NOUN
hjic-486	233	7	&	&	CCONJ
hjic-486	233	8	&	&	CCONJ
hjic-486	233	9	&	&	CCONJ
hjic-486	233	10	&	&	CCONJ
hjic-486	233	11	+	+	PROPN
hjic-486	233	12	+	+	ADJ
hjic-486	233	13	l	l	NOUN
hjic-486	233	14	ηx	ηx	NOUN
hjic-486	233	15	ηy	ηy	VERB
hjic-486	233	16	!	!	PUNCT
hjic-486	233	17	"	"	PUNCT
hjic-486	234	1	#	#	NOUN
hjic-486	234	2	#	#	NOUN
hjic-486	234	3	$	$	NUM
hjic-486	234	4	%	%	NOUN
hjic-486	234	5	&	&	CCONJ
hjic-486	234	6	&	&	CCONJ
hjic-486	234	7	(	(	PUNCT
hjic-486	234	8	43	43	NUM
hjic-486	234	9	)	)	PUNCT
hjic-486	234	10	it	it	PRON
hjic-486	234	11	can	can	AUX
hjic-486	234	12	be	be	AUX
hjic-486	234	13	seen	see	VERB
hjic-486	234	14	that	that	SCONJ
hjic-486	234	15	the	the	DET
hjic-486	234	16	invariant	invariant	ADJ
hjic-486	234	17	error	error	NOUN
hjic-486	234	18	equations	equation	NOUN
hjic-486	234	19	are	be	AUX
hjic-486	234	20	independent	independent	ADJ
hjic-486	234	21	of	of	ADP
hjic-486	234	22	the	the	DET
hjic-486	234	23	trajectory	trajectory	NOUN
hjic-486	234	24	and	and	CCONJ
hjic-486	234	25	only	only	ADV
hjic-486	234	26	depend	depend	VERB
hjic-486	234	27	on	on	ADP
hjic-486	234	28	the	the	DET
hjic-486	234	29	relative	relative	ADJ
hjic-486	234	30	quantities	quantity	NOUN
hjic-486	234	31	ηx	ηx	ADJ
hjic-486	234	32	,	,	PUNCT
hjic-486	234	33	ηy	ηy	ADJ
hjic-486	234	34	,	,	PUNCT
hjic-486	234	35	and	and	CCONJ
hjic-486	234	36	ηθ	ηθ	NOUN
hjic-486	234	37	and	and	CCONJ
hjic-486	234	38	the	the	DET
hjic-486	234	39	i	i	NOUN
hjic-486	234	40	invariants	invariant	NOUN
hjic-486	234	41	.	.	PUNCT
hjic-486	235	1	stability	stability	NOUN
hjic-486	235	2	and	and	CCONJ
hjic-486	235	3	convergence	convergence	VERB
hjic-486	235	4	the	the	DET
hjic-486	235	5	weighting	weighting	NOUN
hjic-486	235	6	matrix	matrix	NOUN
hjic-486	235	7	is	be	AUX
hjic-486	235	8	defined	define	VERB
hjic-486	235	9	as	as	SCONJ
hjic-486	235	10	follows	follow	VERB
hjic-486	235	11	l	l	NOUN
hjic-486	235	12	=	=	SYM
hjic-486	236	1	−	−	PROPN
hjic-486	236	2	|u	|u	ADJ
hjic-486	236	3	|	|	ADV
hjic-486	236	4	a	a	DET
hjic-486	236	5	ubey	ubey	ADJ
hjic-486	236	6	−uv	−uv	NOUN
hjic-486	236	7	uv−ubey	uv−ubey	ADP
hjic-486	236	8	−	−	PROPN
hjic-486	237	1	|u	|u	ADJ
hjic-486	237	2	|	|	NOUN
hjic-486	237	3	c	c	NOUN
hjic-486	237	4	0	0	NUM
hjic-486	237	5	−ub	−ub	PRON
hjic-486	237	6	"	"	PUNCT
hjic-486	237	7	#	#	NOUN
hjic-486	237	8	$	$	SYM
hjic-486	237	9	$	$	SYM
hjic-486	237	10	$	$	SYM
hjic-486	237	11	$	$	NUM
hjic-486	237	12	%	%	NOUN
hjic-486	237	13	&	&	CCONJ
hjic-486	237	14	'	'	PUNCT
hjic-486	237	15	'	'	PUNCT
hjic-486	237	16	'	'	PUNCT
hjic-486	237	17	'	'	PUNCT
hjic-486	237	18	,	,	PUNCT
hjic-486	237	19	(	(	PUNCT
hjic-486	237	20	44	44	NUM
hjic-486	237	21	)	)	PUNCT
hjic-486	237	22	where	where	SCONJ
hjic-486	237	23	a	a	PRON
hjic-486	237	24	and	and	CCONJ
hjic-486	237	25	b	b	NOUN
hjic-486	237	26	are	be	AUX
hjic-486	237	27	care	care	VERB
hjic-486	237	28	positive	positive	ADJ
hjic-486	237	29	scalars	scalar	NOUN
hjic-486	237	30	and	and	CCONJ
hjic-486	237	31	ey	ey	PRON
hjic-486	237	32	=	=	NOUN
hjic-486	237	33	ηy	ηy	PROPN
hjic-486	237	34	.	.	PUNCT
hjic-486	238	1	the	the	DET
hjic-486	238	2	invariant	invariant	ADJ
hjic-486	238	3	error	error	NOUN
hjic-486	238	4	dynamics	dynamic	NOUN
hjic-486	238	5	can	can	AUX
hjic-486	238	6	be	be	AUX
hjic-486	238	7	made	make	VERB
hjic-486	238	8	locally	locally	ADV
hjic-486	238	9	asymptotically	asymptotically	ADV
hjic-486	238	10	stable	stable	ADJ
hjic-486	238	11	.	.	PUNCT
hjic-486	239	1	furthermore	furthermore	ADV
hjic-486	239	2	,	,	PUNCT
hjic-486	239	3	the	the	DET
hjic-486	239	4	resulting	result	VERB
hjic-486	239	5	symmetry	symmetry	NOUN
hjic-486	239	6	-	-	PUNCT
hjic-486	239	7	preserving	preserve	VERB
hjic-486	239	8	observer	observer	NOUN
hjic-486	239	9	is	be	AUX
hjic-486	239	10	almost	almost	ADV
hjic-486	239	11	globally	globally	ADV
hjic-486	239	12	asymptotically	asymptotically	ADV
hjic-486	239	13	convergent	convergent	NOUN
hjic-486	239	14	,	,	PUNCT
hjic-486	239	15	i.e.	i.e.	X
hjic-486	239	16	it	it	PRON
hjic-486	239	17	converges	converge	VERB
hjic-486	239	18	any	any	DET
hjic-486	239	19	initial	initial	ADJ
hjic-486	239	20	condition	condition	NOUN
hjic-486	239	21	except	except	SCONJ
hjic-486	239	22	for	for	ADP
hjic-486	239	23	one	one	NUM
hjic-486	239	24	as	as	SCONJ
hjic-486	239	25	described	describe	VERB
hjic-486	239	26	in	in	ADP
hjic-486	239	27	refs	ref	NOUN
hjic-486	239	28	.	.	PUNCT
hjic-486	240	1	[	[	X
hjic-486	240	2	15	15	NUM
hjic-486	240	3	-	-	SYM
hjic-486	240	4	16	16	NUM
hjic-486	240	5	]	]	PUNCT
hjic-486	240	6	.	.	PUNCT
hjic-486	241	1	simulation	simulation	NOUN
hjic-486	241	2	results	result	VERB
hjic-486	241	3	the	the	DET
hjic-486	241	4	state	state	NOUN
hjic-486	241	5	estimation	estimation	NOUN
hjic-486	241	6	techniques	technique	NOUN
hjic-486	241	7	are	be	AUX
hjic-486	241	8	illustrated	illustrate	VERB
hjic-486	241	9	in	in	ADP
hjic-486	241	10	two	two	NUM
hjic-486	241	11	tracking	track	VERB
hjic-486	241	12	examples	example	NOUN
hjic-486	241	13	.	.	PUNCT
hjic-486	242	1	for	for	ADP
hjic-486	242	2	comparative	comparative	ADJ
hjic-486	242	3	purposes	purpose	NOUN
hjic-486	242	4	,	,	PUNCT
hjic-486	242	5	the	the	DET
hjic-486	242	6	following	follow	VERB
hjic-486	242	7	algorithms	algorithm	NOUN
hjic-486	242	8	have	have	AUX
hjic-486	242	9	been	be	AUX
hjic-486	242	10	implemented	implement	VERB
hjic-486	242	11	:	:	PUNCT
hjic-486	242	12	extended	extended	ADJ
hjic-486	242	13	kalman	kalman	NOUN
hjic-486	242	14	filter	filter	PROPN
hjic-486	242	15	(	(	PUNCT
hjic-486	242	16	ekf	ekf	PROPN
hjic-486	242	17	)	)	PUNCT
hjic-486	242	18	,	,	PUNCT
hjic-486	242	19	central	central	ADJ
hjic-486	242	20	difference	difference	NOUN
hjic-486	242	21	and	and	CCONJ
hjic-486	242	22	unscented	unscente	VERB
hjic-486	242	23	kalman	kalman	NOUN
hjic-486	242	24	filter	filter	PROPN
hjic-486	242	25	(	(	PUNCT
hjic-486	242	26	ckf	ckf	PROPN
hjic-486	242	27	,	,	PUNCT
hjic-486	242	28	ukf	ukf	PROPN
hjic-486	242	29	)	)	PUNCT
hjic-486	242	30	and	and	CCONJ
hjic-486	242	31	the	the	DET
hjic-486	242	32	symmetry	symmetry	NOUN
hjic-486	242	33	preserving	preserve	VERB
hjic-486	242	34	observer	observer	NOUN
hjic-486	242	35	(	(	PUNCT
hjic-486	242	36	sym	sym	NOUN
hjic-486	242	37	)	)	PUNCT
hjic-486	242	38	discretized	discretize	VERB
hjic-486	242	39	by	by	ADP
hjic-486	242	40	the	the	DET
hjic-486	242	41	sample	sample	NOUN
hjic-486	242	42	time	time	NOUN
hjic-486	242	43	of	of	ADP
hjic-486	242	44	the	the	DET
hjic-486	242	45	sigma	sigma	ADJ
hjic-486	242	46	-	-	PUNCT
hjic-486	242	47	point	point	NOUN
hjic-486	242	48	estimators	estimator	NOUN
hjic-486	242	49	.	.	PUNCT
hjic-486	243	1	the	the	DET
hjic-486	243	2	reference	reference	NOUN
hjic-486	243	3	paths	path	NOUN
hjic-486	243	4	are	be	AUX
hjic-486	243	5	xr	xr	PROPN
hjic-486	243	6	(	(	PUNCT
hjic-486	243	7	t	t	PROPN
hjic-486	243	8	)	)	PUNCT
hjic-486	243	9	=	=	SYM
hjic-486	243	10	t	t	PROPN
hjic-486	243	11	,	,	PUNCT
hjic-486	243	12	and	and	CCONJ
hjic-486	244	1	yr	yr	PROPN
hjic-486	244	2	(	(	PUNCT
hjic-486	244	3	t	t	PROPN
hjic-486	244	4	)	)	PUNCT
hjic-486	244	5	=	=	SYM
hjic-486	244	6	asin(ωt	asin(ωt	NOUN
hjic-486	244	7	)	)	PUNCT
hjic-486	244	8	,	,	PUNCT
hjic-486	244	9	where	where	SCONJ
hjic-486	244	10	a	a	DET
hjic-486	244	11	=	=	SYM
hjic-486	244	12	3	3	NUM
hjic-486	244	13	m	m	NOUN
hjic-486	244	14	and	and	CCONJ
hjic-486	244	15	ω	ω	NUM
hjic-486	244	16	=	=	X
hjic-486	244	17	π/5	π/5	NUM
hjic-486	244	18	rad	rad	NOUN
hjic-486	244	19	s-1	s-1	NOUN
hjic-486	244	20	.	.	PUNCT
hjic-486	245	1	zero	zero	NUM
hjic-486	245	2	mean	mean	VERB
hjic-486	245	3	additive	additive	ADJ
hjic-486	245	4	gaussian	gaussian	NOUN
hjic-486	245	5	noise	noise	NOUN
hjic-486	245	6	is	be	AUX
hjic-486	245	7	assumed	assume	VERB
hjic-486	245	8	with	with	ADP
hjic-486	245	9	standard	standard	ADJ
hjic-486	245	10	deviations	deviation	NOUN
hjic-486	245	11	of	of	ADP
hjic-486	245	12	0.01	0.01	NUM
hjic-486	245	13	and	and	CCONJ
hjic-486	245	14	0.005	0.005	NUM
hjic-486	245	15	for	for	ADP
hjic-486	245	16	the	the	DET
hjic-486	245	17	process	process	NOUN
hjic-486	245	18	noise	noise	NOUN
hjic-486	245	19	and	and	CCONJ
hjic-486	245	20	0.02	0.02	NUM
hjic-486	245	21	for	for	ADP
hjic-486	245	22	the	the	DET
hjic-486	245	23	measurement	measurement	NOUN
hjic-486	245	24	noise	noise	NOUN
hjic-486	245	25	.	.	PUNCT
hjic-486	246	1	the	the	DET
hjic-486	246	2	sampling	sampling	NOUN
hjic-486	246	3	time	time	NOUN
hjic-486	246	4	is	be	AUX
hjic-486	246	5	ts	ts	ADP
hjic-486	246	6	=	=	SYM
hjic-486	246	7	0.1	0.1	NUM
hjic-486	246	8	s.	s.	PROPN
hjic-486	246	9	the	the	DET
hjic-486	246	10	initial	initial	ADJ
hjic-486	246	11	values	value	NOUN
hjic-486	246	12	are	be	AUX
hjic-486	246	13	x0	x0	PROPN
hjic-486	246	14	est	est	X
hjic-486	246	15	=	=	SYM
hjic-486	246	16	y0	y0	PROPN
hjic-486	246	17	est	est	X
hjic-486	246	18	=	=	SYM
hjic-486	246	19	θ0	θ0	X
hjic-486	246	20	est	est	X
hjic-486	247	1	=	=	SYM
hjic-486	247	2	1	1	NUM
hjic-486	247	3	,	,	PUNCT
hjic-486	247	4	and	and	CCONJ
hjic-486	247	5	x0	x0	PROPN
hjic-486	247	6	=	=	PUNCT
hjic-486	247	7	y0	y0	NOUN
hjic-486	247	8	=	=	SYM
hjic-486	247	9	0	0	NUM
hjic-486	247	10	.	.	PUNCT
hjic-486	248	1	example	example	NOUN
hjic-486	248	2	1	1	NUM
hjic-486	248	3	the	the	DET
hjic-486	248	4	vehicle	vehicle	NOUN
hjic-486	248	5	starts	start	VERB
hjic-486	248	6	from	from	ADP
hjic-486	248	7	the	the	DET
hjic-486	248	8	origin	origin	NOUN
hjic-486	248	9	of	of	ADP
hjic-486	248	10	the	the	DET
hjic-486	248	11	xy	xy	NOUN
hjic-486	248	12	-	-	PUNCT
hjic-486	248	13	plane	plane	NOUN
hjic-486	248	14	with	with	ADP
hjic-486	248	15	large	large	ADJ
hjic-486	248	16	initial	initial	ADJ
hjic-486	248	17	estimation	estimation	NOUN
hjic-486	248	18	error	error	NOUN
hjic-486	248	19	and	and	CCONJ
hjic-486	248	20	tracks	track	VERB
hjic-486	248	21	a	a	DET
hjic-486	248	22	sinusoidal	sinusoidal	ADJ
hjic-486	248	23	path	path	NOUN
hjic-486	248	24	.	.	PUNCT
hjic-486	249	1	fig.1	fig.1	PROPN
hjic-486	249	2	shows	show	VERB
hjic-486	249	3	the	the	DET
hjic-486	249	4	estimated	estimate	VERB
hjic-486	249	5	output	output	NOUN
hjic-486	249	6	positions	position	NOUN
hjic-486	249	7	of	of	ADP
hjic-486	249	8	the	the	DET
hjic-486	249	9	vehicle	vehicle	NOUN
hjic-486	249	10	using	use	VERB
hjic-486	249	11	sigma	sigma	ADJ
hjic-486	249	12	-	-	PUNCT
hjic-486	249	13	point	point	NOUN
hjic-486	249	14	kalman	kalman	NOUN
hjic-486	249	15	filters	filter	NOUN
hjic-486	249	16	and	and	CCONJ
hjic-486	249	17	symmetry	symmetry	NOUN
hjic-486	249	18	-	-	PUNCT
hjic-486	249	19	preserving	preserve	VERB
hjic-486	249	20	observers	observer	NOUN
hjic-486	249	21	.	.	PUNCT
hjic-486	250	1	the	the	DET
hjic-486	250	2	estimation	estimation	NOUN
hjic-486	250	3	errors	error	NOUN
hjic-486	250	4	of	of	ADP
hjic-486	250	5	different	different	ADJ
hjic-486	250	6	algorithms	algorithm	NOUN
hjic-486	250	7	can	can	AUX
hjic-486	250	8	be	be	AUX
hjic-486	250	9	seen	see	VERB
hjic-486	250	10	in	in	ADP
hjic-486	250	11	figs.2	figs.2	PROPN
hjic-486	250	12	and	and	CCONJ
hjic-486	250	13	3	3	NUM
hjic-486	250	14	.	.	PUNCT
hjic-486	251	1	the	the	DET
hjic-486	251	2	errors	error	NOUN
hjic-486	251	3	are	be	AUX
hjic-486	251	4	smaller	small	ADJ
hjic-486	251	5	and	and	CCONJ
hjic-486	251	6	show	show	VERB
hjic-486	251	7	smoother	smooth	ADJ
hjic-486	251	8	signals	signal	NOUN
hjic-486	251	9	in	in	ADP
hjic-486	251	10	the	the	DET
hjic-486	251	11	case	case	NOUN
hjic-486	251	12	of	of	ADP
hjic-486	251	13	the	the	DET
hjic-486	251	14	spkf	spkf	ADJ
hjic-486	251	15	estimators	estimator	NOUN
hjic-486	251	16	,	,	PUNCT
hjic-486	251	17	which	which	PRON
hjic-486	251	18	was	be	AUX
hjic-486	251	19	expected	expect	VERB
hjic-486	251	20	,	,	PUNCT
hjic-486	251	21	since	since	SCONJ
hjic-486	251	22	the	the	DET
hjic-486	251	23	sym	sym	NOUN
hjic-486	251	24	observer	observer	NOUN
hjic-486	251	25	is	be	AUX
hjic-486	251	26	deterministic	deterministic	ADJ
hjic-486	251	27	.	.	PUNCT
hjic-486	252	1	large	large	ADJ
hjic-486	252	2	errors	error	NOUN
hjic-486	252	3	appear	appear	VERB
hjic-486	252	4	at	at	ADP
hjic-486	252	5	the	the	DET
hjic-486	252	6	peak	peak	NOUN
hjic-486	252	7	values	value	NOUN
hjic-486	252	8	of	of	ADP
hjic-486	252	9	the	the	DET
hjic-486	252	10	reference	reference	NOUN
hjic-486	252	11	signals	signal	NOUN
hjic-486	252	12	;	;	PUNCT
hjic-486	252	13	however	however	ADV
hjic-486	252	14	,	,	PUNCT
hjic-486	252	15	both	both	DET
hjic-486	252	16	estimation	estimation	NOUN
hjic-486	252	17	techniques	technique	NOUN
hjic-486	252	18	achieved	achieve	VERB
hjic-486	252	19	the	the	DET
hjic-486	252	20	same	same	ADJ
hjic-486	252	21	satisfactory	satisfactory	ADJ
hjic-486	252	22	results	result	NOUN
hjic-486	252	23	in	in	ADP
hjic-486	252	24	spite	spite	NOUN
hjic-486	252	25	of	of	ADP
hjic-486	252	26	the	the	DET
hjic-486	252	27	relatively	relatively	ADV
hjic-486	252	28	small	small	ADJ
hjic-486	252	29	sampling	sampling	NOUN
hjic-486	252	30	frequency	frequency	NOUN
hjic-486	252	31	.	.	PUNCT
hjic-486	253	1	figure	figure	NOUN
hjic-486	253	2	2	2	NUM
hjic-486	253	3	:	:	PUNCT
hjic-486	253	4	estimation	estimation	NOUN
hjic-486	253	5	errors	error	NOUN
hjic-486	253	6	of	of	ADP
hjic-486	253	7	the	the	DET
hjic-486	253	8	sigma	sigma	NOUN
hjic-486	253	9	-	-	PUNCT
hjic-486	253	10	point	point	NOUN
hjic-486	253	11	and	and	CCONJ
hjic-486	253	12	extended	extended	ADJ
hjic-486	253	13	kalman	kalman	NOUN
hjic-486	253	14	filters	filter	NOUN
hjic-486	253	15	from	from	ADP
hjic-486	253	16	example	example	NOUN
hjic-486	253	17	1	1	NUM
hjic-486	253	18	63	63	NUM
hjic-486	253	19	root	root	NOUN
hjic-486	253	20	-	-	PUNCT
hjic-486	253	21	mean	mean	ADJ
hjic-486	253	22	-	-	PUNCT
hjic-486	253	23	square	square	ADJ
hjic-486	253	24	errors	error	NOUN
hjic-486	253	25	can	can	AUX
hjic-486	253	26	be	be	AUX
hjic-486	253	27	seen	see	VERB
hjic-486	253	28	in	in	ADP
hjic-486	253	29	table	table	NOUN
hjic-486	253	30	1	1	NUM
hjic-486	253	31	.	.	PUNCT
hjic-486	254	1	we	we	PRON
hjic-486	254	2	can	can	AUX
hjic-486	254	3	conclude	conclude	VERB
hjic-486	254	4	that	that	SCONJ
hjic-486	254	5	among	among	ADP
hjic-486	254	6	the	the	DET
hjic-486	254	7	processes	process	NOUN
hjic-486	254	8	of	of	ADP
hjic-486	254	9	state	state	NOUN
hjic-486	254	10	estimation	estimation	NOUN
hjic-486	254	11	techniques	technique	NOUN
hjic-486	254	12	the	the	DET
hjic-486	254	13	sym	sym	NOUN
hjic-486	254	14	observer	observer	NOUN
hjic-486	254	15	is	be	AUX
hjic-486	254	16	competitive	competitive	ADJ
hjic-486	254	17	with	with	ADP
hjic-486	254	18	spkf	spkf	ADJ
hjic-486	254	19	estimators	estimator	NOUN
hjic-486	254	20	.	.	PUNCT
hjic-486	255	1	example	example	NOUN
hjic-486	255	2	2	2	NUM
hjic-486	255	3	in	in	ADP
hjic-486	255	4	this	this	DET
hjic-486	255	5	example	example	NOUN
hjic-486	255	6	the	the	DET
hjic-486	255	7	vehicle	vehicle	NOUN
hjic-486	255	8	performs	perform	VERB
hjic-486	255	9	an	an	DET
hjic-486	255	10	off	off	ADP
hjic-486	255	11	-	-	PUNCT
hjic-486	255	12	line	line	NOUN
hjic-486	255	13	estimation	estimation	NOUN
hjic-486	255	14	before	before	ADP
hjic-486	255	15	movement	movement	NOUN
hjic-486	255	16	starts	start	NOUN
hjic-486	255	17	,	,	PUNCT
hjic-486	255	18	followed	follow	VERB
hjic-486	255	19	by	by	ADP
hjic-486	255	20	an	an	DET
hjic-486	255	21	online	online	ADJ
hjic-486	255	22	estimation	estimation	NOUN
hjic-486	255	23	along	along	ADP
hjic-486	255	24	a	a	DET
hjic-486	255	25	sinusoidal	sinusoidal	ADJ
hjic-486	255	26	path	path	NOUN
hjic-486	255	27	.	.	PUNCT
hjic-486	256	1	it	it	PRON
hjic-486	256	2	is	be	AUX
hjic-486	256	3	notable	notable	ADJ
hjic-486	256	4	that	that	SCONJ
hjic-486	256	5	in	in	ADP
hjic-486	256	6	the	the	DET
hjic-486	256	7	stationary	stationary	ADJ
hjic-486	256	8	state	state	NOUN
hjic-486	256	9	the	the	DET
hjic-486	256	10	velocity	velocity	NOUN
hjic-486	256	11	is	be	AUX
hjic-486	256	12	zero	zero	NUM
hjic-486	256	13	and	and	CCONJ
hjic-486	256	14	at	at	ADP
hjic-486	256	15	the	the	DET
hjic-486	256	16	beginning	beginning	NOUN
hjic-486	256	17	of	of	ADP
hjic-486	256	18	movement	movement	NOUN
hjic-486	256	19	the	the	DET
hjic-486	256	20	velocity	velocity	NOUN
hjic-486	256	21	changes	change	NOUN
hjic-486	256	22	to	to	ADP
hjic-486	256	23	a	a	DET
hjic-486	256	24	nonzero	nonzero	NOUN
hjic-486	256	25	value	value	NOUN
hjic-486	256	26	abruptly	abruptly	ADV
hjic-486	256	27	,	,	PUNCT
hjic-486	256	28	see	see	VERB
hjic-486	256	29	eq.(33	eq.(33	PROPN
hjic-486	256	30	)	)	PUNCT
hjic-486	256	31	.	.	PUNCT
hjic-486	257	1	figs.4	figs.4	PROPN
hjic-486	257	2	-	-	SYM
hjic-486	257	3	7	7	NUM
hjic-486	257	4	illustrate	illustrate	VERB
hjic-486	257	5	the	the	DET
hjic-486	257	6	estimated	estimate	VERB
hjic-486	257	7	output	output	NOUN
hjic-486	257	8	positions	position	NOUN
hjic-486	257	9	and	and	CCONJ
hjic-486	257	10	the	the	DET
hjic-486	257	11	measurement	measurement	NOUN
hjic-486	257	12	errors	error	VERB
hjic-486	257	13	for	for	ADP
hjic-486	257	14	the	the	DET
hjic-486	257	15	sigma	sigma	ADJ
hjic-486	257	16	-	-	PUNCT
hjic-486	257	17	point	point	NOUN
hjic-486	257	18	estimators	estimator	NOUN
hjic-486	257	19	and	and	CCONJ
hjic-486	257	20	the	the	DET
hjic-486	257	21	invariant	invariant	ADJ
hjic-486	257	22	observers	observer	NOUN
hjic-486	257	23	respectively	respectively	ADV
hjic-486	257	24	the	the	DET
hjic-486	257	25	error	error	NOUN
hjic-486	257	26	signals	signal	NOUN
hjic-486	257	27	show	show	VERB
hjic-486	257	28	a	a	DET
hjic-486	257	29	quick	quick	ADJ
hjic-486	257	30	convergence	convergence	NOUN
hjic-486	257	31	in	in	ADP
hjic-486	257	32	the	the	DET
hjic-486	257	33	case	case	NOUN
hjic-486	257	34	of	of	ADP
hjic-486	257	35	the	the	DET
hjic-486	257	36	symmetry	symmetry	NOUN
hjic-486	257	37	-	-	PUNCT
hjic-486	257	38	preserving	preserve	VERB
hjic-486	257	39	observer	observer	NOUN
hjic-486	257	40	.	.	PUNCT
hjic-486	258	1	the	the	DET
hjic-486	258	2	speed	speed	NOUN
hjic-486	258	3	of	of	ADP
hjic-486	258	4	convergence	convergence	NOUN
hjic-486	258	5	depends	depend	VERB
hjic-486	258	6	on	on	ADP
hjic-486	258	7	the	the	DET
hjic-486	258	8	parameters	parameter	NOUN
hjic-486	258	9	set	set	VERB
hjic-486	258	10	in	in	ADP
hjic-486	258	11	the	the	DET
hjic-486	258	12	l	l	NOUN
hjic-486	258	13	matrix	matrix	NOUN
hjic-486	258	14	;	;	PUNCT
hjic-486	258	15	however	however	ADV
hjic-486	258	16	,	,	PUNCT
hjic-486	258	17	high	high	ADJ
hjic-486	258	18	gains	gain	NOUN
hjic-486	258	19	can	can	AUX
hjic-486	258	20	cause	cause	VERB
hjic-486	258	21	the	the	DET
hjic-486	258	22	observer	observer	NOUN
hjic-486	258	23	to	to	PART
hjic-486	258	24	be	be	AUX
hjic-486	258	25	divergent	divergent	ADJ
hjic-486	258	26	and	and	CCONJ
hjic-486	258	27	make	make	VERB
hjic-486	258	28	larger	large	ADJ
hjic-486	258	29	errors	error	NOUN
hjic-486	258	30	.	.	PUNCT
hjic-486	259	1	since	since	SCONJ
hjic-486	259	2	there	there	PRON
hjic-486	259	3	are	be	VERB
hjic-486	259	4	no	no	DET
hjic-486	259	5	u	u	NOUN
hjic-486	259	6	and	and	CCONJ
hjic-486	259	7	δ	δ	PROPN
hjic-486	259	8	signals	signal	NOUN
hjic-486	259	9	in	in	ADP
hjic-486	259	10	the	the	DET
hjic-486	259	11	stationary	stationary	ADJ
hjic-486	259	12	position	position	NOUN
hjic-486	259	13	and	and	CCONJ
hjic-486	259	14	the	the	DET
hjic-486	259	15	orientation	orientation	NOUN
hjic-486	259	16	is	be	AUX
hjic-486	259	17	not	not	PART
hjic-486	259	18	directly	directly	ADV
hjic-486	259	19	measured	measure	VERB
hjic-486	259	20	,	,	PUNCT
hjic-486	259	21	the	the	DET
hjic-486	259	22	orientation	orientation	NOUN
hjic-486	259	23	can	can	AUX
hjic-486	259	24	only	only	ADV
hjic-486	259	25	be	be	AUX
hjic-486	259	26	estimated	estimate	VERB
hjic-486	259	27	after	after	SCONJ
hjic-486	259	28	the	the	DET
hjic-486	259	29	vehicle	vehicle	NOUN
hjic-486	259	30	starts	start	VERB
hjic-486	259	31	moving	move	VERB
hjic-486	259	32	.	.	PUNCT
hjic-486	260	1	the	the	DET
hjic-486	260	2	error	error	NOUN
hjic-486	260	3	signal	signal	NOUN
hjic-486	260	4	oscillates	oscillate	NOUN
hjic-486	260	5	around	around	ADP
hjic-486	260	6	zero	zero	NUM
hjic-486	260	7	in	in	ADP
hjic-486	260	8	a	a	DET
hjic-486	260	9	similar	similar	ADJ
hjic-486	260	10	way	way	NOUN
hjic-486	260	11	to	to	PART
hjic-486	260	12	example	example	VERB
hjic-486	260	13	1	1	NUM
hjic-486	260	14	.	.	PUNCT
hjic-486	260	15	due	due	ADP
hjic-486	260	16	to	to	ADP
hjic-486	260	17	calibration	calibration	NOUN
hjic-486	260	18	,	,	PUNCT
hjic-486	260	19	smaller	small	ADJ
hjic-486	260	20	errors	error	NOUN
hjic-486	260	21	appear	appear	VERB
hjic-486	260	22	.	.	PUNCT
hjic-486	261	1	the	the	DET
hjic-486	261	2	invariant	invariant	ADJ
hjic-486	261	3	observer	observer	NOUN
hjic-486	261	4	and	and	CCONJ
hjic-486	261	5	sigma	sigma	ADJ
hjic-486	261	6	-	-	PUNCT
hjic-486	261	7	point	point	NOUN
hjic-486	261	8	estimators	estimator	NOUN
hjic-486	261	9	have	have	VERB
hjic-486	261	10	the	the	DET
hjic-486	261	11	same	same	ADJ
hjic-486	261	12	magnitude	magnitude	NOUN
hjic-486	261	13	of	of	ADP
hjic-486	261	14	error	error	NOUN
hjic-486	261	15	components	component	NOUN
hjic-486	261	16	.	.	PUNCT
hjic-486	262	1	the	the	DET
hjic-486	262	2	root	root	NOUN
hjic-486	262	3	-	-	PUNCT
hjic-486	262	4	mean	mean	ADJ
hjic-486	262	5	-	-	PUNCT
hjic-486	262	6	square	square	ADJ
hjic-486	262	7	errors	error	NOUN
hjic-486	262	8	of	of	ADP
hjic-486	262	9	the	the	DET
hjic-486	262	10	simulation	simulation	NOUN
hjic-486	262	11	can	can	AUX
hjic-486	262	12	be	be	AUX
hjic-486	262	13	seen	see	VERB
hjic-486	262	14	in	in	ADP
hjic-486	262	15	table	table	NOUN
hjic-486	262	16	2	2	NUM
hjic-486	262	17	.	.	PUNCT
hjic-486	262	18	figure	figure	VERB
hjic-486	262	19	3	3	NUM
hjic-486	262	20	:	:	PUNCT
hjic-486	262	21	estimation	estimation	NOUN
hjic-486	262	22	errors	error	NOUN
hjic-486	262	23	of	of	ADP
hjic-486	262	24	the	the	DET
hjic-486	262	25	symmetry	symmetry	NOUN
hjic-486	262	26	-	-	PUNCT
hjic-486	262	27	preserving	preserve	VERB
hjic-486	262	28	observer	observer	NOUN
hjic-486	262	29	(	(	PUNCT
hjic-486	262	30	sym	sym	NOUN
hjic-486	262	31	)	)	PUNCT
hjic-486	262	32	from	from	ADP
hjic-486	262	33	example	example	NOUN
hjic-486	262	34	1	1	NUM
hjic-486	262	35	figure	figure	NOUN
hjic-486	262	36	6	6	NUM
hjic-486	262	37	:	:	PUNCT
hjic-486	262	38	estimation	estimation	NOUN
hjic-486	262	39	errors	error	NOUN
hjic-486	262	40	of	of	ADP
hjic-486	262	41	the	the	DET
hjic-486	262	42	sigma	sigma	NOUN
hjic-486	262	43	-	-	PUNCT
hjic-486	262	44	point	point	NOUN
hjic-486	262	45	and	and	CCONJ
hjic-486	262	46	the	the	DET
hjic-486	262	47	extended	extended	ADJ
hjic-486	262	48	kalman	kalman	NOUN
hjic-486	262	49	filters	filter	NOUN
hjic-486	262	50	from	from	ADP
hjic-486	262	51	example	example	NOUN
hjic-486	262	52	2	2	NUM
hjic-486	262	53	figure	figure	NOUN
hjic-486	262	54	4	4	NUM
hjic-486	262	55	:	:	PUNCT
hjic-486	262	56	estimated	estimate	VERB
hjic-486	262	57	output	output	NOUN
hjic-486	262	58	position	position	NOUN
hjic-486	262	59	of	of	ADP
hjic-486	262	60	the	the	DET
hjic-486	262	61	vehicle	vehicle	NOUN
hjic-486	262	62	using	use	VERB
hjic-486	262	63	sigma	sigma	ADJ
hjic-486	262	64	-	-	PUNCT
hjic-486	262	65	point	point	NOUN
hjic-486	262	66	state	state	NOUN
hjic-486	262	67	estimation	estimation	NOUN
hjic-486	262	68	(	(	PUNCT
hjic-486	262	69	ukf	ukf	NOUN
hjic-486	262	70	,	,	PUNCT
hjic-486	262	71	ckf	ckf	NOUN
hjic-486	262	72	)	)	PUNCT
hjic-486	262	73	and	and	CCONJ
hjic-486	262	74	extended	extend	VERB
hjic-486	262	75	kalman	kalman	NOUN
hjic-486	262	76	filter	filter	PROPN
hjic-486	262	77	(	(	PUNCT
hjic-486	262	78	ekf	ekf	PROPN
hjic-486	262	79	)	)	PUNCT
hjic-486	262	80	from	from	ADP
hjic-486	262	81	example	example	NOUN
hjic-486	262	82	2	2	NUM
hjic-486	262	83	figure	figure	NOUN
hjic-486	262	84	5	5	NUM
hjic-486	262	85	:	:	PUNCT
hjic-486	262	86	estimated	estimate	VERB
hjic-486	262	87	output	output	NOUN
hjic-486	262	88	position	position	NOUN
hjic-486	262	89	of	of	ADP
hjic-486	262	90	the	the	DET
hjic-486	262	91	vehicle	vehicle	NOUN
hjic-486	262	92	using	use	VERB
hjic-486	262	93	symmetry	symmetry	NOUN
hjic-486	262	94	-	-	PUNCT
hjic-486	262	95	preserving	preserve	VERB
hjic-486	262	96	observer	observer	NOUN
hjic-486	262	97	(	(	PUNCT
hjic-486	262	98	sym	sym	NOUN
hjic-486	262	99	)	)	PUNCT
hjic-486	262	100	from	from	ADP
hjic-486	262	101	example	example	NOUN
hjic-486	262	102	2	2	NUM
hjic-486	262	103	figure	figure	NOUN
hjic-486	262	104	7	7	NUM
hjic-486	262	105	:	:	PUNCT
hjic-486	262	106	estimation	estimation	NOUN
hjic-486	262	107	errors	error	NOUN
hjic-486	262	108	of	of	ADP
hjic-486	262	109	the	the	DET
hjic-486	262	110	symmetrypreserving	symmetrypreserve	VERB
hjic-486	262	111	observer	observer	NOUN
hjic-486	262	112	(	(	PUNCT
hjic-486	262	113	sym	sym	NOUN
hjic-486	262	114	)	)	PUNCT
hjic-486	262	115	from	from	ADP
hjic-486	262	116	example	example	NOUN
hjic-486	262	117	2	2	NUM
hjic-486	262	118	table	table	NOUN
hjic-486	262	119	1	1	NUM
hjic-486	262	120	:	:	PUNCT
hjic-486	262	121	root	root	NOUN
hjic-486	262	122	-	-	PUNCT
hjic-486	262	123	mean	mean	ADJ
hjic-486	262	124	-	-	PUNCT
hjic-486	262	125	squared	square	VERB
hjic-486	262	126	errors	error	NOUN
hjic-486	262	127	of	of	ADP
hjic-486	262	128	the	the	DET
hjic-486	262	129	estimated	estimate	VERB
hjic-486	262	130	signals	signal	NOUN
hjic-486	262	131	from	from	ADP
hjic-486	262	132	example	example	NOUN
hjic-486	262	133	1	1	NUM
hjic-486	262	134	rmse	rmse	NOUN
hjic-486	262	135	x	x	X
hjic-486	262	136	,	,	PUNCT
hjic-486	262	137	m	m	VERB
hjic-486	262	138	y	y	PROPN
hjic-486	262	139	,	,	PUNCT
hjic-486	262	140	m	m	PROPN
hjic-486	262	141	θ	θ	NOUN
hjic-486	262	142	,	,	PUNCT
hjic-486	262	143	rad	rad	NOUN
hjic-486	262	144	ukf	ukf	PROPN
hjic-486	262	145	0.1368	0.1368	NUM
hjic-486	262	146	0.1587	0.1587	NUM
hjic-486	262	147	0.0338	0.0338	NUM
hjic-486	262	148	ckf	ckf	NOUN
hjic-486	262	149	0.1366	0.1366	NUM
hjic-486	262	150	0.1577	0.1577	NUM
hjic-486	262	151	0.0336	0.0336	NUM
hjic-486	262	152	ekf	ekf	NOUN
hjic-486	262	153	0.1371	0.1371	NUM
hjic-486	262	154	0.1551	0.1551	NUM
hjic-486	262	155	0.0352	0.0352	NUM
hjic-486	262	156	sym	sym	NOUN
hjic-486	262	157	0.1371	0.1371	NUM
hjic-486	262	158	0.1628	0.1628	NUM
hjic-486	262	159	0.0455	0.0455	NUM
hjic-486	262	160	table	table	NOUN
hjic-486	262	161	2	2	NUM
hjic-486	262	162	:	:	PUNCT
hjic-486	262	163	root	root	NOUN
hjic-486	262	164	-	-	PUNCT
hjic-486	262	165	mean	mean	ADJ
hjic-486	262	166	-	-	PUNCT
hjic-486	262	167	square	square	ADJ
hjic-486	262	168	errors	error	NOUN
hjic-486	262	169	of	of	ADP
hjic-486	262	170	the	the	DET
hjic-486	262	171	estimated	estimate	VERB
hjic-486	262	172	signals	signal	NOUN
hjic-486	262	173	from	from	ADP
hjic-486	262	174	example	example	NOUN
hjic-486	262	175	2	2	NUM
hjic-486	262	176	rmse	rmse	NOUN
hjic-486	262	177	x	x	X
hjic-486	262	178	,	,	PUNCT
hjic-486	262	179	m	m	VERB
hjic-486	262	180	y	y	PROPN
hjic-486	262	181	,	,	PUNCT
hjic-486	262	182	m	m	PROPN
hjic-486	262	183	θ	θ	NOUN
hjic-486	262	184	,	,	PUNCT
hjic-486	262	185	rad	rad	PROPN
hjic-486	262	186	ukf	ukf	PROPN
hjic-486	262	187	0.0998	0.0998	NUM
hjic-486	262	188	0.1180	0.1180	NUM
hjic-486	262	189	0.0627	0.0627	PRON
hjic-486	262	190	ckf	ckf	VERB
hjic-486	262	191	0.0993	0.0993	NUM
hjic-486	262	192	0.1175	0.1175	NUM
hjic-486	262	193	0.0628	0.0628	NUM
hjic-486	262	194	ekf	ekf	NOUN
hjic-486	263	1	0.1013	0.1013	NUM
hjic-486	263	2	0.1165	0.1165	NUM
hjic-486	263	3	0.0648	0.0648	NUM
hjic-486	263	4	sym	sym	NOUN
hjic-486	263	5	0.1264	0.1264	NUM
hjic-486	263	6	0.1453	0.1453	NUM
hjic-486	263	7	0.0760	0.0760	NUM
hjic-486	263	8	64	64	NUM
hjic-486	263	9	conclusion	conclusion	NOUN
hjic-486	263	10	in	in	ADP
hjic-486	263	11	this	this	DET
hjic-486	263	12	paper	paper	NOUN
hjic-486	263	13	we	we	PRON
hjic-486	263	14	presented	present	VERB
hjic-486	263	15	a	a	DET
hjic-486	263	16	comparison	comparison	NOUN
hjic-486	263	17	of	of	ADP
hjic-486	263	18	two	two	NUM
hjic-486	263	19	different	different	ADJ
hjic-486	263	20	recently	recently	ADV
hjic-486	263	21	developed	develop	VERB
hjic-486	263	22	state	state	NOUN
hjic-486	263	23	estimation	estimation	NOUN
hjic-486	263	24	techniques	technique	NOUN
hjic-486	263	25	.	.	PUNCT
hjic-486	264	1	the	the	DET
hjic-486	264	2	sigma	sigma	NOUN
hjic-486	264	3	-	-	PUNCT
hjic-486	264	4	point	point	NOUN
hjic-486	264	5	(	(	PUNCT
hjic-486	264	6	spkf	spkf	NOUN
hjic-486	264	7	)	)	PUNCT
hjic-486	264	8	stochastic	stochastic	ADJ
hjic-486	264	9	estimator	estimator	NOUN
hjic-486	264	10	is	be	AUX
hjic-486	264	11	based	base	VERB
hjic-486	264	12	on	on	ADP
hjic-486	264	13	the	the	DET
hjic-486	264	14	unscented	unscented	ADJ
hjic-486	264	15	transformation	transformation	NOUN
hjic-486	264	16	and	and	CCONJ
hjic-486	264	17	the	the	DET
hjic-486	264	18	non	non	ADJ
hjic-486	264	19	-	-	ADJ
hjic-486	264	20	linear	linear	ADJ
hjic-486	264	21	symmetry	symmetry	NOUN
hjic-486	264	22	-	-	PUNCT
hjic-486	264	23	preserving	preserve	VERB
hjic-486	264	24	observers	observer	NOUN
hjic-486	264	25	are	be	AUX
hjic-486	264	26	based	base	VERB
hjic-486	264	27	on	on	ADP
hjic-486	264	28	the	the	DET
hjic-486	264	29	group	group	NOUN
hjic-486	264	30	transformation	transformation	NOUN
hjic-486	264	31	of	of	ADP
hjic-486	264	32	symmetrical	symmetrical	ADJ
hjic-486	264	33	lie	lie	NOUN
hjic-486	264	34	groups	group	NOUN
hjic-486	264	35	and	and	CCONJ
hjic-486	264	36	invariant	invariant	ADJ
hjic-486	264	37	frames	frame	NOUN
hjic-486	264	38	.	.	PUNCT
hjic-486	265	1	two	two	NUM
hjic-486	265	2	examples	example	NOUN
hjic-486	265	3	are	be	AUX
hjic-486	265	4	considered	consider	VERB
hjic-486	265	5	for	for	ADP
hjic-486	265	6	the	the	DET
hjic-486	265	7	estimation	estimation	NOUN
hjic-486	265	8	of	of	ADP
hjic-486	265	9	vehicle	vehicle	NOUN
hjic-486	265	10	kinematics	kinematic	NOUN
hjic-486	265	11	:	:	PUNCT
hjic-486	265	12	the	the	DET
hjic-486	265	13	first	first	ADJ
hjic-486	265	14	example	example	NOUN
hjic-486	265	15	deals	deal	VERB
hjic-486	265	16	with	with	ADP
hjic-486	265	17	the	the	DET
hjic-486	265	18	path	path	NOUN
hjic-486	265	19	tracking	tracking	NOUN
hjic-486	265	20	reliability	reliability	NOUN
hjic-486	265	21	of	of	ADP
hjic-486	265	22	the	the	DET
hjic-486	265	23	vehicle	vehicle	NOUN
hjic-486	265	24	;	;	PUNCT
hjic-486	265	25	the	the	DET
hjic-486	265	26	second	second	ADJ
hjic-486	265	27	example	example	NOUN
hjic-486	265	28	examines	examine	VERB
hjic-486	265	29	the	the	DET
hjic-486	265	30	convergence	convergence	NOUN
hjic-486	265	31	and	and	CCONJ
hjic-486	265	32	the	the	DET
hjic-486	265	33	speed	speed	NOUN
hjic-486	265	34	of	of	ADP
hjic-486	265	35	the	the	DET
hjic-486	265	36	off	off	ADP
hjic-486	265	37	-	-	PUNCT
hjic-486	265	38	line	line	NOUN
hjic-486	265	39	calibration	calibration	NOUN
hjic-486	265	40	followed	follow	VERB
hjic-486	265	41	by	by	ADP
hjic-486	265	42	path	path	NOUN
hjic-486	265	43	tracking	tracking	NOUN
hjic-486	265	44	.	.	PUNCT
hjic-486	266	1	the	the	DET
hjic-486	266	2	examples	example	NOUN
hjic-486	266	3	illustrate	illustrate	VERB
hjic-486	266	4	that	that	PRON
hjic-486	266	5	for	for	ADP
hjic-486	266	6	non	non	ADJ
hjic-486	266	7	-	-	ADJ
hjic-486	266	8	linear	linear	ADJ
hjic-486	266	9	systems	system	NOUN
hjic-486	266	10	in	in	ADP
hjic-486	266	11	noisy	noisy	ADJ
hjic-486	266	12	environments	environment	NOUN
hjic-486	266	13	the	the	DET
hjic-486	266	14	use	use	NOUN
hjic-486	266	15	of	of	ADP
hjic-486	266	16	stochastic	stochastic	ADJ
hjic-486	266	17	stateestimators	stateestimator	NOUN
hjic-486	266	18	is	be	AUX
hjic-486	266	19	needed	need	VERB
hjic-486	266	20	.	.	PUNCT
hjic-486	267	1	moreover	moreover	ADV
hjic-486	267	2	the	the	DET
hjic-486	267	3	sigma	sigma	ADJ
hjic-486	267	4	-	-	PUNCT
hjic-486	267	5	point	point	NOUN
hjic-486	267	6	approach	approach	NOUN
hjic-486	267	7	provides	provide	VERB
hjic-486	267	8	more	more	ADV
hjic-486	267	9	accurate	accurate	ADJ
hjic-486	267	10	estimation	estimation	NOUN
hjic-486	267	11	results	result	NOUN
hjic-486	267	12	than	than	ADP
hjic-486	267	13	the	the	DET
hjic-486	267	14	commonly	commonly	ADV
hjic-486	267	15	used	use	VERB
hjic-486	267	16	non	non	ADJ
hjic-486	267	17	-	-	ADJ
hjic-486	267	18	linear	linear	ADJ
hjic-486	267	19	ekf	ekf	NOUN
hjic-486	267	20	state	state	NOUN
hjic-486	267	21	estimators	estimator	NOUN
hjic-486	267	22	.	.	PUNCT
hjic-486	268	1	the	the	DET
hjic-486	268	2	symmetry	symmetry	NOUN
hjic-486	268	3	preserving	preserve	VERB
hjic-486	268	4	observers	observer	NOUN
hjic-486	268	5	for	for	ADP
hjic-486	268	6	non	non	ADJ
hjic-486	268	7	-	-	ADJ
hjic-486	268	8	linear	linear	ADJ
hjic-486	268	9	systems	system	NOUN
hjic-486	268	10	benefit	benefit	VERB
hjic-486	268	11	from	from	ADP
hjic-486	268	12	their	their	PRON
hjic-486	268	13	constructive	constructive	ADJ
hjic-486	268	14	design	design	NOUN
hjic-486	268	15	method	method	NOUN
hjic-486	268	16	,	,	PUNCT
hjic-486	268	17	which	which	PRON
hjic-486	268	18	provides	provide	VERB
hjic-486	268	19	local	local	ADJ
hjic-486	268	20	asymptotic	asymptotic	ADJ
hjic-486	268	21	convergence	convergence	NOUN
hjic-486	268	22	.	.	PUNCT
hjic-486	269	1	this	this	DET
hjic-486	269	2	method	method	NOUN
hjic-486	269	3	can	can	AUX
hjic-486	269	4	be	be	AUX
hjic-486	269	5	utilized	utilize	VERB
hjic-486	269	6	by	by	ADP
hjic-486	269	7	non	non	ADJ
hjic-486	269	8	-	-	ADJ
hjic-486	269	9	linear	linear	ADJ
hjic-486	269	10	applications	application	NOUN
hjic-486	269	11	in	in	ADP
hjic-486	269	12	which	which	PRON
hjic-486	269	13	the	the	DET
hjic-486	269	14	physical	physical	ADJ
hjic-486	269	15	and	and	CCONJ
hjic-486	269	16	mechanical	mechanical	ADJ
hjic-486	269	17	symmetry	symmetry	NOUN
hjic-486	269	18	properties	property	NOUN
hjic-486	269	19	of	of	ADP
hjic-486	269	20	the	the	DET
hjic-486	269	21	system	system	NOUN
hjic-486	269	22	can	can	AUX
hjic-486	269	23	be	be	AUX
hjic-486	269	24	exploited	exploit	VERB
hjic-486	269	25	.	.	PUNCT
hjic-486	270	1	references	reference	NOUN
hjic-486	270	2	[	[	X
hjic-486	270	3	1	1	NUM
hjic-486	270	4	]	]	X
hjic-486	270	5	bar	bar	NOUN
hjic-486	270	6	-	-	PUNCT
hjic-486	270	7	shalom	shalom	NOUN
hjic-486	270	8	y.	y.	PROPN
hjic-486	270	9	,	,	PUNCT
hjic-486	270	10	li	li	PROPN
hjic-486	270	11	x.-r	x.-r	PROPN
hjic-486	270	12	.	.	PROPN
hjic-486	270	13	,	,	PUNCT
hjic-486	270	14	kirubarajan	kirubarajan	PROPN
hjic-486	270	15	t.	t.	PROPN
hjic-486	270	16	:	:	PUNCT
hjic-486	270	17	estimation	estimation	NOUN
hjic-486	270	18	with	with	ADP
hjic-486	270	19	applications	application	NOUN
hjic-486	270	20	to	to	ADP
hjic-486	270	21	tracking	tracking	NOUN
hjic-486	270	22	and	and	CCONJ
hjic-486	270	23	navigationm	navigationm	NOUN
hjic-486	270	24	,	,	PUNCT
hjic-486	270	25	wiley	wiley	NOUN
hjic-486	270	26	interscience	interscience	PROPN
hjic-486	270	27	,	,	PUNCT
hjic-486	270	28	new	new	PROPN
hjic-486	270	29	york	york	PROPN
hjic-486	270	30	,	,	PUNCT
hjic-486	270	31	ny	ny	PROPN
hjic-486	270	32	,	,	PUNCT
hjic-486	270	33	u.s.a	u.s.a	PROPN
hjic-486	270	34	.	.	PROPN
hjic-486	270	35	,	,	PUNCT
hjic-486	270	36	2001	2001	NUM
hjic-486	270	37	[	[	X
hjic-486	270	38	2	2	NUM
hjic-486	270	39	]	]	PUNCT
hjic-486	270	40	särkkä	särkkä	NOUN
hjic-486	270	41	s.	s.	PROPN
hjic-486	270	42	:	:	PUNCT
hjic-486	270	43	recursive	recursive	ADJ
hjic-486	270	44	bayesian	bayesian	NOUN
hjic-486	270	45	inference	inference	NOUN
hjic-486	270	46	on	on	ADP
hjic-486	270	47	stochastic	stochastic	ADJ
hjic-486	270	48	differential	differential	ADJ
hjic-486	270	49	equations	equation	NOUN
hjic-486	270	50	,	,	PUNCT
hjic-486	270	51	phd	phd	NOUN
hjic-486	270	52	thesis	thesis	NOUN
hjic-486	270	53	,	,	PUNCT
hjic-486	270	54	helsinki	helsinki	PROPN
hjic-486	270	55	university	university	PROPN
hjic-486	270	56	of	of	ADP
hjic-486	270	57	technology	technology	PROPN
hjic-486	270	58	,	,	PUNCT
hjic-486	270	59	helsinki	helsinki	PROPN
hjic-486	270	60	,	,	PUNCT
hjic-486	270	61	finland	finland	PROPN
hjic-486	270	62	,	,	PUNCT
hjic-486	270	63	2006	2006	NUM
hjic-486	271	1	[	[	X
hjic-486	271	2	3	3	NUM
hjic-486	271	3	]	]	X
hjic-486	271	4	julier	julier	PROPN
hjic-486	271	5	s.j	s.j	PROPN
hjic-486	271	6	.	.	PROPN
hjic-486	271	7	,	,	PUNCT
hjic-486	271	8	uhlmann	uhlmann	PROPN
hjic-486	271	9	j.k	j.k	PROPN
hjic-486	271	10	.	.	PROPN
hjic-486	271	11	:	:	PUNCT
hjic-486	272	1	unscented	unscente	VERB
hjic-486	272	2	filtering	filtering	NOUN
hjic-486	272	3	and	and	CCONJ
hjic-486	272	4	nonlinear	nonlinear	ADJ
hjic-486	272	5	estimation	estimation	NOUN
hjic-486	272	6	,	,	PUNCT
hjic-486	272	7	proc	proc	NOUN
hjic-486	272	8	.	.	PUNCT
hjic-486	273	1	ieee	ieee	PROPN
hjic-486	273	2	,	,	PUNCT
hjic-486	273	3	2004	2004	NUM
hjic-486	273	4	,	,	PUNCT
hjic-486	273	5	92(3	92(3	NOUN
hjic-486	273	6	)	)	PUNCT
hjic-486	273	7	,	,	PUNCT
hjic-486	274	1	401–422	401–422	NUM
hjic-486	274	2	[	[	X
hjic-486	274	3	4	4	NUM
hjic-486	274	4	]	]	PUNCT
hjic-486	274	5	van	van	PROPN
hjic-486	274	6	der	der	PROPN
hjic-486	274	7	merwe	merwe	PROPN
hjic-486	274	8	r.	r.	PROPN
hjic-486	274	9	,	,	PUNCT
hjic-486	274	10	wan	wan	PROPN
hjic-486	274	11	e.a	e.a	PROPN
hjic-486	274	12	.	.	PROPN
hjic-486	274	13	,	,	PUNCT
hjic-486	274	14	julier	juli	ADJ
hjic-486	274	15	s.	s.	PROPN
hjic-486	274	16	:	:	PUNCT
hjic-486	274	17	sigma	sigma	PROPN
hjic-486	274	18	-	-	PUNCT
hjic-486	274	19	point	point	NOUN
hjic-486	274	20	kalman	kalman	NOUN
hjic-486	274	21	filters	filter	NOUN
hjic-486	274	22	for	for	ADP
hjic-486	274	23	nonlinear	nonlinear	ADJ
hjic-486	274	24	estimation	estimation	NOUN
hjic-486	274	25	and	and	CCONJ
hjic-486	274	26	sensorfusion	sensorfusion	NOUN
hjic-486	274	27	:	:	PUNCT
hjic-486	274	28	applications	application	NOUN
hjic-486	274	29	to	to	ADP
hjic-486	274	30	integrated	integrate	VERB
hjic-486	274	31	navigation	navigation	NOUN
hjic-486	274	32	,	,	PUNCT
hjic-486	274	33	proc	proc	NOUN
hjic-486	274	34	.	.	PUNCT
hjic-486	275	1	aiaa	aiaa	PROPN
hjic-486	275	2	guidance	guidance	PROPN
hjic-486	275	3	,	,	PUNCT
hjic-486	275	4	navigation	navigation	PROPN
hjic-486	275	5	&	&	CCONJ
hjic-486	275	6	control	control	PROPN
hjic-486	275	7	conference	conference	PROPN
hjic-486	275	8	(	(	PUNCT
hjic-486	275	9	gnc	gnc	PROPN
hjic-486	275	10	)	)	PUNCT
hjic-486	275	11	,	,	PUNCT
hjic-486	275	12	providence	providence	NOUN
hjic-486	275	13	,	,	PUNCT
hjic-486	275	14	ri	ri	PROPN
hjic-486	275	15	,	,	PUNCT
hjic-486	275	16	u.s.a	u.s.a	PROPN
hjic-486	275	17	.	.	PUNCT
hjic-486	275	18	2004	2004	NUM
hjic-486	276	1	[	[	X
hjic-486	276	2	5	5	NUM
hjic-486	276	3	]	]	X
hjic-486	276	4	van	van	PROPN
hjic-486	276	5	der	der	PROPN
hjic-486	276	6	merwe	merwe	PROPN
hjic-486	276	7	r.	r.	PROPN
hjic-486	276	8	:	:	PUNCT
hjic-486	276	9	sigma	sigma	PROPN
hjic-486	276	10	-	-	PUNCT
hjic-486	276	11	point	point	NOUN
hjic-486	276	12	kalman	kalman	NOUN
hjic-486	276	13	filters	filter	NOUN
hjic-486	276	14	for	for	ADP
hjic-486	276	15	probabilistic	probabilistic	ADJ
hjic-486	276	16	inference	inference	NOUN
hjic-486	276	17	in	in	ADP
hjic-486	276	18	dynamic	dynamic	ADJ
hjic-486	276	19	state	state	NOUN
hjic-486	276	20	-	-	PUNCT
hjic-486	276	21	space	space	NOUN
hjic-486	276	22	models	model	NOUN
hjic-486	276	23	,	,	PUNCT
hjic-486	276	24	phd	phd	NOUN
hjic-486	276	25	thesis	thesis	NOUN
hjic-486	276	26	,	,	PUNCT
hjic-486	276	27	oregon	oregon	PROPN
hjic-486	276	28	health	health	PROPN
hjic-486	276	29	&	&	CCONJ
hjic-486	276	30	science	science	PROPN
hjic-486	276	31	university	university	PROPN
hjic-486	276	32	,	,	PUNCT
hjic-486	276	33	eugene	eugene	NOUN
hjic-486	276	34	,	,	PUNCT
hjic-486	276	35	or	or	CCONJ
hjic-486	276	36	,	,	PUNCT
hjic-486	276	37	u.s.a	u.s.a	PROPN
hjic-486	276	38	.	.	PROPN
hjic-486	276	39	,	,	PUNCT
hjic-486	276	40	2004	2004	NUM
hjic-486	277	1	[	[	X
hjic-486	277	2	6	6	NUM
hjic-486	277	3	]	]	X
hjic-486	277	4	julier	julier	PROPN
hjic-486	277	5	s.j	s.j	PROPN
hjic-486	277	6	.	.	PROPN
hjic-486	277	7	,	,	PUNCT
hjic-486	277	8	uhlmann	uhlmann	PROPN
hjic-486	277	9	j.k	j.k	PROPN
hjic-486	277	10	.	.	PUNCT
hjic-486	277	11	:	:	PUNCT
hjic-486	278	1	corrections	correction	NOUN
hjic-486	278	2	to	to	ADP
hjic-486	278	3	unscented	unscente	VERB
hjic-486	278	4	filtering	filtering	NOUN
hjic-486	278	5	and	and	CCONJ
hjic-486	278	6	non	non	ADJ
hjic-486	278	7	-	-	ADJ
hjic-486	278	8	linear	linear	ADJ
hjic-486	278	9	estimation	estimation	NOUN
hjic-486	278	10	,	,	PUNCT
hjic-486	278	11	proc	proc	NOUN
hjic-486	278	12	.	.	PUNCT
hjic-486	279	1	ieee	ieee	PROPN
hjic-486	279	2	,	,	PUNCT
hjic-486	279	3	2004	2004	NUM
hjic-486	279	4	,	,	PUNCT
hjic-486	279	5	92(12	92(12	NUM
hjic-486	279	6	)	)	PUNCT
hjic-486	279	7	,	,	PUNCT
hjic-486	279	8	1958–1958	1958–1958	NUM
hjic-486	279	9	[	[	X
hjic-486	279	10	7	7	NUM
hjic-486	279	11	]	]	X
hjic-486	279	12	julier	julier	PROPN
hjic-486	279	13	s.j	s.j	PROPN
hjic-486	279	14	.	.	PROPN
hjic-486	279	15	,	,	PUNCT
hjic-486	279	16	uhlmann	uhlmann	PROPN
hjic-486	279	17	j.k	j.k	PROPN
hjic-486	279	18	.	.	PROPN
hjic-486	279	19	:	:	PUNCT
hjic-486	279	20	unscented	unscente	VERB
hjic-486	279	21	filtering	filtering	NOUN
hjic-486	279	22	and	and	CCONJ
hjic-486	279	23	nonlinear	nonlinear	ADJ
hjic-486	279	24	estimation	estimation	NOUN
hjic-486	279	25	,	,	PUNCT
hjic-486	279	26	proc	proc	NOUN
hjic-486	279	27	.	.	PUNCT
hjic-486	280	1	ieee	ieee	PROPN
hjic-486	280	2	,	,	PUNCT
hjic-486	280	3	2004	2004	NUM
hjic-486	280	4	,	,	PUNCT
hjic-486	280	5	92(3	92(3	NOUN
hjic-486	280	6	)	)	PUNCT
hjic-486	280	7	,	,	PUNCT
hjic-486	281	1	401–422	401–422	NUM
hjic-486	281	2	[	[	X
hjic-486	281	3	8	8	X
hjic-486	281	4	]	]	X
hjic-486	281	5	wan	wan	PROPN
hjic-486	281	6	e.a	e.a	PROPN
hjic-486	281	7	.	.	PROPN
hjic-486	281	8	,	,	PUNCT
hjic-486	281	9	van	van	PROPN
hjic-486	281	10	der	der	PROPN
hjic-486	281	11	merwe	merwe	PROPN
hjic-486	281	12	r.	r.	PROPN
hjic-486	281	13	:	:	PUNCT
hjic-486	281	14	the	the	DET
hjic-486	281	15	unscented	unscente	VERB
hjic-486	281	16	kalman	kalman	PROPN
hjic-486	281	17	filter	filter	PROPN
hjic-486	281	18	,	,	PUNCT
hjic-486	281	19	in	in	ADP
hjic-486	281	20	kalman	kalman	PROPN
hjic-486	281	21	filtering	filtering	PROPN
hjic-486	281	22	and	and	CCONJ
hjic-486	281	23	neural	neural	ADJ
hjic-486	281	24	networks	network	NOUN
hjic-486	281	25	,	,	PUNCT
hjic-486	281	26	ed	ed	NOUN
hjic-486	281	27	.	.	PUNCT
hjic-486	281	28	:	:	PUNCT
hjic-486	282	1	haykin	haykin	PROPN
hjic-486	282	2	s.	s.	PROPN
hjic-486	282	3	,	,	PUNCT
hjic-486	282	4	john	john	PROPN
hjic-486	282	5	wiley	wiley	PROPN
hjic-486	282	6	and	and	CCONJ
hjic-486	282	7	sons	son	NOUN
hjic-486	282	8	,	,	PUNCT
hjic-486	282	9	new	new	PROPN
hjic-486	282	10	york	york	PROPN
hjic-486	282	11	,	,	PUNCT
hjic-486	282	12	ny	ny	PROPN
hjic-486	282	13	,	,	PUNCT
hjic-486	282	14	u.s.a	u.s.a	PROPN
hjic-486	282	15	.	.	PROPN
hjic-486	282	16	,	,	PUNCT
hjic-486	282	17	2001	2001	NUM
hjic-486	282	18	,	,	PUNCT
hjic-486	282	19	chapter	chapter	NOUN
hjic-486	282	20	7	7	NUM
hjic-486	282	21	[	[	X
hjic-486	282	22	9	9	NUM
hjic-486	282	23	]	]	SYM
hjic-486	282	24	norgaard	norgaard	NOUN
hjic-486	282	25	m.	m.	NOUN
hjic-486	282	26	,	,	PUNCT
hjic-486	282	27	poulsen	poulsen	PROPN
hjic-486	282	28	n.	n.	NOUN
hjic-486	282	29	,	,	PUNCT
hjic-486	282	30	ravn	ravn	PROPN
hjic-486	282	31	o.	o.	PROPN
hjic-486	282	32	:	:	PUNCT
hjic-486	282	33	advances	advance	NOUN
hjic-486	282	34	in	in	ADP
hjic-486	282	35	derivative	derivative	ADJ
hjic-486	282	36	-	-	PUNCT
hjic-486	282	37	free	free	ADJ
hjic-486	282	38	state	state	NOUN
hjic-486	282	39	estimation	estimation	NOUN
hjic-486	282	40	for	for	ADP
hjic-486	282	41	non	non	ADJ
hjic-486	282	42	-	-	ADJ
hjic-486	282	43	linear	linear	ADJ
hjic-486	282	44	systems	system	NOUN
hjic-486	282	45	tech	tech	NOUN
hjic-486	282	46	.	.	PUNCT
hjic-486	283	1	rep	rep	PROPN
hjic-486	283	2	.	.	PROPN
hjic-486	283	3	imm	imm	PROPN
hjic-486	283	4	-	-	PUNCT
hjic-486	283	5	rep-1998	rep-1998	NOUN
hjic-486	283	6	-	-	PUNCT
hjic-486	283	7	15	15	NUM
hjic-486	283	8	,	,	PUNCT
hjic-486	283	9	dept	dept	NOUN
hjic-486	283	10	.	.	PROPN
hjic-486	283	11	math	math	PROPN
hjic-486	283	12	.	.	PUNCT
hjic-486	284	1	modelling	modelling	PROPN
hjic-486	284	2	,	,	PUNCT
hjic-486	284	3	technical	technical	ADJ
hjic-486	284	4	university	university	PROPN
hjic-486	284	5	of	of	ADP
hjic-486	284	6	denmark	denmark	PROPN
hjic-486	284	7	,	,	PUNCT
hjic-486	284	8	lyngby	lyngby	PROPN
hjic-486	284	9	,	,	PUNCT
hjic-486	284	10	denmark	denmark	PROPN
hjic-486	284	11	,	,	PUNCT
hjic-486	284	12	2000	2000	NUM
hjic-486	284	13	[	[	X
hjic-486	284	14	10	10	NUM
hjic-486	284	15	]	]	X
hjic-486	284	16	norgaard	norgaard	NOUN
hjic-486	284	17	m.	m.	NOUN
hjic-486	284	18	,	,	PUNCT
hjic-486	284	19	poulsen	poulsen	PROPN
hjic-486	284	20	n.	n.	NOUN
hjic-486	284	21	,	,	PUNCT
hjic-486	284	22	ravn	ravn	PROPN
hjic-486	284	23	o.	o.	NOUN
hjic-486	284	24	:	:	PUNCT
hjic-486	284	25	new	new	ADJ
hjic-486	284	26	developments	development	NOUN
hjic-486	284	27	in	in	ADP
hjic-486	284	28	state	state	NOUN
hjic-486	284	29	estimation	estimation	NOUN
hjic-486	284	30	for	for	ADP
hjic-486	284	31	nonlinear	nonlinear	ADJ
hjic-486	284	32	systems	system	NOUN
hjic-486	284	33	,	,	PUNCT
hjic-486	284	34	automatica	automatica	PROPN
hjic-486	284	35	2000	2000	NUM
hjic-486	284	36	,	,	PUNCT
hjic-486	284	37	36(11	36(11	NUM
hjic-486	284	38	)	)	PUNCT
hjic-486	284	39	,	,	PUNCT
hjic-486	284	40	1627–1638	1627–1638	ADJ
hjic-486	284	41	[	[	X
hjic-486	284	42	11	11	NUM
hjic-486	284	43	]	]	X
hjic-486	284	44	ito	ito	PROPN
hjic-486	284	45	k.	k.	PROPN
hjic-486	284	46	,	,	PUNCT
hjic-486	284	47	xiong	xiong	PROPN
hjic-486	284	48	k.	k.	PROPN
hjic-486	284	49	:	:	PUNCT
hjic-486	285	1	gaussian	gaussian	ADJ
hjic-486	285	2	filters	filter	NOUN
hjic-486	285	3	for	for	ADP
hjic-486	285	4	nonlinear	nonlinear	ADJ
hjic-486	285	5	filtering	filtering	NOUN
hjic-486	285	6	problems	problem	NOUN
hjic-486	285	7	,	,	PUNCT
hjic-486	285	8	ieee	ieee	PROPN
hjic-486	285	9	trans	trans	PROPN
hjic-486	285	10	.	.	PUNCT
hjic-486	286	1	automatic	automatic	ADJ
hjic-486	286	2	control	control	NOUN
hjic-486	286	3	2000	2000	NUM
hjic-486	286	4	,	,	PUNCT
hjic-486	286	5	45(5	45(5	NOUN
hjic-486	286	6	)	)	PUNCT
hjic-486	286	7	,	,	PUNCT
hjic-486	287	1	910–927	910–927	NUM
hjic-486	287	2	[	[	X
hjic-486	287	3	12	12	NUM
hjic-486	287	4	]	]	X
hjic-486	287	5	van	van	PROPN
hjic-486	287	6	der	der	PROPN
hjic-486	287	7	merwe	merwe	PROPN
hjic-486	287	8	r.	r.	PROPN
hjic-486	287	9	,	,	PUNCT
hjic-486	287	10	wan	wan	PROPN
hjic-486	287	11	e.	e.	PROPN
hjic-486	287	12	:	:	PUNCT
hjic-486	287	13	efficient	efficient	ADJ
hjic-486	287	14	derivative	derivative	ADJ
hjic-486	287	15	-	-	PUNCT
hjic-486	287	16	free	free	ADJ
hjic-486	287	17	kalman	kalman	NOUN
hjic-486	287	18	filters	filter	NOUN
hjic-486	287	19	for	for	ADP
hjic-486	287	20	online	online	ADJ
hjic-486	287	21	learning	learning	NOUN
hjic-486	287	22	,	,	PUNCT
hjic-486	287	23	proc	proc	NOUN
hjic-486	287	24	.	.	PUNCT
hjic-486	288	1	9th	9th	ADJ
hjic-486	288	2	eur	eur	PROPN
hjic-486	288	3	.	.	PUNCT
hjic-486	289	1	symp	symp	PROPN
hjic-486	289	2	.	.	PUNCT
hjic-486	290	1	artificial	artificial	ADJ
hjic-486	290	2	neural	neural	ADJ
hjic-486	290	3	networks	network	NOUN
hjic-486	290	4	(	(	PUNCT
hjic-486	290	5	esann	esann	NOUN
hjic-486	290	6	)	)	PUNCT
hjic-486	290	7	bruges	bruge	NOUN
hjic-486	290	8	,	,	PUNCT
hjic-486	290	9	belgium	belgium	NOUN
hjic-486	290	10	,	,	PUNCT
hjic-486	290	11	2001	2001	NUM
hjic-486	290	12	,	,	PUNCT
hjic-486	290	13	205–210	205–210	NUM
hjic-486	290	14	[	[	X
hjic-486	290	15	13	13	NUM
hjic-486	290	16	]	]	X
hjic-486	290	17	van	van	PROPN
hjic-486	290	18	der	der	PROPN
hjic-486	290	19	merwe	merwe	PROPN
hjic-486	290	20	r.	r.	PROPN
hjic-486	290	21	,	,	PUNCT
hjic-486	290	22	wan	wan	PROPN
hjic-486	290	23	e.	e.	PROPN
hjic-486	290	24	:	:	PUNCT
hjic-486	290	25	the	the	DET
hjic-486	290	26	square	square	ADJ
hjic-486	290	27	-	-	PUNCT
hjic-486	290	28	root	root	NOUN
hjic-486	290	29	unscented	unscente	VERB
hjic-486	290	30	kalman	kalman	NOUN
hjic-486	290	31	filter	filter	PROPN
hjic-486	290	32	for	for	ADP
hjic-486	290	33	stateand	stateand	PROPN
hjic-486	290	34	parameterestimation	parameterestimation	NOUN
hjic-486	290	35	,	,	PUNCT
hjic-486	290	36	proc	proc	NOUN
hjic-486	290	37	.	.	PUNCT
hjic-486	291	1	ieee	ieee	PROPN
hjic-486	291	2	int	int	PROPN
hjic-486	291	3	.	.	PUNCT
hjic-486	292	1	conf	conf	PROPN
hjic-486	292	2	.	.	PUNCT
hjic-486	293	1	acoustics	acoustic	NOUN
hjic-486	293	2	,	,	PUNCT
hjic-486	293	3	speech	speech	NOUN
hjic-486	293	4	,	,	PUNCT
hjic-486	293	5	and	and	CCONJ
hjic-486	293	6	signal	signal	NOUN
hjic-486	293	7	processing	processing	NOUN
hjic-486	293	8	(	(	PUNCT
hjic-486	293	9	icassp	icassp	PROPN
hjic-486	293	10	)	)	PUNCT
hjic-486	293	11	,	,	PUNCT
hjic-486	293	12	salt	salt	NOUN
hjic-486	293	13	lake	lake	PROPN
hjic-486	293	14	city	city	PROPN
hjic-486	293	15	,	,	PUNCT
hjic-486	293	16	ut	ut	PROPN
hjic-486	293	17	,	,	PUNCT
hjic-486	293	18	2001	2001	NUM
hjic-486	293	19	,	,	PUNCT
hjic-486	293	20	6	6	NUM
hjic-486	293	21	,	,	PUNCT
hjic-486	293	22	3461–3464	3461–3464	NUM
hjic-486	293	23	[	[	X
hjic-486	293	24	14	14	NUM
hjic-486	293	25	]	]	X
hjic-486	293	26	salam	salam	PROPN
hjic-486	293	27	eran	eran	PROPN
hjic-486	293	28	:	:	PUNCT
hjic-486	293	29	filtering	filter	VERB
hjic-486	293	30	algorithms	algorithm	NOUN
hjic-486	293	31	and	and	CCONJ
hjic-486	293	32	avionics	avionic	NOUN
hjic-486	293	33	systems	system	NOUN
hjic-486	293	34	for	for	ADP
hjic-486	293	35	unmanned	unmanned	ADJ
hjic-486	293	36	aerial	aerial	ADJ
hjic-486	293	37	vehicles	vehicle	NOUN
hjic-486	293	38	,	,	PUNCT
hjic-486	293	39	phd	phd	NOUN
hjic-486	293	40	thesis	thesis	NOUN
hjic-486	293	41	,	,	PUNCT
hjic-486	293	42	mines	mine	NOUN
hjic-486	293	43	paristech	paristech	NOUN
hjic-486	293	44	,	,	PUNCT
hjic-486	293	45	paris	paris	PROPN
hjic-486	293	46	,	,	PUNCT
hjic-486	293	47	france	france	PROPN
hjic-486	293	48	,	,	PUNCT
hjic-486	293	49	2010	2010	NUM
hjic-486	293	50	[	[	X
hjic-486	293	51	15	15	NUM
hjic-486	293	52	]	]	X
hjic-486	293	53	bonnabel	bonnabel	PROPN
hjic-486	293	54	s.	s.	PROPN
hjic-486	293	55	,	,	PUNCT
hjic-486	293	56	martin	martin	PROPN
hjic-486	293	57	p.	p.	PROPN
hjic-486	293	58	,	,	PUNCT
hjic-486	293	59	rouchon	rouchon	PROPN
hjic-486	293	60	p.	p.	NOUN
hjic-486	293	61	:	:	PUNCT
hjic-486	293	62	non	non	ADJ
hjic-486	293	63	-	-	ADJ
hjic-486	293	64	linear	linear	ADJ
hjic-486	293	65	symmetry	symmetry	NOUN
hjic-486	293	66	preserving	preserve	VERB
hjic-486	293	67	observers	observer	NOUN
hjic-486	293	68	on	on	ADP
hjic-486	293	69	lie	lie	NOUN
hjic-486	293	70	-	-	PUNCT
hjic-486	293	71	groups	group	NOUN
hjic-486	293	72	,	,	PUNCT
hjic-486	293	73	ieee	ieee	NOUN
hjic-486	293	74	transactions	transaction	NOUN
hjic-486	293	75	on	on	ADP
hjic-486	293	76	automatic	automatic	ADJ
hjic-486	293	77	control	control	NOUN
hjic-486	293	78	,	,	PUNCT
hjic-486	293	79	2009	2009	NUM
hjic-486	293	80	,	,	PUNCT
hjic-486	293	81	54(7	54(7	NUM
hjic-486	293	82	)	)	PUNCT
hjic-486	293	83	,	,	PUNCT
hjic-486	293	84	17091713	17091713	NUM
hjic-486	294	1	[	[	X
hjic-486	294	2	16	16	NUM
hjic-486	294	3	]	]	PUNCT
hjic-486	294	4	bonnabel	bonnabel	PROPN
hjic-486	294	5	s.	s.	PROPN
hjic-486	294	6	,	,	PUNCT
hjic-486	294	7	martin	martin	PROPN
hjic-486	294	8	p.	p.	PROPN
hjic-486	294	9	,	,	PUNCT
hjic-486	294	10	rouchon	rouchon	PROPN
hjic-486	294	11	p.	p.	NOUN
hjic-486	294	12	:	:	PUNCT
hjic-486	294	13	symmetrypreserving	symmetrypreserve	VERB
hjic-486	294	14	observers	observer	NOUN
hjic-486	294	15	,	,	PUNCT
hjic-486	294	16	ieee	ieee	NOUN
hjic-486	294	17	transactions	transaction	NOUN
hjic-486	294	18	on	on	ADP
hjic-486	294	19	automatic	automatic	ADJ
hjic-486	294	20	control	control	NOUN
hjic-486	294	21	,	,	PUNCT
hjic-486	294	22	2008	2008	NUM
hjic-486	294	23	,	,	PUNCT
hjic-486	294	24	53(11	53(11	NUM
hjic-486	294	25	)	)	PUNCT
hjic-486	294	26	,	,	PUNCT
hjic-486	294	27	2514–2526	2514–2526	NUM
hjic-486	294	28	[	[	X
hjic-486	294	29	17	17	NUM
hjic-486	294	30	]	]	PUNCT
hjic-486	294	31	bonnabel	bonnabel	PROPN
hjic-486	294	32	s.	s.	PROPN
hjic-486	294	33	,	,	PUNCT
hjic-486	294	34	martin	martin	PROPN
hjic-486	294	35	p.	p.	PROPN
hjic-486	294	36	,	,	PUNCT
hjic-486	294	37	rouchon	rouchon	PROPN
hjic-486	294	38	p.	p.	NOUN
hjic-486	294	39	:	:	PUNCT
hjic-486	294	40	a	a	DET
hjic-486	294	41	non	non	ADJ
hjic-486	294	42	-	-	ADJ
hjic-486	294	43	linear	linear	ADJ
hjic-486	294	44	symmetry	symmetry	NOUN
hjic-486	294	45	-	-	PUNCT
hjic-486	294	46	preserving	preserve	VERB
hjic-486	294	47	observer	observer	NOUN
hjic-486	294	48	for	for	ADP
hjic-486	294	49	velocity	velocity	NOUN
hjic-486	294	50	aided	aid	VERB
hjic-486	294	51	inertial	inertial	ADJ
hjic-486	294	52	navigation	navigation	NOUN
hjic-486	294	53	,	,	PUNCT
hjic-486	294	54	proc	proc	NOUN
hjic-486	294	55	.	.	PUNCT
hjic-486	295	1	2006	2006	NUM
hjic-486	295	2	american	american	PROPN
hjic-486	295	3	control	control	PROPN
hjic-486	295	4	conference	conference	PROPN
hjic-486	295	5	,	,	PUNCT
hjic-486	295	6	minneapolis	minneapolis	PROPN
hjic-486	295	7	,	,	PUNCT
hjic-486	295	8	mn	mn	PROPN
hjic-486	295	9	,	,	PUNCT
hjic-486	295	10	u.s.a	u.s.a	PROPN
hjic-486	295	11	.	.	PROPN
hjic-486	295	12	,	,	PUNCT
hjic-486	295	13	2006	2006	NUM
hjic-486	296	1	[	[	X
hjic-486	296	2	18	18	NUM
hjic-486	296	3	]	]	PUNCT
hjic-486	296	4	ayhanman	ayhanman	NOUN
hjic-486	296	5	n.	n.	PROPN
hjic-486	296	6	,	,	PUNCT
hjic-486	296	7	rouchon	rouchon	PROPN
hjic-486	296	8	p.	p.	NOUN
hjic-486	296	9	:	:	PUNCT
hjic-486	296	10	on	on	ADP
hjic-486	296	11	invariant	invariant	ADJ
hjic-486	296	12	asymptotic	asymptotic	ADJ
hjic-486	296	13	observers	observer	NOUN
hjic-486	296	14	,	,	PUNCT
hjic-486	296	15	cdc	cdc	PROPN
hjic-486	296	16	,	,	PUNCT
hjic-486	296	17	2002	2002	NUM
hjic-486	297	1	[	[	X
hjic-486	297	2	19	19	NUM
hjic-486	297	3	]	]	PUNCT
hjic-486	297	4	rouchon	rouchon	PROPN
hjic-486	297	5	p.	p.	PROPN
hjic-486	297	6	,	,	PUNCT
hjic-486	297	7	guillaume	guillaume	PROPN
hjic-486	297	8	d.	d.	PROPN
hjic-486	297	9	:	:	PUNCT
hjic-486	297	10	observation	observation	NOUN
hjic-486	297	11	and	and	CCONJ
hjic-486	297	12	control	control	NOUN
hjic-486	297	13	of	of	ADP
hjic-486	297	14	simplified	simplified	ADJ
hjic-486	297	15	car	car	NOUN
hjic-486	297	16	,	,	PUNCT
hjic-486	297	17	ifac	ifac	NOUN
hjic-486	297	18	,	,	PUNCT
hjic-486	297	19	1998	1998	NUM
hjic-486	297	20	[	[	X
hjic-486	297	21	20	20	NUM
hjic-486	297	22	]	]	PUNCT
hjic-486	297	23	bonnabel	bonnabel	PROPN
hjic-486	297	24	s.	s.	PROPN
hjic-486	297	25	:	:	PUNCT
hjic-486	297	26	symmetries	symmetry	NOUN
hjic-486	297	27	in	in	ADP
hjic-486	297	28	observer	observer	NOUN
hjic-486	297	29	design	design	NOUN
hjic-486	297	30	:	:	PUNCT
hjic-486	297	31	review	review	NOUN
hjic-486	297	32	of	of	ADP
hjic-486	297	33	some	some	DET
hjic-486	297	34	recent	recent	ADJ
hjic-486	297	35	results	result	NOUN
hjic-486	297	36	and	and	CCONJ
hjic-486	297	37	application	application	NOUN
hjic-486	297	38	to	to	ADP
hjic-486	297	39	ekf	ekf	PROPN
hjic-486	297	40	-	-	PUNCT
hjic-486	297	41	based	base	VERB
hjic-486	297	42	slam	slam	NOUN
hjic-486	297	43	,	,	PUNCT
hjic-486	297	44	robot	robot	NOUN
hjic-486	297	45	motion	motion	NOUN
hjic-486	297	46	and	and	CCONJ
hjic-486	297	47	control	control	NOUN
hjic-486	297	48	2011	2011	NUM
hjic-486	297	49	,	,	PUNCT
hjic-486	297	50	lecture	lecture	NOUN
hjic-486	297	51	notes	note	NOUN
hjic-486	297	52	in	in	ADP
hjic-486	297	53	control	control	NOUN
hjic-486	297	54	and	and	CCONJ
hjic-486	297	55	information	information	NOUN
hjic-486	297	56	sciences	science	NOUN
hjic-486	297	57	2012	2012	NUM
hjic-486	297	58	,	,	PUNCT
hjic-486	297	59	422	422	NUM
hjic-486	297	60	,	,	PUNCT
hjic-486	297	61	3–15	3–15	PROPN
hjic-486	297	62	[	[	X
hjic-486	297	63	21	21	NUM
hjic-486	297	64	]	]	PUNCT
hjic-486	297	65	collon	collon	PROPN
hjic-486	297	66	c.	c.	PROPN
hjic-486	297	67	,	,	PUNCT
hjic-486	297	68	rudolph	rudolph	PROPN
hjic-486	297	69	j.	j.	PROPN
hjic-486	297	70	,	,	PUNCT
hjic-486	297	71	woittennek	woittennek	PROPN
hjic-486	297	72	f.	f.	PROPN
hjic-486	297	73	:	:	PUNCT
hjic-486	297	74	invariant	invariant	ADJ
hjic-486	297	75	feedback	feedback	NOUN
hjic-486	297	76	design	design	NOUN
hjic-486	297	77	for	for	ADP
hjic-486	297	78	control	control	NOUN
hjic-486	297	79	systems	system	NOUN
hjic-486	297	80	with	with	ADP
hjic-486	297	81	liesymmetries	liesymmetrie	NOUN
hjic-486	297	82	–	–	PUNCT
hjic-486	297	83	a	a	DET
hjic-486	297	84	kinematic	kinematic	ADJ
hjic-486	297	85	car	car	NOUN
hjic-486	297	86	example	example	NOUN
hjic-486	297	87	,	,	PUNCT
hjic-486	297	88	discrete	discrete	ADJ
hjic-486	297	89	cont	cont	NOUN
hjic-486	297	90	.	.	PUNCT
hjic-486	298	1	dyn	dyn	PROPN
hjic-486	298	2	.	.	PUNCT
hjic-486	299	1	sys	sys	PROPN
hjic-486	299	2	.	.	PROPN
hjic-486	299	3	2011	2011	NUM
hjic-486	299	4	,	,	PUNCT
hjic-486	299	5	2(11	2(11	NUM
hjic-486	299	6	)	)	PUNCT
hjic-486	299	7	,	,	PUNCT
hjic-486	299	8	312–321	312–321	NUM