id	sid	tid	token	lemma	pos
hjic-918	1	1	hungarian	hungarian	ADJ
hjic-918	1	2	journal	journal	NOUN
hjic-918	1	3	of	of	ADP
hjic-918	1	4	industry	industry	NOUN
hjic-918	1	5	and	and	CCONJ
hjic-918	1	6	chemistry	chemistry	NOUN
hjic-918	1	7	vol	vol	NOUN
hjic-918	1	8	.	.	PUNCT
hjic-918	2	1	48(1	48(1	NOUN
hjic-918	2	2	)	)	PUNCT
hjic-918	2	3	pp	pp	ADV
hjic-918	2	4	.	.	PUNCT
hjic-918	3	1	43–49	43–49	NUM
hjic-918	3	2	(	(	PUNCT
hjic-918	3	3	2020	2020	NUM
hjic-918	3	4	)	)	PUNCT
hjic-918	3	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-918	3	6	doi	doi	NOUN
hjic-918	3	7	:	:	PUNCT
hjic-918	3	8	10.33927	10.33927	NUM
hjic-918	3	9	/	/	SYM
hjic-918	3	10	hjic-2020	hjic-2020	NOUN
hjic-918	3	11	-	-	PUNCT
hjic-918	3	12	07	07	NUM
hjic-918	3	13	challenges	challenge	NOUN
hjic-918	3	14	of	of	ADP
hjic-918	3	15	localization	localization	NOUN
hjic-918	3	16	algorithms	algorithm	NOUN
hjic-918	3	17	for	for	ADP
hjic-918	3	18	autonomous	autonomous	ADJ
hjic-918	3	19	driving	driving	NOUN
hjic-918	3	20	hunor	hunor	NOUN
hjic-918	3	21	medve*1	medve*1	PRON
hjic-918	3	22	and	and	CCONJ
hjic-918	3	23	dénes	déne	NOUN
hjic-918	3	24	fodor1	fodor1	VERB
hjic-918	4	1	1research	1research	NUM
hjic-918	4	2	institute	institute	PROPN
hjic-918	4	3	of	of	ADP
hjic-918	4	4	automotive	automotive	ADJ
hjic-918	4	5	mechatronics	mechatronic	NOUN
hjic-918	4	6	and	and	CCONJ
hjic-918	4	7	automation	automation	NOUN
hjic-918	4	8	,	,	PUNCT
hjic-918	4	9	university	university	NOUN
hjic-918	4	10	of	of	ADP
hjic-918	4	11	pannonia	pannonia	PROPN
hjic-918	4	12	,	,	PUNCT
hjic-918	4	13	egyetem	egyetem	NOUN
hjic-918	4	14	u.	u.	PROPN
hjic-918	4	15	10	10	NUM
hjic-918	4	16	,	,	PUNCT
hjic-918	4	17	veszprém	veszprém	NOUN
hjic-918	4	18	,	,	PUNCT
hjic-918	4	19	8200	8200	NUM
hjic-918	4	20	,	,	PUNCT
hjic-918	4	21	hungary	hungary	NOUN
hjic-918	4	22	one	one	PRON
hjic-918	4	23	could	could	AUX
hjic-918	4	24	easily	easily	ADV
hjic-918	4	25	believe	believe	VERB
hjic-918	4	26	that	that	SCONJ
hjic-918	4	27	the	the	DET
hjic-918	4	28	technology	technology	NOUN
hjic-918	4	29	surrounding	surround	VERB
hjic-918	4	30	us	we	PRON
hjic-918	4	31	is	be	AUX
hjic-918	4	32	already	already	ADV
hjic-918	4	33	easily	easily	ADV
hjic-918	4	34	capable	capable	ADJ
hjic-918	4	35	of	of	ADP
hjic-918	4	36	determining	determine	VERB
hjic-918	4	37	the	the	DET
hjic-918	4	38	current	current	ADJ
hjic-918	4	39	location	location	NOUN
hjic-918	4	40	of	of	ADP
hjic-918	4	41	a	a	DET
hjic-918	4	42	vehicle	vehicle	NOUN
hjic-918	4	43	.	.	PUNCT
hjic-918	5	1	whilst	whilst	SCONJ
hjic-918	5	2	many	many	ADJ
hjic-918	5	3	devices	device	NOUN
hjic-918	5	4	,	,	PUNCT
hjic-918	5	5	technologies	technology	NOUN
hjic-918	5	6	,	,	PUNCT
hjic-918	5	7	mathematical	mathematical	ADJ
hjic-918	5	8	models	model	NOUN
hjic-918	5	9	and	and	CCONJ
hjic-918	5	10	methods	method	NOUN
hjic-918	5	11	are	be	AUX
hjic-918	5	12	available	available	ADJ
hjic-918	5	13	in	in	ADP
hjic-918	5	14	the	the	DET
hjic-918	5	15	automotive	automotive	ADJ
hjic-918	5	16	world	world	NOUN
hjic-918	5	17	,	,	PUNCT
hjic-918	5	18	the	the	DET
hjic-918	5	19	complexity	complexity	NOUN
hjic-918	5	20	of	of	ADP
hjic-918	5	21	the	the	DET
hjic-918	5	22	localization	localization	NOUN
hjic-918	5	23	problem	problem	NOUN
hjic-918	5	24	still	still	ADV
hjic-918	5	25	can	can	AUX
hjic-918	5	26	not	not	PART
hjic-918	5	27	be	be	AUX
hjic-918	5	28	underestimated	underestimate	VERB
hjic-918	5	29	.	.	PUNCT
hjic-918	6	1	the	the	DET
hjic-918	6	2	expectation	expectation	NOUN
hjic-918	6	3	is	be	AUX
hjic-918	6	4	to	to	PART
hjic-918	6	5	determine	determine	VERB
hjic-918	6	6	in	in	ADP
hjic-918	6	7	real	real	ADJ
hjic-918	6	8	time	time	NOUN
hjic-918	6	9	with	with	ADP
hjic-918	6	10	a	a	DET
hjic-918	6	11	high	high	ADJ
hjic-918	6	12	degree	degree	NOUN
hjic-918	6	13	of	of	ADP
hjic-918	6	14	accuracy	accuracy	NOUN
hjic-918	6	15	the	the	DET
hjic-918	6	16	location	location	NOUN
hjic-918	6	17	of	of	ADP
hjic-918	6	18	a	a	DET
hjic-918	6	19	vehicle	vehicle	NOUN
hjic-918	6	20	in	in	ADP
hjic-918	6	21	order	order	NOUN
hjic-918	6	22	to	to	PART
hjic-918	6	23	make	make	VERB
hjic-918	6	24	correct	correct	ADJ
hjic-918	6	25	autonomous	autonomous	ADJ
hjic-918	6	26	decisions	decision	NOUN
hjic-918	6	27	and	and	CCONJ
hjic-918	6	28	avoid	avoid	VERB
hjic-918	6	29	dangerous	dangerous	ADJ
hjic-918	6	30	and	and	CCONJ
hjic-918	6	31	potentially	potentially	ADV
hjic-918	6	32	damaging	damaging	ADJ
hjic-918	6	33	situations	situation	NOUN
hjic-918	6	34	.	.	PUNCT
hjic-918	7	1	various	various	ADJ
hjic-918	7	2	research	research	NOUN
hjic-918	7	3	directions	direction	NOUN
hjic-918	7	4	have	have	AUX
hjic-918	7	5	been	be	AUX
hjic-918	7	6	undertaken	undertake	VERB
hjic-918	7	7	since	since	SCONJ
hjic-918	7	8	the	the	DET
hjic-918	7	9	birth	birth	NOUN
hjic-918	7	10	of	of	ADP
hjic-918	7	11	autonomous	autonomous	ADJ
hjic-918	7	12	driving	driving	NOUN
hjic-918	7	13	from	from	ADP
hjic-918	7	14	the	the	DET
hjic-918	7	15	well	well	ADV
hjic-918	7	16	-	-	PUNCT
hjic-918	7	17	known	know	VERB
hjic-918	7	18	satellite	satellite	NOUN
hjic-918	7	19	navigation	navigation	NOUN
hjic-918	7	20	-	-	PUNCT
hjic-918	7	21	based	base	VERB
hjic-918	7	22	systems	system	NOUN
hjic-918	7	23	that	that	PRON
hjic-918	7	24	rely	rely	VERB
hjic-918	7	25	on	on	ADP
hjic-918	7	26	offline	offline	ADJ
hjic-918	7	27	maps	map	NOUN
hjic-918	7	28	to	to	ADP
hjic-918	7	29	the	the	DET
hjic-918	7	30	more	more	ADV
hjic-918	7	31	sophisticated	sophisticated	ADJ
hjic-918	7	32	approaches	approach	NOUN
hjic-918	7	33	that	that	PRON
hjic-918	7	34	use	use	VERB
hjic-918	7	35	odometry	odometry	NOUN
hjic-918	7	36	and	and	CCONJ
hjic-918	7	37	existing	exist	VERB
hjic-918	7	38	sensor	sensor	NOUN
hjic-918	7	39	data	datum	NOUN
hjic-918	7	40	using	use	VERB
hjic-918	7	41	sensor	sensor	NOUN
hjic-918	7	42	fusion	fusion	NOUN
hjic-918	7	43	.	.	PUNCT
hjic-918	8	1	the	the	DET
hjic-918	8	2	aim	aim	NOUN
hjic-918	8	3	of	of	ADP
hjic-918	8	4	the	the	DET
hjic-918	8	5	current	current	ADJ
hjic-918	8	6	work	work	NOUN
hjic-918	8	7	is	be	AUX
hjic-918	8	8	to	to	PART
hjic-918	8	9	review	review	VERB
hjic-918	8	10	what	what	PRON
hjic-918	8	11	has	have	AUX
hjic-918	8	12	been	be	AUX
hjic-918	8	13	achieved	achieve	VERB
hjic-918	8	14	so	so	ADV
hjic-918	8	15	far	far	ADV
hjic-918	8	16	in	in	ADP
hjic-918	8	17	this	this	DET
hjic-918	8	18	field	field	NOUN
hjic-918	8	19	and	and	CCONJ
hjic-918	8	20	the	the	DET
hjic-918	8	21	challenges	challenge	NOUN
hjic-918	8	22	ahead	ahead	ADV
hjic-918	8	23	,	,	PUNCT
hjic-918	8	24	e.g.	e.g.	ADV
hjic-918	8	25	the	the	DET
hjic-918	8	26	need	need	NOUN
hjic-918	8	27	for	for	ADP
hjic-918	8	28	a	a	DET
hjic-918	8	29	change	change	NOUN
hjic-918	8	30	in	in	ADP
hjic-918	8	31	paradigm	paradigm	NOUN
hjic-918	8	32	as	as	SCONJ
hjic-918	8	33	today	today	NOUN
hjic-918	8	34	’s	’s	PART
hjic-918	8	35	global	global	ADJ
hjic-918	8	36	positioning	positioning	NOUN
hjic-918	8	37	systems	system	NOUN
hjic-918	8	38	are	be	AUX
hjic-918	8	39	not	not	PART
hjic-918	8	40	intended	intend	VERB
hjic-918	8	41	for	for	ADP
hjic-918	8	42	machines	machine	NOUN
hjic-918	8	43	but	but	CCONJ
hjic-918	8	44	humans	human	NOUN
hjic-918	8	45	and	and	CCONJ
hjic-918	8	46	are	be	AUX
hjic-918	8	47	based	base	VERB
hjic-918	8	48	on	on	ADP
hjic-918	8	49	the	the	DET
hjic-918	8	50	abstraction	abstraction	NOUN
hjic-918	8	51	of	of	ADP
hjic-918	8	52	human	human	ADJ
hjic-918	8	53	thinking	thinking	NOUN
hjic-918	8	54	and	and	CCONJ
hjic-918	8	55	human	human	ADJ
hjic-918	8	56	decision	decision	NOUN
hjic-918	8	57	-	-	PUNCT
hjic-918	8	58	making	make	VERB
hjic-918	8	59	processes	process	NOUN
hjic-918	8	60	.	.	PUNCT
hjic-918	9	1	keywords	keyword	NOUN
hjic-918	9	2	:	:	PUNCT
hjic-918	9	3	autonomous	autonomous	ADJ
hjic-918	9	4	driving	driving	NOUN
hjic-918	9	5	,	,	PUNCT
hjic-918	9	6	localization	localization	NOUN
hjic-918	9	7	,	,	PUNCT
hjic-918	9	8	information	information	NOUN
hjic-918	9	9	fusion	fusion	NOUN
hjic-918	9	10	,	,	PUNCT
hjic-918	9	11	filtering	filter	VERB
hjic-918	9	12	1	1	NUM
hjic-918	9	13	.	.	PUNCT
hjic-918	9	14	introduction	introduction	NOUN
hjic-918	9	15	vehicle	vehicle	NOUN
hjic-918	9	16	localization	localization	NOUN
hjic-918	9	17	is	be	AUX
hjic-918	9	18	one	one	NUM
hjic-918	9	19	of	of	ADP
hjic-918	9	20	the	the	DET
hjic-918	9	21	four	four	NUM
hjic-918	9	22	functions	function	NOUN
hjic-918	9	23	of	of	ADP
hjic-918	9	24	autonomous	autonomous	ADJ
hjic-918	9	25	vehicle	vehicle	NOUN
hjic-918	9	26	navigation	navigation	NOUN
hjic-918	9	27	,	,	PUNCT
hjic-918	9	28	namely	namely	ADV
hjic-918	9	29	mapping	mapping	NOUN
hjic-918	9	30	,	,	PUNCT
hjic-918	9	31	localization	localization	NOUN
hjic-918	9	32	,	,	PUNCT
hjic-918	9	33	motion	motion	NOUN
hjic-918	9	34	and	and	CCONJ
hjic-918	9	35	interaction	interaction	NOUN
hjic-918	9	36	,	,	PUNCT
hjic-918	9	37	which	which	PRON
hjic-918	9	38	are	be	AUX
hjic-918	9	39	the	the	DET
hjic-918	9	40	answers	answer	NOUN
hjic-918	9	41	to	to	ADP
hjic-918	9	42	the	the	DET
hjic-918	9	43	four	four	NUM
hjic-918	9	44	basic	basic	ADJ
hjic-918	9	45	questions	question	NOUN
hjic-918	9	46	concerning	concern	VERB
hjic-918	9	47	navigation	navigation	NOUN
hjic-918	9	48	:	:	PUNCT
hjic-918	9	49	where	where	SCONJ
hjic-918	9	50	am	be	AUX
hjic-918	9	51	i	i	PRON
hjic-918	9	52	?	?	PUNCT
hjic-918	10	1	where	where	SCONJ
hjic-918	10	2	can	can	AUX
hjic-918	10	3	i	i	PRON
hjic-918	10	4	move	move	VERB
hjic-918	10	5	to	to	ADP
hjic-918	10	6	?	?	PUNCT
hjic-918	11	1	how	how	SCONJ
hjic-918	11	2	can	can	AUX
hjic-918	11	3	i	i	PRON
hjic-918	11	4	do	do	VERB
hjic-918	11	5	it	it	PRON
hjic-918	11	6	?	?	PUNCT
hjic-918	12	1	how	how	SCONJ
hjic-918	12	2	do	do	AUX
hjic-918	12	3	i	i	PRON
hjic-918	12	4	interact	interact	VERB
hjic-918	12	5	?	?	PUNCT
hjic-918	13	1	if	if	SCONJ
hjic-918	13	2	a	a	DET
hjic-918	13	3	vehicle	vehicle	NOUN
hjic-918	13	4	is	be	AUX
hjic-918	13	5	to	to	PART
hjic-918	13	6	navigate	navigate	VERB
hjic-918	13	7	as	as	SCONJ
hjic-918	13	8	expected	expect	VERB
hjic-918	13	9	,	,	PUNCT
hjic-918	13	10	these	these	DET
hjic-918	13	11	functions	function	NOUN
hjic-918	13	12	need	need	VERB
hjic-918	13	13	to	to	PART
hjic-918	13	14	operate	operate	VERB
hjic-918	13	15	correctly	correctly	ADV
hjic-918	13	16	[	[	X
hjic-918	13	17	1	1	NUM
hjic-918	13	18	]	]	PUNCT
hjic-918	13	19	.	.	PUNCT
hjic-918	14	1	historically	historically	ADV
hjic-918	14	2	,	,	PUNCT
hjic-918	14	3	the	the	DET
hjic-918	14	4	purpose	purpose	NOUN
hjic-918	14	5	of	of	ADP
hjic-918	14	6	in	in	ADP
hjic-918	14	7	-	-	PUNCT
hjic-918	14	8	car	car	NOUN
hjic-918	14	9	localization	localization	NOUN
hjic-918	14	10	was	be	AUX
hjic-918	14	11	driver	driver	NOUN
hjic-918	14	12	assistance	assistance	NOUN
hjic-918	14	13	in	in	ADP
hjic-918	14	14	the	the	DET
hjic-918	14	15	form	form	NOUN
hjic-918	14	16	of	of	ADP
hjic-918	14	17	helping	help	VERB
hjic-918	14	18	the	the	DET
hjic-918	14	19	driver	driver	NOUN
hjic-918	14	20	to	to	PART
hjic-918	14	21	navigate	navigate	VERB
hjic-918	14	22	.	.	PUNCT
hjic-918	15	1	such	such	ADJ
hjic-918	15	2	systems	system	NOUN
hjic-918	15	3	that	that	PRON
hjic-918	15	4	are	be	AUX
hjic-918	15	5	currently	currently	ADV
hjic-918	15	6	in	in	ADP
hjic-918	15	7	use	use	NOUN
hjic-918	15	8	provide	provide	VERB
hjic-918	15	9	information	information	NOUN
hjic-918	15	10	,	,	PUNCT
hjic-918	15	11	with	with	ADP
hjic-918	15	12	some	some	DET
hjic-918	15	13	degree	degree	NOUN
hjic-918	15	14	of	of	ADP
hjic-918	15	15	accuracy	accuracy	NOUN
hjic-918	15	16	,	,	PUNCT
hjic-918	15	17	to	to	ADP
hjic-918	15	18	the	the	DET
hjic-918	15	19	driver	driver	NOUN
hjic-918	15	20	and	and	CCONJ
hjic-918	15	21	then	then	ADV
hjic-918	15	22	the	the	DET
hjic-918	15	23	driver	driver	NOUN
hjic-918	15	24	makes	make	VERB
hjic-918	15	25	decisions	decision	NOUN
hjic-918	15	26	based	base	VERB
hjic-918	15	27	on	on	ADP
hjic-918	15	28	the	the	DET
hjic-918	15	29	information	information	NOUN
hjic-918	15	30	,	,	PUNCT
hjic-918	15	31	which	which	PRON
hjic-918	15	32	can	can	AUX
hjic-918	15	33	either	either	CCONJ
hjic-918	15	34	be	be	AUX
hjic-918	15	35	accepted	accept	VERB
hjic-918	15	36	and	and	CCONJ
hjic-918	15	37	acted	act	VERB
hjic-918	15	38	upon	upon	SCONJ
hjic-918	15	39	or	or	CCONJ
hjic-918	15	40	rejected	reject	VERB
hjic-918	15	41	in	in	ADP
hjic-918	15	42	the	the	DET
hjic-918	15	43	form	form	NOUN
hjic-918	15	44	of	of	ADP
hjic-918	15	45	proceeding	proceed	VERB
hjic-918	15	46	in	in	ADP
hjic-918	15	47	another	another	DET
hjic-918	15	48	direction	direction	NOUN
hjic-918	15	49	.	.	PUNCT
hjic-918	16	1	in	in	ADP
hjic-918	16	2	the	the	DET
hjic-918	16	3	case	case	NOUN
hjic-918	16	4	of	of	ADP
hjic-918	16	5	autonomous	autonomous	ADJ
hjic-918	16	6	driving	driving	NOUN
hjic-918	16	7	,	,	PUNCT
hjic-918	16	8	it	it	PRON
hjic-918	16	9	is	be	AUX
hjic-918	16	10	quite	quite	ADV
hjic-918	16	11	clear	clear	ADJ
hjic-918	16	12	that	that	SCONJ
hjic-918	16	13	simply	simply	ADV
hjic-918	16	14	rejecting	reject	VERB
hjic-918	16	15	position	position	NOUN
hjic-918	16	16	information	information	NOUN
hjic-918	16	17	since	since	SCONJ
hjic-918	16	18	the	the	DET
hjic-918	16	19	main	main	ADJ
hjic-918	16	20	control	control	NOUN
hjic-918	16	21	algorithm	algorithm	NOUN
hjic-918	16	22	is	be	AUX
hjic-918	16	23	not	not	PART
hjic-918	16	24	an	an	DET
hjic-918	16	25	option	option	NOUN
hjic-918	16	26	as	as	SCONJ
hjic-918	16	27	this	this	PRON
hjic-918	16	28	is	be	AUX
hjic-918	16	29	the	the	DET
hjic-918	16	30	only	only	ADJ
hjic-918	16	31	item	item	NOUN
hjic-918	16	32	of	of	ADP
hjic-918	16	33	data	datum	NOUN
hjic-918	16	34	to	to	PART
hjic-918	16	35	be	be	AUX
hjic-918	16	36	used	use	VERB
hjic-918	16	37	,	,	PUNCT
hjic-918	16	38	therefore	therefore	ADV
hjic-918	16	39	,	,	PUNCT
hjic-918	16	40	it	it	PRON
hjic-918	16	41	must	must	AUX
hjic-918	16	42	be	be	AUX
hjic-918	16	43	used	use	VERB
hjic-918	16	44	and	and	CCONJ
hjic-918	16	45	a	a	DET
hjic-918	16	46	decision	decision	NOUN
hjic-918	16	47	made	make	VERB
hjic-918	16	48	based	base	VERB
hjic-918	16	49	on	on	ADP
hjic-918	16	50	it	it	PRON
hjic-918	16	51	.	.	PUNCT
hjic-918	17	1	this	this	PRON
hjic-918	17	2	raises	raise	VERB
hjic-918	17	3	the	the	DET
hjic-918	17	4	question	question	NOUN
hjic-918	17	5	of	of	ADP
hjic-918	17	6	certainty	certainty	NOUN
hjic-918	17	7	.	.	PUNCT
hjic-918	18	1	the	the	DET
hjic-918	18	2	requirement	requirement	NOUN
hjic-918	18	3	to	to	PART
hjic-918	18	4	operate	operate	VERB
hjic-918	18	5	safely	safely	ADV
hjic-918	18	6	anywhere	anywhere	ADV
hjic-918	18	7	and	and	CCONJ
hjic-918	18	8	at	at	ADP
hjic-918	18	9	anytime	anytime	ADV
hjic-918	18	10	makes	make	VERB
hjic-918	18	11	the	the	DET
hjic-918	18	12	performance	performance	NOUN
hjic-918	18	13	measures	measure	VERB
hjic-918	18	14	far	far	ADV
hjic-918	18	15	stricter	strict	ADJ
hjic-918	18	16	than	than	ADP
hjic-918	18	17	ever	ever	ADV
hjic-918	18	18	before	before	ADV
hjic-918	18	19	.	.	PUNCT
hjic-918	19	1	the	the	DET
hjic-918	19	2	performance	performance	NOUN
hjic-918	19	3	measures	measure	NOUN
hjic-918	19	4	are	be	AUX
hjic-918	19	5	[	[	X
hjic-918	19	6	2	2	NUM
hjic-918	19	7	]	]	PUNCT
hjic-918	19	8	:	:	PUNCT
hjic-918	19	9	accuracy	accuracy	NOUN
hjic-918	19	10	the	the	DET
hjic-918	19	11	degree	degree	NOUN
hjic-918	19	12	of	of	ADP
hjic-918	19	13	conformity	conformity	NOUN
hjic-918	19	14	of	of	ADP
hjic-918	19	15	position	position	NOUN
hjic-918	19	16	information	information	NOUN
hjic-918	19	17	provided	provide	VERB
hjic-918	19	18	by	by	ADP
hjic-918	19	19	the	the	DET
hjic-918	19	20	localization	localization	NOUN
hjic-918	19	21	system	system	NOUN
hjic-918	19	22	relative	relative	ADJ
hjic-918	19	23	to	to	ADP
hjic-918	19	24	actual	actual	ADJ
hjic-918	19	25	values	value	NOUN
hjic-918	19	26	.	.	PUNCT
hjic-918	20	1	*	*	PUNCT
hjic-918	20	2	correspondence	correspondence	NOUN
hjic-918	20	3	:	:	PUNCT
hjic-918	20	4	medve.hunor@mk.uni-pannon.hu	medve.hunor@mk.uni-pannon.hu	PROPN
hjic-918	20	5	integrity	integrity	NOUN
hjic-918	20	6	a	a	DET
hjic-918	20	7	measure	measure	NOUN
hjic-918	20	8	of	of	ADP
hjic-918	20	9	trust	trust	NOUN
hjic-918	20	10	that	that	PRON
hjic-918	20	11	can	can	AUX
hjic-918	20	12	be	be	AUX
hjic-918	20	13	implemented	implement	VERB
hjic-918	20	14	in	in	ADP
hjic-918	20	15	the	the	DET
hjic-918	20	16	information	information	NOUN
hjic-918	20	17	from	from	ADP
hjic-918	20	18	the	the	DET
hjic-918	20	19	localization	localization	NOUN
hjic-918	20	20	,	,	PUNCT
hjic-918	20	21	which	which	PRON
hjic-918	20	22	is	be	AUX
hjic-918	20	23	the	the	DET
hjic-918	20	24	likelihood	likelihood	NOUN
hjic-918	20	25	of	of	ADP
hjic-918	20	26	undetected	undetected	ADJ
hjic-918	20	27	failures	failure	NOUN
hjic-918	20	28	given	give	VERB
hjic-918	20	29	the	the	DET
hjic-918	20	30	specified	specified	ADJ
hjic-918	20	31	accuracy	accuracy	NOUN
hjic-918	20	32	of	of	ADP
hjic-918	20	33	the	the	DET
hjic-918	20	34	system	system	NOUN
hjic-918	20	35	.	.	PUNCT
hjic-918	21	1	continuity	continuity	NOUN
hjic-918	21	2	of	of	ADP
hjic-918	21	3	service	service	NOUN
hjic-918	21	4	the	the	DET
hjic-918	21	5	probability	probability	NOUN
hjic-918	21	6	of	of	ADP
hjic-918	21	7	the	the	DET
hjic-918	21	8	system	system	NOUN
hjic-918	21	9	continuously	continuously	ADV
hjic-918	21	10	providing	provide	VERB
hjic-918	21	11	information	information	NOUN
hjic-918	21	12	without	without	ADP
hjic-918	21	13	nonscheduled	nonschedule	VERB
hjic-918	21	14	interruptions	interruption	NOUN
hjic-918	21	15	during	during	ADP
hjic-918	21	16	the	the	DET
hjic-918	21	17	intended	intend	VERB
hjic-918	21	18	working	working	NOUN
hjic-918	21	19	period	period	NOUN
hjic-918	21	20	.	.	PUNCT
hjic-918	22	1	availability	availability	NOUN
hjic-918	22	2	the	the	DET
hjic-918	22	3	percentage	percentage	NOUN
hjic-918	22	4	of	of	ADP
hjic-918	22	5	time	time	NOUN
hjic-918	22	6	during	during	ADP
hjic-918	22	7	which	which	PRON
hjic-918	22	8	the	the	DET
hjic-918	22	9	service	service	NOUN
hjic-918	22	10	is	be	AUX
hjic-918	22	11	available	available	ADJ
hjic-918	22	12	for	for	ADP
hjic-918	22	13	use	use	NOUN
hjic-918	22	14	taking	take	VERB
hjic-918	22	15	into	into	ADP
hjic-918	22	16	account	account	NOUN
hjic-918	22	17	all	all	DET
hjic-918	22	18	the	the	DET
hjic-918	22	19	outages	outage	NOUN
hjic-918	22	20	irrespective	irrespective	ADV
hjic-918	22	21	of	of	ADP
hjic-918	22	22	their	their	PRON
hjic-918	22	23	origins	origin	NOUN
hjic-918	22	24	.	.	PUNCT
hjic-918	23	1	the	the	DET
hjic-918	23	2	service	service	NOUN
hjic-918	23	3	is	be	AUX
hjic-918	23	4	available	available	ADJ
hjic-918	23	5	if	if	SCONJ
hjic-918	23	6	the	the	DET
hjic-918	23	7	requirements	requirement	NOUN
hjic-918	23	8	concerning	concern	VERB
hjic-918	23	9	accuracy	accuracy	NOUN
hjic-918	23	10	,	,	PUNCT
hjic-918	23	11	integrity	integrity	NOUN
hjic-918	23	12	and	and	CCONJ
hjic-918	23	13	continuity	continuity	NOUN
hjic-918	23	14	are	be	AUX
hjic-918	23	15	satisfied	satisfied	ADJ
hjic-918	23	16	.	.	PUNCT
hjic-918	24	1	over	over	ADP
hjic-918	24	2	the	the	DET
hjic-918	24	3	last	last	ADJ
hjic-918	24	4	10	10	NUM
hjic-918	24	5	-	-	SYM
hjic-918	24	6	15	15	NUM
hjic-918	24	7	years	year	NOUN
hjic-918	24	8	,	,	PUNCT
hjic-918	24	9	the	the	DET
hjic-918	24	10	number	number	NOUN
hjic-918	24	11	of	of	ADP
hjic-918	24	12	sensors	sensor	NOUN
hjic-918	24	13	and	and	CCONJ
hjic-918	24	14	related	relate	VERB
hjic-918	24	15	advanced	advanced	ADJ
hjic-918	24	16	driver	driver	NOUN
hjic-918	24	17	-	-	PUNCT
hjic-918	24	18	assistance	assistance	NOUN
hjic-918	24	19	systems	system	NOUN
hjic-918	24	20	in	in	ADP
hjic-918	24	21	passenger	passenger	NOUN
hjic-918	24	22	vehicles	vehicle	NOUN
hjic-918	24	23	has	have	AUX
hjic-918	24	24	increased	increase	VERB
hjic-918	24	25	.	.	PUNCT
hjic-918	25	1	the	the	DET
hjic-918	25	2	primary	primary	ADJ
hjic-918	25	3	task	task	NOUN
hjic-918	25	4	of	of	ADP
hjic-918	25	5	each	each	PRON
hjic-918	25	6	of	of	ADP
hjic-918	25	7	these	these	DET
hjic-918	25	8	sensors	sensor	NOUN
hjic-918	25	9	and	and	CCONJ
hjic-918	25	10	services	service	NOUN
hjic-918	25	11	is	be	AUX
hjic-918	25	12	to	to	PART
hjic-918	25	13	observe	observe	VERB
hjic-918	25	14	a	a	DET
hjic-918	25	15	segment	segment	NOUN
hjic-918	25	16	of	of	ADP
hjic-918	25	17	the	the	DET
hjic-918	25	18	surroundings	surrounding	NOUN
hjic-918	25	19	and	and	CCONJ
hjic-918	25	20	its	its	PRON
hjic-918	25	21	status	status	NOUN
hjic-918	25	22	,	,	PUNCT
hjic-918	25	23	then	then	ADV
hjic-918	25	24	assist	assist	VERB
hjic-918	25	25	the	the	DET
hjic-918	25	26	driver	driver	NOUN
hjic-918	25	27	in	in	ADP
hjic-918	25	28	that	that	DET
hjic-918	25	29	regard	regard	NOUN
hjic-918	25	30	.	.	PUNCT
hjic-918	26	1	since	since	SCONJ
hjic-918	26	2	the	the	DET
hjic-918	26	3	data	datum	NOUN
hjic-918	26	4	from	from	ADP
hjic-918	26	5	a	a	DET
hjic-918	26	6	single	single	ADJ
hjic-918	26	7	sensor	sensor	NOUN
hjic-918	26	8	does	do	AUX
hjic-918	26	9	not	not	PART
hjic-918	26	10	contain	contain	VERB
hjic-918	26	11	all	all	DET
hjic-918	26	12	the	the	DET
hjic-918	26	13	information	information	NOUN
hjic-918	26	14	about	about	ADP
hjic-918	26	15	the	the	DET
hjic-918	26	16	vehicle	vehicle	NOUN
hjic-918	26	17	’s	’s	PART
hjic-918	26	18	surroundings	surrounding	NOUN
hjic-918	26	19	,	,	PUNCT
hjic-918	26	20	further	further	ADJ
hjic-918	26	21	information	information	NOUN
hjic-918	26	22	concerning	concern	VERB
hjic-918	26	23	its	its	PRON
hjic-918	26	24	absolute	absolute	ADJ
hjic-918	26	25	location	location	NOUN
hjic-918	26	26	can	can	AUX
hjic-918	26	27	not	not	PART
hjic-918	26	28	be	be	AUX
hjic-918	26	29	extracted	extract	VERB
hjic-918	26	30	based	base	VERB
hjic-918	26	31	on	on	ADP
hjic-918	26	32	a	a	DET
hjic-918	26	33	single	single	ADJ
hjic-918	26	34	sensor	sensor	NOUN
hjic-918	26	35	.	.	PUNCT
hjic-918	27	1	in	in	ADP
hjic-918	27	2	fact	fact	NOUN
hjic-918	27	3	,	,	PUNCT
hjic-918	27	4	the	the	DET
hjic-918	27	5	sensors	sensor	NOUN
hjic-918	27	6	provide	provide	VERB
hjic-918	27	7	complementary	complementary	ADJ
hjic-918	27	8	information	information	NOUN
hjic-918	27	9	and	and	CCONJ
hjic-918	27	10	through	through	ADP
hjic-918	27	11	information	information	NOUN
hjic-918	27	12	fusion	fusion	NOUN
hjic-918	27	13	the	the	DET
hjic-918	27	14	vehicle	vehicle	NOUN
hjic-918	27	15	’s	’s	PART
hjic-918	27	16	absolute	absolute	ADJ
hjic-918	27	17	location	location	NOUN
hjic-918	27	18	and	and	CCONJ
hjic-918	27	19	status	status	NOUN
hjic-918	27	20	can	can	AUX
hjic-918	27	21	be	be	AUX
hjic-918	27	22	obtained	obtain	VERB
hjic-918	27	23	.	.	PUNCT
hjic-918	28	1	this	this	PRON
hjic-918	28	2	is	be	AUX
hjic-918	28	3	shown	show	VERB
hjic-918	28	4	in	in	ADP
hjic-918	28	5	fig	fig	NOUN
hjic-918	28	6	.	.	PUNCT
hjic-918	29	1	1	1	X
hjic-918	29	2	.	.	X
hjic-918	29	3	the	the	DET
hjic-918	29	4	main	main	ADJ
hjic-918	29	5	groups	group	NOUN
hjic-918	29	6	of	of	ADP
hjic-918	29	7	information	information	NOUN
hjic-918	29	8	sources	source	NOUN
hjic-918	29	9	are	be	AUX
hjic-918	29	10	the	the	DET
hjic-918	29	11	following	following	NOUN
hjic-918	29	12	:	:	PUNCT
hjic-918	29	13	https://doi.org/10.33927/hjic-2020-07	https://doi.org/10.33927/hjic-2020-07	PRON
hjic-918	29	14	mailto:medve.hunor@mk.uni-pannon.hu	mailto:medve.hunor@mk.uni-pannon.hu	X
hjic-918	29	15	44	44	NUM
hjic-918	29	16	medve	medve	PROPN
hjic-918	29	17	és	és	PROPN
hjic-918	29	18	fodor	fodor	PROPN
hjic-918	29	19	figure	figure	NOUN
hjic-918	29	20	1	1	NUM
hjic-918	29	21	:	:	PUNCT
hjic-918	29	22	the	the	DET
hjic-918	29	23	concept	concept	NOUN
hjic-918	29	24	of	of	ADP
hjic-918	29	25	information	information	NOUN
hjic-918	29	26	fusion	fusion	NOUN
hjic-918	29	27	•	•	NUM
hjic-918	29	28	global	global	ADJ
hjic-918	29	29	navigation	navigation	NOUN
hjic-918	29	30	satellite	satellite	NOUN
hjic-918	29	31	systems	system	NOUN
hjic-918	29	32	(	(	PUNCT
hjic-918	29	33	gnss	gnss	NOUN
hjic-918	29	34	)	)	PUNCT
hjic-918	29	35	•	•	NOUN
hjic-918	29	36	traditional	traditional	ADJ
hjic-918	29	37	vehicle	vehicle	NOUN
hjic-918	29	38	sensors	sensor	NOUN
hjic-918	29	39	:	:	PUNCT
hjic-918	29	40	–	–	PUNCT
hjic-918	29	41	odometer	odometer	NOUN
hjic-918	29	42	–	–	PUNCT
hjic-918	29	43	wheel	wheel	NOUN
hjic-918	29	44	speed	speed	NOUN
hjic-918	29	45	sensor	sensor	NOUN
hjic-918	29	46	–	–	PUNCT
hjic-918	29	47	steering	steering	NOUN
hjic-918	29	48	angle	angle	NOUN
hjic-918	29	49	sensor	sensor	NOUN
hjic-918	29	50	•	•	CCONJ
hjic-918	29	51	inertial	inertial	NOUN
hjic-918	29	52	measurement	measurement	NOUN
hjic-918	29	53	unit	unit	NOUN
hjic-918	29	54	(	(	PUNCT
hjic-918	29	55	imu	imu	NOUN
hjic-918	29	56	):	):	PUNCT
hjic-918	29	57	–	–	PUNCT
hjic-918	29	58	accelerometer	accelerometer	NOUN
hjic-918	29	59	–	–	PUNCT
hjic-918	29	60	gyroscope	gyroscope	NOUN
hjic-918	29	61	•	•	NOUN
hjic-918	29	62	optical	optical	ADJ
hjic-918	29	63	,	,	PUNCT
hjic-918	29	64	soundand	soundand	NOUN
hjic-918	29	65	radio	radio	NOUN
hjic-918	29	66	-	-	PUNCT
hjic-918	29	67	based	base	VERB
hjic-918	29	68	sensors	sensor	NOUN
hjic-918	29	69	:	:	PUNCT
hjic-918	29	70	–	–	PUNCT
hjic-918	29	71	radar	radar	NOUN
hjic-918	29	72	–	–	PUNCT
hjic-918	29	73	ultrasonic	ultrasonic	ADJ
hjic-918	29	74	sensors	sensor	NOUN
hjic-918	29	75	–	–	PUNCT
hjic-918	29	76	vision	vision	NOUN
hjic-918	29	77	sensors	sensor	NOUN
hjic-918	29	78	–	–	PUNCT
hjic-918	29	79	lidar	lidar	NOUN
hjic-918	29	80	(	(	PUNCT
hjic-918	29	81	light	light	ADJ
hjic-918	29	82	detection	detection	NOUN
hjic-918	29	83	and	and	CCONJ
hjic-918	29	84	ranging	ranging	NOUN
hjic-918	29	85	)	)	PUNCT
hjic-918	29	86	•	•	NUM
hjic-918	29	87	vehicle	vehicle	NOUN
hjic-918	29	88	models	model	NOUN
hjic-918	29	89	with	with	ADP
hjic-918	29	90	various	various	ADJ
hjic-918	29	91	levels	level	NOUN
hjic-918	29	92	of	of	ADP
hjic-918	29	93	complexity	complexity	NOUN
hjic-918	29	94	•	•	NOUN
hjic-918	29	95	databases	database	NOUN
hjic-918	29	96	;	;	PUNCT
hjic-918	29	97	offline	offline	ADJ
hjic-918	29	98	or	or	CCONJ
hjic-918	29	99	cloud	cloud	NOUN
hjic-918	29	100	-	-	PUNCT
hjic-918	29	101	based	base	VERB
hjic-918	29	102	:	:	PUNCT
hjic-918	29	103	–	–	PUNCT
hjic-918	29	104	maps	map	NOUN
hjic-918	29	105	–	–	PUNCT
hjic-918	29	106	traffic	traffic	NOUN
hjic-918	29	107	situation	situation	NOUN
hjic-918	29	108	•	•	ADP
hjic-918	29	109	dedicated	dedicate	VERB
hjic-918	29	110	short	short	ADJ
hjic-918	29	111	-	-	PUNCT
hjic-918	29	112	range	range	NOUN
hjic-918	29	113	communication	communication	NOUN
hjic-918	29	114	:	:	PUNCT
hjic-918	29	115	–	–	PUNCT
hjic-918	29	116	vehicle	vehicle	NOUN
hjic-918	29	117	-	-	PUNCT
hjic-918	29	118	to	to	ADP
hjic-918	29	119	-	-	PUNCT
hjic-918	29	120	vehicle	vehicle	NOUN
hjic-918	29	121	(	(	PUNCT
hjic-918	29	122	v2v	v2v	NOUN
hjic-918	29	123	)	)	PUNCT
hjic-918	29	124	–	–	PUNCT
hjic-918	29	125	vehicle	vehicle	NOUN
hjic-918	29	126	-	-	PUNCT
hjic-918	29	127	to	to	ADP
hjic-918	29	128	-	-	PUNCT
hjic-918	29	129	infrastructure	infrastructure	NOUN
hjic-918	29	130	(	(	PUNCT
hjic-918	29	131	v2i	v2i	NOUN
hjic-918	29	132	)	)	PUNCT
hjic-918	29	133	.	.	PUNCT
hjic-918	30	1	it	it	PRON
hjic-918	30	2	is	be	AUX
hjic-918	30	3	important	important	ADJ
hjic-918	30	4	to	to	PART
hjic-918	30	5	note	note	VERB
hjic-918	30	6	that	that	SCONJ
hjic-918	30	7	none	none	NOUN
hjic-918	30	8	of	of	ADP
hjic-918	30	9	these	these	DET
hjic-918	30	10	information	information	NOUN
hjic-918	30	11	sources	source	NOUN
hjic-918	30	12	are	be	AUX
hjic-918	30	13	ideal	ideal	ADJ
hjic-918	30	14	and	and	CCONJ
hjic-918	30	15	error	error	NOUN
hjic-918	30	16	-	-	PUNCT
hjic-918	30	17	free	free	ADJ
hjic-918	30	18	.	.	PUNCT
hjic-918	31	1	the	the	DET
hjic-918	31	2	errors	error	NOUN
hjic-918	31	3	will	will	AUX
hjic-918	31	4	propagate	propagate	VERB
hjic-918	31	5	through	through	ADP
hjic-918	31	6	the	the	DET
hjic-918	31	7	sensor	sensor	NOUN
hjic-918	31	8	fusion	fusion	NOUN
hjic-918	31	9	algorithm	algorithm	NOUN
hjic-918	31	10	,	,	PUNCT
hjic-918	31	11	moreover	moreover	ADV
hjic-918	31	12	,	,	PUNCT
hjic-918	31	13	affect	affect	VERB
hjic-918	31	14	the	the	DET
hjic-918	31	15	end	end	NOUN
hjic-918	31	16	result	result	NOUN
hjic-918	31	17	and	and	CCONJ
hjic-918	31	18	the	the	DET
hjic-918	31	19	previously	previously	ADV
hjic-918	31	20	described	describe	VERB
hjic-918	31	21	figures	figure	NOUN
hjic-918	31	22	of	of	ADP
hjic-918	31	23	merit	merit	NOUN
hjic-918	31	24	.	.	PUNCT
hjic-918	32	1	the	the	DET
hjic-918	32	2	following	follow	VERB
hjic-918	32	3	sections	section	NOUN
hjic-918	32	4	address	address	VERB
hjic-918	32	5	each	each	DET
hjic-918	32	6	device	device	NOUN
hjic-918	32	7	family	family	NOUN
hjic-918	32	8	then	then	ADV
hjic-918	32	9	the	the	DET
hjic-918	32	10	fusion	fusion	NOUN
hjic-918	32	11	methods	method	NOUN
hjic-918	32	12	are	be	AUX
hjic-918	32	13	analysed	analyse	VERB
hjic-918	32	14	.	.	PUNCT
hjic-918	33	1	2	2	X
hjic-918	33	2	.	.	X
hjic-918	33	3	information	information	NOUN
hjic-918	33	4	sources	source	NOUN
hjic-918	33	5	2.1	2.1	NUM
hjic-918	33	6	global	global	ADJ
hjic-918	33	7	navigation	navigation	NOUN
hjic-918	33	8	satellite	satellite	NOUN
hjic-918	33	9	systems	system	NOUN
hjic-918	33	10	the	the	DET
hjic-918	33	11	global	global	ADJ
hjic-918	33	12	navigation	navigation	NOUN
hjic-918	33	13	satellite	satellite	NOUN
hjic-918	33	14	system	system	NOUN
hjic-918	33	15	(	(	PUNCT
hjic-918	33	16	gnss	gnss	NOUN
hjic-918	33	17	)	)	PUNCT
hjic-918	33	18	is	be	AUX
hjic-918	33	19	a	a	DET
hjic-918	33	20	radio	radio	NOUN
hjic-918	33	21	positioning	positioning	NOUN
hjic-918	33	22	-	-	PUNCT
hjic-918	33	23	based	base	VERB
hjic-918	33	24	technology	technology	NOUN
hjic-918	33	25	using	use	VERB
hjic-918	33	26	satellite	satellite	NOUN
hjic-918	33	27	infrastructure	infrastructure	NOUN
hjic-918	33	28	that	that	PRON
hjic-918	33	29	aims	aim	VERB
hjic-918	33	30	to	to	PART
hjic-918	33	31	achieve	achieve	VERB
hjic-918	33	32	global	global	ADJ
hjic-918	33	33	coverage	coverage	NOUN
hjic-918	33	34	.	.	PUNCT
hjic-918	34	1	historically	historically	ADV
hjic-918	34	2	,	,	PUNCT
hjic-918	34	3	satellite	satellite	NOUN
hjic-918	34	4	-	-	PUNCT
hjic-918	34	5	based	base	VERB
hjic-918	34	6	sytems	sytem	NOUN
hjic-918	34	7	have	have	AUX
hjic-918	34	8	been	be	AUX
hjic-918	34	9	considered	consider	VERB
hjic-918	34	10	as	as	ADP
hjic-918	34	11	the	the	DET
hjic-918	34	12	core	core	NOUN
hjic-918	34	13	element	element	NOUN
hjic-918	34	14	of	of	ADP
hjic-918	34	15	localization	localization	NOUN
hjic-918	34	16	.	.	PUNCT
hjic-918	35	1	currently	currently	ADV
hjic-918	35	2	,	,	PUNCT
hjic-918	35	3	a	a	DET
hjic-918	35	4	number	number	NOUN
hjic-918	35	5	of	of	ADP
hjic-918	35	6	systems	system	NOUN
hjic-918	35	7	are	be	AUX
hjic-918	35	8	in	in	ADP
hjic-918	35	9	operation	operation	NOUN
hjic-918	35	10	,	,	PUNCT
hjic-918	35	11	the	the	DET
hjic-918	35	12	major	major	ADJ
hjic-918	35	13	ones	one	NOUN
hjic-918	35	14	are	be	AUX
hjic-918	35	15	gps	gps	PROPN
hjic-918	35	16	(	(	PUNCT
hjic-918	35	17	usa	usa	PROPN
hjic-918	35	18	)	)	PUNCT
hjic-918	35	19	,	,	PUNCT
hjic-918	35	20	beidou	beidou	NOUN
hjic-918	35	21	(	(	PUNCT
hjic-918	35	22	china	china	PROPN
hjic-918	35	23	)	)	PUNCT
hjic-918	35	24	,	,	PUNCT
hjic-918	35	25	glonass	glonass	PROPN
hjic-918	35	26	(	(	PUNCT
hjic-918	35	27	russia	russia	PROPN
hjic-918	35	28	)	)	PUNCT
hjic-918	35	29	and	and	CCONJ
hjic-918	35	30	galileo	galileo	PROPN
hjic-918	35	31	(	(	PUNCT
hjic-918	35	32	eu	eu	PROPN
hjic-918	35	33	)	)	PUNCT
hjic-918	35	34	.	.	PUNCT
hjic-918	36	1	every	every	DET
hjic-918	36	2	satellite	satellite	NOUN
hjic-918	36	3	broadcasts	broadcast	VERB
hjic-918	36	4	a	a	DET
hjic-918	36	5	specific	specific	ADJ
hjic-918	36	6	signal	signal	NOUN
hjic-918	36	7	and	and	CCONJ
hjic-918	36	8	its	its	PRON
hjic-918	36	9	position	position	NOUN
hjic-918	36	10	.	.	PUNCT
hjic-918	37	1	the	the	DET
hjic-918	37	2	spectral	spectral	ADJ
hjic-918	37	3	range	range	NOUN
hjic-918	37	4	of	of	ADP
hjic-918	37	5	the	the	DET
hjic-918	37	6	signals	signal	NOUN
hjic-918	37	7	is	be	AUX
hjic-918	37	8	1.2−	1.2−	NUM
hjic-918	37	9	1.6	1.6	NUM
hjic-918	37	10	ghz	ghz	NOUN
hjic-918	37	11	,	,	PUNCT
hjic-918	37	12	utilising	utilise	VERB
hjic-918	37	13	frequency	frequency	NOUN
hjic-918	37	14	bands	band	NOUN
hjic-918	37	15	of	of	ADP
hjic-918	37	16	between	between	ADP
hjic-918	37	17	2	2	NUM
hjic-918	37	18	and	and	CCONJ
hjic-918	37	19	40	40	NUM
hjic-918	37	20	mhz	mhz	NOUN
hjic-918	37	21	.	.	PUNCT
hjic-918	38	1	any	any	DET
hjic-918	38	2	user	user	NOUN
hjic-918	38	3	equipped	equip	VERB
hjic-918	38	4	with	with	ADP
hjic-918	38	5	a	a	DET
hjic-918	38	6	gnss	gnss	NOUN
hjic-918	38	7	receiver	receiver	NOUN
hjic-918	38	8	receives	receive	VERB
hjic-918	38	9	the	the	DET
hjic-918	38	10	signal	signal	NOUN
hjic-918	38	11	and	and	CCONJ
hjic-918	38	12	measures	measure	VERB
hjic-918	38	13	the	the	DET
hjic-918	38	14	signal	signal	ADJ
hjic-918	38	15	propagation	propagation	NOUN
hjic-918	38	16	delay	delay	NOUN
hjic-918	38	17	,	,	PUNCT
hjic-918	38	18	then	then	ADV
hjic-918	38	19	estimates	estimate	VERB
hjic-918	38	20	the	the	DET
hjic-918	38	21	range	range	NOUN
hjic-918	38	22	of	of	ADP
hjic-918	38	23	distance	distance	NOUN
hjic-918	38	24	from	from	ADP
hjic-918	38	25	it	it	PRON
hjic-918	38	26	.	.	PUNCT
hjic-918	39	1	by	by	ADP
hjic-918	39	2	using	use	VERB
hjic-918	39	3	signals	signal	NOUN
hjic-918	39	4	from	from	ADP
hjic-918	39	5	at	at	ADP
hjic-918	39	6	least	least	ADJ
hjic-918	39	7	four	four	NUM
hjic-918	39	8	satellites	satellite	NOUN
hjic-918	39	9	,	,	PUNCT
hjic-918	39	10	the	the	DET
hjic-918	39	11	receivers	receiver	NOUN
hjic-918	39	12	can	can	AUX
hjic-918	39	13	reduce	reduce	VERB
hjic-918	39	14	the	the	DET
hjic-918	39	15	estimate	estimate	NOUN
hjic-918	39	16	to	to	PART
hjic-918	39	17	intercept	intercept	VERB
hjic-918	39	18	the	the	DET
hjic-918	39	19	ranges	range	NOUN
hjic-918	39	20	from	from	ADP
hjic-918	39	21	each	each	DET
hjic-918	39	22	satellite	satellite	NOUN
hjic-918	39	23	,	,	PUNCT
hjic-918	39	24	which	which	PRON
hjic-918	39	25	basically	basically	ADV
hjic-918	39	26	provides	provide	VERB
hjic-918	39	27	a	a	DET
hjic-918	39	28	potential	potential	ADJ
hjic-918	39	29	location	location	NOUN
hjic-918	39	30	within	within	ADP
hjic-918	39	31	the	the	DET
hjic-918	39	32	range	range	NOUN
hjic-918	39	33	in	in	ADP
hjic-918	39	34	terms	term	NOUN
hjic-918	39	35	of	of	ADP
hjic-918	39	36	geospatial	geospatial	ADJ
hjic-918	39	37	coordinates	coordinate	NOUN
hjic-918	39	38	.	.	PUNCT
hjic-918	40	1	it	it	PRON
hjic-918	40	2	is	be	AUX
hjic-918	40	3	important	important	ADJ
hjic-918	40	4	to	to	PART
hjic-918	40	5	note	note	VERB
hjic-918	40	6	that	that	SCONJ
hjic-918	40	7	the	the	DET
hjic-918	40	8	position	position	NOUN
hjic-918	40	9	information	information	NOUN
hjic-918	40	10	is	be	AUX
hjic-918	40	11	useful	useful	ADJ
hjic-918	40	12	only	only	ADV
hjic-918	40	13	if	if	SCONJ
hjic-918	40	14	used	use	VERB
hjic-918	40	15	together	together	ADV
hjic-918	40	16	with	with	ADP
hjic-918	40	17	maps	map	NOUN
hjic-918	40	18	which	which	PRON
hjic-918	40	19	put	put	VERB
hjic-918	40	20	the	the	DET
hjic-918	40	21	information	information	NOUN
hjic-918	40	22	in	in	ADP
hjic-918	40	23	context	context	NOUN
hjic-918	40	24	.	.	PUNCT
hjic-918	41	1	even	even	ADV
hjic-918	41	2	though	though	SCONJ
hjic-918	41	3	the	the	DET
hjic-918	41	4	accuracy	accuracy	NOUN
hjic-918	41	5	of	of	ADP
hjic-918	41	6	receivers	receivers	PROPN
hjic-918	41	7	is	be	AUX
hjic-918	41	8	increased	increase	VERB
hjic-918	41	9	by	by	ADP
hjic-918	41	10	various	various	ADJ
hjic-918	41	11	augmentation	augmentation	NOUN
hjic-918	41	12	systems	system	NOUN
hjic-918	41	13	,	,	PUNCT
hjic-918	41	14	issues	issue	NOUN
hjic-918	41	15	resulting	result	VERB
hjic-918	41	16	from	from	ADP
hjic-918	41	17	poor	poor	ADJ
hjic-918	41	18	satellite	satellite	NOUN
hjic-918	41	19	constellations	constellation	NOUN
hjic-918	41	20	,	,	PUNCT
hjic-918	41	21	signal	signal	ADJ
hjic-918	41	22	blockage	blockage	NOUN
hjic-918	41	23	and	and	CCONJ
hjic-918	41	24	multipath	multipath	NOUN
hjic-918	41	25	propagation	propagation	NOUN
hjic-918	41	26	in	in	ADP
hjic-918	41	27	urban	urban	ADJ
hjic-918	41	28	environments	environment	NOUN
hjic-918	41	29	can	can	AUX
hjic-918	41	30	not	not	PART
hjic-918	41	31	be	be	AUX
hjic-918	41	32	excluded	exclude	VERB
hjic-918	41	33	.	.	PUNCT
hjic-918	42	1	for	for	ADP
hjic-918	42	2	this	this	DET
hjic-918	42	3	reason	reason	NOUN
hjic-918	42	4	,	,	PUNCT
hjic-918	42	5	safety	safety	NOUN
hjic-918	42	6	-	-	PUNCT
hjic-918	42	7	critical	critical	ADJ
hjic-918	42	8	applications	application	NOUN
hjic-918	42	9	can	can	AUX
hjic-918	42	10	not	not	PART
hjic-918	42	11	solely	solely	ADV
hjic-918	42	12	rely	rely	VERB
hjic-918	42	13	on	on	ADP
hjic-918	42	14	gnss	gnss	NOUN
hjic-918	42	15	technology	technology	NOUN
hjic-918	42	16	.	.	PUNCT
hjic-918	43	1	although	although	SCONJ
hjic-918	43	2	satellite	satellite	NOUN
hjic-918	43	3	-	-	PUNCT
hjic-918	43	4	based	base	VERB
hjic-918	43	5	systems	system	NOUN
hjic-918	43	6	are	be	AUX
hjic-918	43	7	far	far	ADV
hjic-918	43	8	from	from	ADP
hjic-918	43	9	perfect	perfect	ADJ
hjic-918	43	10	,	,	PUNCT
hjic-918	43	11	they	they	PRON
hjic-918	43	12	are	be	AUX
hjic-918	43	13	and	and	CCONJ
hjic-918	43	14	will	will	AUX
hjic-918	43	15	continue	continue	VERB
hjic-918	43	16	to	to	PART
hjic-918	43	17	be	be	AUX
hjic-918	43	18	the	the	DET
hjic-918	43	19	single	single	ADJ
hjic-918	43	20	most	most	ADV
hjic-918	43	21	important	important	ADJ
hjic-918	43	22	information	information	NOUN
hjic-918	43	23	source	source	NOUN
hjic-918	43	24	of	of	ADP
hjic-918	43	25	any	any	DET
hjic-918	43	26	localization	localization	NOUN
hjic-918	43	27	algorithm	algorithm	NOUN
hjic-918	43	28	.	.	PUNCT
hjic-918	44	1	2.2	2.2	NUM
hjic-918	44	2	vehicle	vehicle	NOUN
hjic-918	44	3	model	model	NOUN
hjic-918	44	4	models	model	NOUN
hjic-918	44	5	representing	represent	VERB
hjic-918	44	6	the	the	DET
hjic-918	44	7	dynamic	dynamic	ADJ
hjic-918	44	8	model	model	NOUN
hjic-918	44	9	of	of	ADP
hjic-918	44	10	a	a	DET
hjic-918	44	11	vehicle	vehicle	NOUN
hjic-918	44	12	’s	’s	PART
hjic-918	44	13	range	range	NOUN
hjic-918	44	14	from	from	ADP
hjic-918	44	15	the	the	DET
hjic-918	44	16	simple	simple	ADJ
hjic-918	44	17	spring	spring	NOUN
hjic-918	44	18	-	-	PUNCT
hjic-918	44	19	mass	mass	NOUN
hjic-918	44	20	model	model	NOUN
hjic-918	44	21	to	to	ADP
hjic-918	44	22	a	a	DET
hjic-918	44	23	complex	complex	ADJ
hjic-918	44	24	multibody	multibody	ADJ
hjic-918	44	25	multi	multi	ADJ
hjic-918	44	26	-	-	ADJ
hjic-918	44	27	level	level	ADJ
hjic-918	44	28	model	model	NOUN
hjic-918	44	29	.	.	PUNCT
hjic-918	45	1	a	a	DET
hjic-918	45	2	well	well	ADV
hjic-918	45	3	-	-	PUNCT
hjic-918	45	4	known	know	VERB
hjic-918	45	5	and	and	CCONJ
hjic-918	45	6	used	used	ADJ
hjic-918	45	7	model	model	NOUN
hjic-918	45	8	is	be	AUX
hjic-918	45	9	the	the	DET
hjic-918	45	10	single	single	ADJ
hjic-918	45	11	track	track	NOUN
hjic-918	45	12	model	model	NOUN
hjic-918	45	13	[	[	X
hjic-918	45	14	3	3	X
hjic-918	45	15	]	]	PUNCT
hjic-918	45	16	with	with	ADP
hjic-918	45	17	a	a	DET
hjic-918	45	18	number	number	NOUN
hjic-918	45	19	simplifications	simplification	NOUN
hjic-918	45	20	,	,	PUNCT
hjic-918	45	21	however	however	ADV
hjic-918	45	22	,	,	PUNCT
hjic-918	45	23	it	it	PRON
hjic-918	45	24	provides	provide	VERB
hjic-918	45	25	a	a	DET
hjic-918	45	26	reasonable	reasonable	ADJ
hjic-918	45	27	solution	solution	NOUN
hjic-918	45	28	for	for	ADP
hjic-918	45	29	modeling	model	VERB
hjic-918	45	30	lateral	lateral	ADJ
hjic-918	45	31	dynamics	dynamic	NOUN
hjic-918	45	32	,	,	PUNCT
hjic-918	45	33	therefore	therefore	ADV
hjic-918	45	34	,	,	PUNCT
hjic-918	45	35	it	it	PRON
hjic-918	45	36	forms	form	VERB
hjic-918	45	37	the	the	DET
hjic-918	45	38	core	core	NOUN
hjic-918	45	39	of	of	ADP
hjic-918	45	40	the	the	DET
hjic-918	45	41	electronic	electronic	ADJ
hjic-918	45	42	stability	stability	NOUN
hjic-918	45	43	program	program	NOUN
hjic-918	45	44	(	(	PUNCT
hjic-918	45	45	esp	esp	ADV
hjic-918	45	46	)	)	PUNCT
hjic-918	45	47	of	of	ADP
hjic-918	45	48	many	many	ADJ
hjic-918	45	49	vehicle	vehicle	NOUN
hjic-918	45	50	manufacturers	manufacturer	NOUN
hjic-918	45	51	.	.	PUNCT
hjic-918	46	1	the	the	DET
hjic-918	46	2	inputs	input	NOUN
hjic-918	46	3	of	of	ADP
hjic-918	46	4	the	the	DET
hjic-918	46	5	single	single	ADJ
hjic-918	46	6	track	track	NOUN
hjic-918	46	7	model	model	NOUN
hjic-918	46	8	are	be	AUX
hjic-918	46	9	lateral	lateral	ADJ
hjic-918	46	10	acceleration	acceleration	NOUN
hjic-918	46	11	,	,	PUNCT
hjic-918	46	12	longitudinal	longitudinal	ADJ
hjic-918	46	13	speed	speed	NOUN
hjic-918	46	14	and	and	CCONJ
hjic-918	46	15	yaw	yaw	NOUN
hjic-918	46	16	rate	rate	NOUN
hjic-918	46	17	,	,	PUNCT
hjic-918	46	18	which	which	PRON
hjic-918	46	19	are	be	AUX
hjic-918	46	20	provided	provide	VERB
hjic-918	46	21	by	by	ADP
hjic-918	46	22	the	the	DET
hjic-918	46	23	relevant	relevant	ADJ
hjic-918	46	24	sensors	sensor	NOUN
hjic-918	46	25	as	as	SCONJ
hjic-918	46	26	discussed	discuss	VERB
hjic-918	46	27	in	in	ADP
hjic-918	46	28	section	section	NOUN
hjic-918	46	29	2.3	2.3	NUM
hjic-918	46	30	.	.	PUNCT
hjic-918	47	1	another	another	DET
hjic-918	47	2	element	element	NOUN
hjic-918	47	3	in	in	ADP
hjic-918	47	4	a	a	DET
hjic-918	47	5	complex	complex	ADJ
hjic-918	47	6	model	model	NOUN
hjic-918	47	7	is	be	AUX
hjic-918	47	8	the	the	DET
hjic-918	47	9	tire	tire	NOUN
hjic-918	47	10	model	model	NOUN
hjic-918	47	11	which	which	PRON
hjic-918	47	12	is	be	AUX
hjic-918	47	13	assumed	assume	VERB
hjic-918	47	14	to	to	PART
hjic-918	47	15	be	be	AUX
hjic-918	47	16	the	the	DET
hjic-918	47	17	only	only	ADJ
hjic-918	47	18	part	part	NOUN
hjic-918	47	19	in	in	ADP
hjic-918	47	20	contact	contact	NOUN
hjic-918	47	21	with	with	ADP
hjic-918	47	22	the	the	DET
hjic-918	47	23	road	road	NOUN
hjic-918	47	24	.	.	PUNCT
hjic-918	48	1	these	these	DET
hjic-918	48	2	models	model	NOUN
hjic-918	48	3	,	,	PUNCT
hjic-918	48	4	e.g.	e.g.	ADV
hjic-918	48	5	pacejka	pacejka	PROPN
hjic-918	48	6	’s	’s	PART
hjic-918	48	7	magic	magic	ADJ
hjic-918	48	8	formula	formula	NOUN
hjic-918	48	9	[	[	X
hjic-918	48	10	4	4	NUM
hjic-918	48	11	]	]	PUNCT
hjic-918	48	12	,	,	PUNCT
hjic-918	48	13	are	be	AUX
hjic-918	48	14	often	often	ADV
hjic-918	48	15	semi	semi	ADJ
hjic-918	48	16	-	-	ADJ
hjic-918	48	17	empirical	empirical	ADJ
hjic-918	48	18	.	.	PUNCT
hjic-918	49	1	it	it	PRON
hjic-918	49	2	is	be	AUX
hjic-918	49	3	important	important	ADJ
hjic-918	49	4	to	to	PART
hjic-918	49	5	note	note	VERB
hjic-918	49	6	that	that	SCONJ
hjic-918	49	7	a	a	DET
hjic-918	49	8	more	more	ADV
hjic-918	49	9	detailed	detailed	ADJ
hjic-918	49	10	model	model	NOUN
hjic-918	49	11	requires	require	VERB
hjic-918	49	12	more	more	ADJ
hjic-918	49	13	parameters	parameter	NOUN
hjic-918	49	14	which	which	PRON
hjic-918	49	15	,	,	PUNCT
hjic-918	49	16	in	in	ADP
hjic-918	49	17	the	the	DET
hjic-918	49	18	case	case	NOUN
hjic-918	49	19	of	of	ADP
hjic-918	49	20	inaccurate	inaccurate	ADJ
hjic-918	49	21	identification	identification	NOUN
hjic-918	49	22	,	,	PUNCT
hjic-918	49	23	may	may	AUX
hjic-918	49	24	impact	impact	VERB
hjic-918	49	25	the	the	DET
hjic-918	49	26	overall	overall	ADJ
hjic-918	49	27	accuracy	accuracy	NOUN
hjic-918	49	28	of	of	ADP
hjic-918	49	29	the	the	DET
hjic-918	49	30	model	model	NOUN
hjic-918	49	31	’s	’s	PART
hjic-918	49	32	output	output	NOUN
hjic-918	49	33	.	.	PUNCT
hjic-918	50	1	2.3	2.3	NUM
hjic-918	50	2	traditional	traditional	ADJ
hjic-918	50	3	vehicle	vehicle	NOUN
hjic-918	50	4	sensors	sensor	NOUN
hjic-918	50	5	and	and	CCONJ
hjic-918	50	6	inertial	inertial	ADJ
hjic-918	50	7	measurement	measurement	NOUN
hjic-918	50	8	unit	unit	NOUN
hjic-918	50	9	(	(	PUNCT
hjic-918	50	10	imu	imu	NOUN
hjic-918	50	11	)	)	PUNCT
hjic-918	50	12	a	a	DET
hjic-918	50	13	wide	wide	ADJ
hjic-918	50	14	range	range	NOUN
hjic-918	50	15	of	of	ADP
hjic-918	50	16	traditional	traditional	ADJ
hjic-918	50	17	vehicle	vehicle	NOUN
hjic-918	50	18	sensors	sensor	NOUN
hjic-918	50	19	have	have	AUX
hjic-918	50	20	already	already	ADV
hjic-918	50	21	been	be	AUX
hjic-918	50	22	installed	instal	VERB
hjic-918	50	23	in	in	ADP
hjic-918	50	24	most	most	ADJ
hjic-918	50	25	vehicles	vehicle	NOUN
hjic-918	50	26	,	,	PUNCT
hjic-918	50	27	moreover	moreover	ADV
hjic-918	50	28	,	,	PUNCT
hjic-918	50	29	analogue	analogue	NOUN
hjic-918	50	30	measurements	measurement	NOUN
hjic-918	50	31	are	be	AUX
hjic-918	50	32	already	already	ADV
hjic-918	50	33	being	be	AUX
hjic-918	50	34	processed	process	VERB
hjic-918	50	35	digitally	digitally	ADV
hjic-918	50	36	.	.	PUNCT
hjic-918	51	1	most	most	ADJ
hjic-918	51	2	of	of	ADP
hjic-918	51	3	them	they	PRON
hjic-918	51	4	provide	provide	VERB
hjic-918	51	5	basic	basic	ADJ
hjic-918	51	6	information	information	NOUN
hjic-918	51	7	to	to	ADP
hjic-918	51	8	human	human	ADJ
hjic-918	51	9	drivers	driver	NOUN
hjic-918	51	10	directly	directly	ADV
hjic-918	51	11	,	,	PUNCT
hjic-918	51	12	e.g.	e.g.	ADV
hjic-918	51	13	the	the	DET
hjic-918	51	14	odometer	odometer	NOUN
hjic-918	51	15	,	,	PUNCT
hjic-918	51	16	whilst	whilst	SCONJ
hjic-918	51	17	others	other	NOUN
hjic-918	51	18	are	be	AUX
hjic-918	51	19	parts	part	NOUN
hjic-918	51	20	of	of	ADP
hjic-918	51	21	safety	safety	NOUN
hjic-918	51	22	features	feature	NOUN
hjic-918	51	23	.	.	PUNCT
hjic-918	52	1	for	for	ADP
hjic-918	52	2	autonomous	autonomous	ADJ
hjic-918	52	3	driving	driving	NOUN
hjic-918	52	4	,	,	PUNCT
hjic-918	52	5	exactly	exactly	ADV
hjic-918	52	6	the	the	DET
hjic-918	52	7	same	same	ADJ
hjic-918	52	8	information	information	NOUN
hjic-918	52	9	is	be	AUX
hjic-918	52	10	also	also	ADV
hjic-918	52	11	required	require	VERB
hjic-918	52	12	.	.	PUNCT
hjic-918	53	1	wheel	wheel	NOUN
hjic-918	53	2	speed	speed	NOUN
hjic-918	53	3	sensors	sensor	NOUN
hjic-918	53	4	mounted	mount	VERB
hjic-918	53	5	in	in	ADP
hjic-918	53	6	the	the	DET
hjic-918	53	7	wheel	wheel	NOUN
hjic-918	53	8	drum	drum	NOUN
hjic-918	53	9	provide	provide	VERB
hjic-918	53	10	vital	vital	ADJ
hjic-918	53	11	inputs	input	NOUN
hjic-918	53	12	to	to	ADP
hjic-918	53	13	the	the	DET
hjic-918	53	14	anti	anti	ADJ
hjic-918	53	15	-	-	ADJ
hjic-918	53	16	lock	lock	ADJ
hjic-918	53	17	braking	brake	VERB
hjic-918	53	18	system	system	NOUN
hjic-918	53	19	by	by	ADP
hjic-918	53	20	sensing	sense	VERB
hjic-918	53	21	the	the	DET
hjic-918	53	22	movement	movement	NOUN
hjic-918	53	23	of	of	ADP
hjic-918	53	24	the	the	DET
hjic-918	53	25	circumference	circumference	NOUN
hjic-918	53	26	of	of	ADP
hjic-918	53	27	each	each	DET
hjic-918	53	28	tire	tire	NOUN
hjic-918	53	29	in	in	ADP
hjic-918	53	30	a	a	DET
hjic-918	53	31	passive	passive	ADJ
hjic-918	53	32	or	or	CCONJ
hjic-918	53	33	active	active	ADJ
hjic-918	53	34	setting	setting	NOUN
hjic-918	53	35	.	.	PUNCT
hjic-918	54	1	steering	steering	NOUN
hjic-918	54	2	angle	angle	NOUN
hjic-918	54	3	sensors	sensor	NOUN
hjic-918	54	4	are	be	AUX
hjic-918	54	5	mounted	mount	VERB
hjic-918	54	6	on	on	ADP
hjic-918	54	7	the	the	DET
hjic-918	54	8	steering	steering	NOUN
hjic-918	54	9	shaft	shaft	NOUN
hjic-918	54	10	and	and	CCONJ
hjic-918	54	11	measure	measure	VERB
hjic-918	54	12	the	the	DET
hjic-918	54	13	steering	steering	NOUN
hjic-918	54	14	wheel	wheel	NOUN
hjic-918	54	15	angle	angle	NOUN
hjic-918	54	16	,	,	PUNCT
hjic-918	54	17	their	their	PRON
hjic-918	54	18	outputs	output	NOUN
hjic-918	54	19	are	be	AUX
hjic-918	54	20	interpreted	interpret	VERB
hjic-918	54	21	as	as	ADP
hjic-918	54	22	the	the	DET
hjic-918	54	23	intended	intended	ADJ
hjic-918	54	24	direction	direction	NOUN
hjic-918	54	25	of	of	ADP
hjic-918	54	26	the	the	DET
hjic-918	54	27	vehicle	vehicle	NOUN
hjic-918	54	28	,	,	PUNCT
hjic-918	54	29	which	which	PRON
hjic-918	54	30	is	be	AUX
hjic-918	54	31	a	a	DET
hjic-918	54	32	key	key	ADJ
hjic-918	54	33	input	input	NOUN
hjic-918	54	34	to	to	ADP
hjic-918	54	35	the	the	DET
hjic-918	54	36	electronic	electronic	ADJ
hjic-918	54	37	stability	stability	NOUN
hjic-918	54	38	program	program	NOUN
hjic-918	54	39	(	(	PUNCT
hjic-918	54	40	esp	esp	ADJ
hjic-918	54	41	)	)	PUNCT
hjic-918	54	42	.	.	PUNCT
hjic-918	55	1	hungarian	hungarian	ADJ
hjic-918	55	2	journal	journal	NOUN
hjic-918	55	3	of	of	ADP
hjic-918	55	4	industry	industry	NOUN
hjic-918	55	5	and	and	CCONJ
hjic-918	55	6	chemistry	chemistry	NOUN
hjic-918	55	7	challenges	challenge	NOUN
hjic-918	55	8	of	of	ADP
hjic-918	55	9	localization	localization	NOUN
hjic-918	55	10	algorithms	algorithm	NOUN
hjic-918	55	11	for	for	ADP
hjic-918	55	12	autonomous	autonomous	ADJ
hjic-918	55	13	driving	drive	VERB
hjic-918	55	14	45	45	NUM
hjic-918	55	15	accelerometers	accelerometer	NOUN
hjic-918	55	16	measure	measure	VERB
hjic-918	55	17	the	the	DET
hjic-918	55	18	acceleration	acceleration	NOUN
hjic-918	55	19	of	of	ADP
hjic-918	55	20	the	the	DET
hjic-918	55	21	vehicle	vehicle	NOUN
hjic-918	55	22	on	on	ADP
hjic-918	55	23	the	the	DET
hjic-918	55	24	specified	specified	ADJ
hjic-918	55	25	axis	axis	NOUN
hjic-918	55	26	,	,	PUNCT
hjic-918	55	27	multi	multi	ADJ
hjic-918	55	28	-	-	ADJ
hjic-918	55	29	axis	axis	ADJ
hjic-918	55	30	accelerometers	accelerometer	NOUN
hjic-918	55	31	are	be	AUX
hjic-918	55	32	also	also	ADV
hjic-918	55	33	in	in	ADP
hjic-918	55	34	use	use	NOUN
hjic-918	55	35	.	.	PUNCT
hjic-918	56	1	they	they	PRON
hjic-918	56	2	are	be	AUX
hjic-918	56	3	primarily	primarily	ADV
hjic-918	56	4	used	use	VERB
hjic-918	56	5	for	for	ADP
hjic-918	56	6	inertial	inertial	ADJ
hjic-918	56	7	navigation	navigation	NOUN
hjic-918	56	8	in	in	ADP
hjic-918	56	9	combination	combination	NOUN
hjic-918	56	10	with	with	ADP
hjic-918	56	11	yaw	yaw	NOUN
hjic-918	56	12	-	-	PUNCT
hjic-918	56	13	rate	rate	NOUN
hjic-918	56	14	sensors	sensor	NOUN
hjic-918	56	15	.	.	PUNCT
hjic-918	57	1	yaw	yaw	NOUN
hjic-918	57	2	-	-	PUNCT
hjic-918	57	3	rate	rate	NOUN
hjic-918	57	4	sensors	sensor	NOUN
hjic-918	57	5	,	,	PUNCT
hjic-918	57	6	often	often	ADV
hjic-918	57	7	referred	refer	VERB
hjic-918	57	8	to	to	ADP
hjic-918	57	9	as	as	ADP
hjic-918	57	10	gyroscopes	gyroscope	NOUN
hjic-918	57	11	,	,	PUNCT
hjic-918	57	12	measure	measure	VERB
hjic-918	57	13	the	the	DET
hjic-918	57	14	rotation	rotation	NOUN
hjic-918	57	15	of	of	ADP
hjic-918	57	16	the	the	DET
hjic-918	57	17	vehicle	vehicle	NOUN
hjic-918	57	18	along	along	ADP
hjic-918	57	19	the	the	DET
hjic-918	57	20	vertical	vertical	ADJ
hjic-918	57	21	axis	axis	NOUN
hjic-918	57	22	.	.	PUNCT
hjic-918	58	1	such	such	DET
hjic-918	58	2	a	a	DET
hjic-918	58	3	sensor	sensor	NOUN
hjic-918	58	4	provides	provide	VERB
hjic-918	58	5	an	an	DET
hjic-918	58	6	input	input	NOUN
hjic-918	58	7	to	to	ADP
hjic-918	58	8	the	the	DET
hjic-918	58	9	single	single	ADJ
hjic-918	58	10	track	track	NOUN
hjic-918	58	11	vehicle	vehicle	NOUN
hjic-918	58	12	model	model	NOUN
hjic-918	58	13	in	in	ADP
hjic-918	58	14	conjunction	conjunction	NOUN
hjic-918	58	15	with	with	ADP
hjic-918	58	16	the	the	DET
hjic-918	58	17	esp	esp	ADJ
hjic-918	58	18	.	.	PUNCT
hjic-918	59	1	accelerometers	accelerometer	NOUN
hjic-918	59	2	and	and	CCONJ
hjic-918	59	3	yaw	yaw	NOUN
hjic-918	59	4	-	-	PUNCT
hjic-918	59	5	rate	rate	NOUN
hjic-918	59	6	sensors	sensor	NOUN
hjic-918	59	7	integrated	integrate	VERB
hjic-918	59	8	in	in	ADP
hjic-918	59	9	one	one	NUM
hjic-918	59	10	cluster	cluster	NOUN
hjic-918	59	11	comprise	comprise	VERB
hjic-918	59	12	the	the	DET
hjic-918	59	13	inertial	inertial	ADJ
hjic-918	59	14	measurement	measurement	NOUN
hjic-918	59	15	unit	unit	NOUN
hjic-918	59	16	(	(	PUNCT
hjic-918	59	17	imu	imu	NOUN
hjic-918	59	18	)	)	PUNCT
hjic-918	59	19	.	.	PUNCT
hjic-918	60	1	2.4	2.4	NUM
hjic-918	60	2	optical	optical	ADJ
hjic-918	60	3	as	as	ADV
hjic-918	60	4	well	well	ADV
hjic-918	60	5	as	as	ADP
hjic-918	60	6	soundand	soundand	NOUN
hjic-918	60	7	radiobased	radiobase	VERB
hjic-918	60	8	sensors	sensor	NOUN
hjic-918	60	9	in	in	ADP
hjic-918	60	10	automotive	automotive	ADJ
hjic-918	60	11	radar	radar	NOUN
hjic-918	60	12	systems	system	NOUN
hjic-918	60	13	,	,	PUNCT
hjic-918	60	14	a	a	DET
hjic-918	60	15	distinction	distinction	NOUN
hjic-918	60	16	is	be	AUX
hjic-918	60	17	made	make	VERB
hjic-918	60	18	between	between	ADP
hjic-918	60	19	short	short	ADJ
hjic-918	60	20	range	range	NOUN
hjic-918	60	21	radar	radar	NOUN
hjic-918	60	22	(	(	PUNCT
hjic-918	60	23	srr	srr	PROPN
hjic-918	60	24	)	)	PUNCT
hjic-918	60	25	and	and	CCONJ
hjic-918	60	26	long	long	ADJ
hjic-918	60	27	range	range	NOUN
hjic-918	60	28	radar	radar	NOUN
hjic-918	60	29	(	(	PUNCT
hjic-918	60	30	lrr	lrr	ADJ
hjic-918	60	31	)	)	PUNCT
hjic-918	60	32	.	.	PUNCT
hjic-918	61	1	the	the	DET
hjic-918	61	2	detection	detection	NOUN
hjic-918	61	3	range	range	NOUN
hjic-918	61	4	of	of	ADP
hjic-918	61	5	short	short	ADJ
hjic-918	61	6	range	range	NOUN
hjic-918	61	7	radar	radar	NOUN
hjic-918	61	8	is	be	AUX
hjic-918	61	9	from	from	ADP
hjic-918	61	10	0.2	0.2	NUM
hjic-918	61	11	to	to	PART
hjic-918	61	12	50	50	NUM
hjic-918	61	13	meters	meter	NOUN
hjic-918	61	14	with	with	ADP
hjic-918	61	15	a	a	DET
hjic-918	61	16	detection	detection	NOUN
hjic-918	61	17	angle	angle	NOUN
hjic-918	61	18	of	of	ADP
hjic-918	61	19	±35	±35	NOUN
hjic-918	61	20	◦	◦	NOUN
hjic-918	61	21	,	,	PUNCT
hjic-918	61	22	whilst	whilst	SCONJ
hjic-918	61	23	that	that	PRON
hjic-918	61	24	of	of	ADP
hjic-918	61	25	the	the	DET
hjic-918	61	26	long	long	ADJ
hjic-918	61	27	range	range	NOUN
hjic-918	61	28	radar	radar	NOUN
hjic-918	61	29	is	be	AUX
hjic-918	61	30	from	from	ADP
hjic-918	61	31	2	2	NUM
hjic-918	61	32	to	to	PART
hjic-918	61	33	150	150	NUM
hjic-918	61	34	meters	meter	NOUN
hjic-918	61	35	with	with	ADP
hjic-918	61	36	a	a	DET
hjic-918	61	37	detection	detection	NOUN
hjic-918	61	38	angle	angle	NOUN
hjic-918	61	39	of	of	ADP
hjic-918	61	40	±6	±6	PROPN
hjic-918	61	41	◦	◦	NOUN
hjic-918	61	42	.	.	PUNCT
hjic-918	62	1	srr	srr	PROPN
hjic-918	62	2	is	be	AUX
hjic-918	62	3	predominantly	predominantly	ADV
hjic-918	62	4	used	use	VERB
hjic-918	62	5	in	in	ADP
hjic-918	62	6	anti	anti	ADJ
hjic-918	62	7	-	-	ADJ
hjic-918	62	8	collision	collision	ADJ
hjic-918	62	9	and	and	CCONJ
hjic-918	62	10	parking	parking	NOUN
hjic-918	62	11	aid	aid	NOUN
hjic-918	62	12	systems	system	NOUN
hjic-918	62	13	.	.	PUNCT
hjic-918	63	1	radars	radar	NOUN
hjic-918	63	2	are	be	AUX
hjic-918	63	3	able	able	ADJ
hjic-918	63	4	to	to	PART
hjic-918	63	5	detect	detect	VERB
hjic-918	63	6	multiple	multiple	ADJ
hjic-918	63	7	objects	object	NOUN
hjic-918	63	8	as	as	ADV
hjic-918	63	9	well	well	ADV
hjic-918	63	10	as	as	ADP
hjic-918	63	11	measure	measure	NOUN
hjic-918	63	12	distance	distance	NOUN
hjic-918	63	13	,	,	PUNCT
hjic-918	63	14	relative	relative	ADJ
hjic-918	63	15	speed	speed	NOUN
hjic-918	63	16	and	and	CCONJ
hjic-918	63	17	the	the	DET
hjic-918	63	18	angle	angle	NOUN
hjic-918	63	19	to	to	ADP
hjic-918	63	20	an	an	DET
hjic-918	63	21	object	object	NOUN
hjic-918	63	22	simultaneously	simultaneously	ADV
hjic-918	63	23	.	.	PUNCT
hjic-918	64	1	lrr	lrr	ADJ
hjic-918	64	2	is	be	AUX
hjic-918	64	3	typically	typically	ADV
hjic-918	64	4	applied	apply	VERB
hjic-918	64	5	in	in	ADP
hjic-918	64	6	adaptive	adaptive	ADJ
hjic-918	64	7	cruise	cruise	NOUN
hjic-918	64	8	control	control	NOUN
hjic-918	64	9	and	and	CCONJ
hjic-918	64	10	collision	collision	NOUN
hjic-918	64	11	avoidance	avoidance	NOUN
hjic-918	64	12	.	.	PUNCT
hjic-918	65	1	radar	radar	NOUN
hjic-918	65	2	technology	technology	NOUN
hjic-918	65	3	is	be	AUX
hjic-918	65	4	affected	affect	VERB
hjic-918	65	5	by	by	ADP
hjic-918	65	6	the	the	DET
hjic-918	65	7	weather	weather	NOUN
hjic-918	65	8	and	and	CCONJ
hjic-918	65	9	functionality	functionality	NOUN
hjic-918	65	10	can	can	AUX
hjic-918	65	11	not	not	PART
hjic-918	65	12	be	be	AUX
hjic-918	65	13	guaranteed	guarantee	VERB
hjic-918	65	14	in	in	ADP
hjic-918	65	15	extreme	extreme	ADJ
hjic-918	65	16	conditions	condition	NOUN
hjic-918	65	17	.	.	PUNCT
hjic-918	66	1	overall	overall	ADJ
hjic-918	66	2	information	information	NOUN
hjic-918	66	3	from	from	ADP
hjic-918	66	4	radars	radar	NOUN
hjic-918	66	5	can	can	AUX
hjic-918	66	6	complement	complement	VERB
hjic-918	66	7	other	other	ADJ
hjic-918	66	8	location	location	NOUN
hjic-918	66	9	-	-	PUNCT
hjic-918	66	10	related	relate	VERB
hjic-918	66	11	information	information	NOUN
hjic-918	66	12	sources	source	NOUN
hjic-918	66	13	.	.	PUNCT
hjic-918	67	1	vision	vision	NOUN
hjic-918	67	2	sensors	sensor	NOUN
hjic-918	67	3	are	be	AUX
hjic-918	67	4	primarily	primarily	ADV
hjic-918	67	5	used	use	VERB
hjic-918	67	6	in	in	ADP
hjic-918	67	7	vehicles	vehicle	NOUN
hjic-918	67	8	to	to	PART
hjic-918	67	9	detect	detect	VERB
hjic-918	67	10	and	and	CCONJ
hjic-918	67	11	possibly	possibly	ADV
hjic-918	67	12	recognise	recognise	VERB
hjic-918	67	13	its	its	PRON
hjic-918	67	14	surroundings	surrounding	NOUN
hjic-918	67	15	,	,	PUNCT
hjic-918	67	16	e.g.	e.g.	ADV
hjic-918	67	17	other	other	ADJ
hjic-918	67	18	vehicles	vehicle	NOUN
hjic-918	67	19	,	,	PUNCT
hjic-918	67	20	obstacles	obstacle	NOUN
hjic-918	67	21	,	,	PUNCT
hjic-918	67	22	pedestrians	pedestrian	NOUN
hjic-918	67	23	and	and	CCONJ
hjic-918	67	24	landmarks	landmark	NOUN
hjic-918	67	25	,	,	PUNCT
hjic-918	67	26	which	which	PRON
hjic-918	67	27	are	be	AUX
hjic-918	67	28	potentially	potentially	ADV
hjic-918	67	29	useful	useful	ADJ
hjic-918	67	30	pieces	piece	NOUN
hjic-918	67	31	of	of	ADP
hjic-918	67	32	information	information	NOUN
hjic-918	67	33	for	for	ADP
hjic-918	67	34	a	a	DET
hjic-918	67	35	localization	localization	NOUN
hjic-918	67	36	algorithm	algorithm	NOUN
hjic-918	67	37	.	.	PUNCT
hjic-918	68	1	charge	charge	NOUN
hjic-918	68	2	-	-	PUNCT
hjic-918	68	3	coupled	couple	VERB
hjic-918	68	4	(	(	PUNCT
hjic-918	68	5	ccd	ccd	NOUN
hjic-918	68	6	)	)	PUNCT
hjic-918	68	7	and	and	CCONJ
hjic-918	68	8	complementary	complementary	ADJ
hjic-918	68	9	metal	metal	NOUN
hjic-918	68	10	oxide	oxide	NOUN
hjic-918	68	11	semiconductor	semiconductor	NOUN
hjic-918	68	12	(	(	PUNCT
hjic-918	68	13	cmos	cmos	PROPN
hjic-918	68	14	)	)	PUNCT
hjic-918	68	15	devices	device	NOUN
hjic-918	68	16	are	be	AUX
hjic-918	68	17	the	the	DET
hjic-918	68	18	main	main	ADJ
hjic-918	68	19	sensor	sensor	NOUN
hjic-918	68	20	technologies	technology	NOUN
hjic-918	68	21	applied	apply	VERB
hjic-918	68	22	in	in	ADP
hjic-918	68	23	digital	digital	ADJ
hjic-918	68	24	cameras	camera	NOUN
hjic-918	68	25	to	to	PART
hjic-918	68	26	generate	generate	VERB
hjic-918	68	27	an	an	DET
hjic-918	68	28	image	image	NOUN
hjic-918	68	29	of	of	ADP
hjic-918	68	30	the	the	DET
hjic-918	68	31	surroundings	surrounding	NOUN
hjic-918	68	32	,	,	PUNCT
hjic-918	68	33	in	in	ADP
hjic-918	68	34	fact	fact	NOUN
hjic-918	68	35	both	both	PRON
hjic-918	68	36	are	be	AUX
hjic-918	68	37	semiconductor	semiconductor	NOUN
hjic-918	68	38	devices	device	NOUN
hjic-918	68	39	.	.	PUNCT
hjic-918	69	1	in	in	ADP
hjic-918	69	2	cmos	cmos	PROPN
hjic-918	69	3	devices	device	NOUN
hjic-918	69	4	,	,	PUNCT
hjic-918	69	5	every	every	DET
hjic-918	69	6	pixel	pixel	NOUN
hjic-918	69	7	has	have	VERB
hjic-918	69	8	its	its	PRON
hjic-918	69	9	own	own	ADJ
hjic-918	69	10	charge	charge	NOUN
hjic-918	69	11	-	-	PUNCT
hjic-918	69	12	tovoltage	tovoltage	NOUN
hjic-918	69	13	conversion	conversion	NOUN
hjic-918	69	14	and	and	CCONJ
hjic-918	69	15	digitalization	digitalization	NOUN
hjic-918	69	16	,	,	PUNCT
hjic-918	69	17	so	so	ADV
hjic-918	69	18	their	their	PRON
hjic-918	69	19	outputs	output	NOUN
hjic-918	69	20	are	be	AUX
hjic-918	69	21	digital	digital	ADJ
hjic-918	69	22	signals	signal	NOUN
hjic-918	69	23	.	.	PUNCT
hjic-918	70	1	pixels	pixel	NOUN
hjic-918	70	2	that	that	PRON
hjic-918	70	3	perform	perform	VERB
hjic-918	70	4	their	their	PRON
hjic-918	70	5	own	own	ADJ
hjic-918	70	6	charge	charge	NOUN
hjic-918	70	7	-	-	PUNCT
hjic-918	70	8	tovoltage	tovoltage	NOUN
hjic-918	70	9	conversion	conversion	NOUN
hjic-918	70	10	decrease	decrease	VERB
hjic-918	70	11	their	their	PRON
hjic-918	70	12	uniformity	uniformity	NOUN
hjic-918	70	13	and	and	CCONJ
hjic-918	70	14	image	image	NOUN
hjic-918	70	15	quality	quality	NOUN
hjic-918	70	16	as	as	ADV
hjic-918	70	17	well	well	ADV
hjic-918	70	18	as	as	ADP
hjic-918	70	19	remove	remove	VERB
hjic-918	70	20	a	a	DET
hjic-918	70	21	useful	useful	ADJ
hjic-918	70	22	area	area	NOUN
hjic-918	70	23	from	from	ADP
hjic-918	70	24	light	light	ADJ
hjic-918	70	25	capture	capture	NOUN
hjic-918	70	26	.	.	PUNCT
hjic-918	71	1	in	in	ADP
hjic-918	71	2	ccd	ccd	NOUN
hjic-918	71	3	sensors	sensor	NOUN
hjic-918	71	4	,	,	PUNCT
hjic-918	71	5	a	a	DET
hjic-918	71	6	pixel	pixel	PROPN
hjic-918	71	7	’s	’s	PART
hjic-918	71	8	charge	charge	NOUN
hjic-918	71	9	signal	signal	NOUN
hjic-918	71	10	is	be	AUX
hjic-918	71	11	sent	send	VERB
hjic-918	71	12	through	through	ADP
hjic-918	71	13	a	a	DET
hjic-918	71	14	limited	limited	ADJ
hjic-918	71	15	number	number	NOUN
hjic-918	71	16	of	of	ADP
hjic-918	71	17	outputs	output	NOUN
hjic-918	71	18	to	to	PART
hjic-918	71	19	be	be	AUX
hjic-918	71	20	converted	convert	VERB
hjic-918	71	21	into	into	ADP
hjic-918	71	22	voltage	voltage	NOUN
hjic-918	71	23	and	and	CCONJ
hjic-918	71	24	then	then	ADV
hjic-918	71	25	transmitted	transmit	VERB
hjic-918	71	26	out	out	ADP
hjic-918	71	27	of	of	ADP
hjic-918	71	28	the	the	DET
hjic-918	71	29	chip	chip	NOUN
hjic-918	71	30	as	as	ADP
hjic-918	71	31	an	an	DET
hjic-918	71	32	analogue	analogue	NOUN
hjic-918	71	33	signal	signal	NOUN
hjic-918	71	34	to	to	PART
hjic-918	71	35	be	be	AUX
hjic-918	71	36	processed	process	VERB
hjic-918	71	37	and	and	CCONJ
hjic-918	71	38	digitalized	digitalize	VERB
hjic-918	71	39	.	.	PUNCT
hjic-918	72	1	this	this	PRON
hjic-918	72	2	requires	require	VERB
hjic-918	72	3	more	more	ADJ
hjic-918	72	4	time	time	NOUN
hjic-918	72	5	and	and	CCONJ
hjic-918	72	6	energy	energy	NOUN
hjic-918	72	7	when	when	SCONJ
hjic-918	72	8	compared	compare	VERB
hjic-918	72	9	to	to	ADP
hjic-918	72	10	cmos	cmos	ADJ
hjic-918	72	11	sensors	sensor	NOUN
hjic-918	72	12	,	,	PUNCT
hjic-918	72	13	however	however	ADV
hjic-918	72	14	,	,	PUNCT
hjic-918	72	15	results	result	NOUN
hjic-918	72	16	in	in	ADP
hjic-918	72	17	a	a	DET
hjic-918	72	18	higher	high	ADJ
hjic-918	72	19	quality	quality	NOUN
hjic-918	72	20	but	but	CCONJ
hjic-918	72	21	less	less	ADV
hjic-918	72	22	noisy	noisy	ADJ
hjic-918	72	23	image	image	NOUN
hjic-918	72	24	.	.	PUNCT
hjic-918	73	1	as	as	SCONJ
hjic-918	73	2	the	the	DET
hjic-918	73	3	cmos	cmos	PROPN
hjic-918	73	4	manufacturing	manufacturing	NOUN
hjic-918	73	5	process	process	NOUN
hjic-918	73	6	is	be	AUX
hjic-918	73	7	cheaper	cheap	ADJ
hjic-918	73	8	,	,	PUNCT
hjic-918	73	9	recent	recent	ADJ
hjic-918	73	10	developments	development	NOUN
hjic-918	73	11	have	have	AUX
hjic-918	73	12	focused	focus	VERB
hjic-918	73	13	on	on	ADP
hjic-918	73	14	overcoming	overcome	VERB
hjic-918	73	15	the	the	DET
hjic-918	73	16	drawbacks	drawback	NOUN
hjic-918	73	17	of	of	ADP
hjic-918	73	18	cmos	cmos	ADJ
hjic-918	73	19	sensors	sensor	NOUN
hjic-918	73	20	.	.	PUNCT
hjic-918	74	1	ultrasonic	ultrasonic	ADJ
hjic-918	74	2	sensors	sensor	NOUN
hjic-918	74	3	transmit	transmit	VERB
hjic-918	74	4	higher	high	ADJ
hjic-918	74	5	frequency	frequency	NOUN
hjic-918	74	6	sound	sound	NOUN
hjic-918	74	7	waves	wave	NOUN
hjic-918	74	8	and	and	CCONJ
hjic-918	74	9	evaluate	evaluate	VERB
hjic-918	74	10	the	the	DET
hjic-918	74	11	echo	echo	NOUN
hjic-918	74	12	received	receive	VERB
hjic-918	74	13	by	by	ADP
hjic-918	74	14	the	the	DET
hjic-918	74	15	sensors	sensor	NOUN
hjic-918	74	16	.	.	PUNCT
hjic-918	75	1	the	the	DET
hjic-918	75	2	sensors	sensor	NOUN
hjic-918	75	3	also	also	ADV
hjic-918	75	4	measure	measure	VERB
hjic-918	75	5	the	the	DET
hjic-918	75	6	elapsed	elapsed	ADJ
hjic-918	75	7	time	time	NOUN
hjic-918	75	8	between	between	ADP
hjic-918	75	9	sending	send	VERB
hjic-918	75	10	and	and	CCONJ
hjic-918	75	11	receiving	receive	VERB
hjic-918	75	12	back	back	ADP
hjic-918	75	13	the	the	DET
hjic-918	75	14	signal	signal	NOUN
hjic-918	75	15	,	,	PUNCT
hjic-918	75	16	then	then	ADV
hjic-918	75	17	calculate	calculate	VERB
hjic-918	75	18	the	the	DET
hjic-918	75	19	distance	distance	NOUN
hjic-918	75	20	from	from	ADP
hjic-918	75	21	the	the	DET
hjic-918	75	22	object	object	NOUN
hjic-918	75	23	.	.	PUNCT
hjic-918	76	1	the	the	DET
hjic-918	76	2	types	type	NOUN
hjic-918	76	3	currently	currently	ADV
hjic-918	76	4	used	use	VERB
hjic-918	76	5	in	in	ADP
hjic-918	76	6	the	the	DET
hjic-918	76	7	automotive	automotive	ADJ
hjic-918	76	8	industry	industry	NOUN
hjic-918	76	9	are	be	AUX
hjic-918	76	10	able	able	ADJ
hjic-918	76	11	to	to	PART
hjic-918	76	12	measure	measure	VERB
hjic-918	76	13	within	within	ADP
hjic-918	76	14	the	the	DET
hjic-918	76	15	range	range	NOUN
hjic-918	76	16	of	of	ADP
hjic-918	76	17	0.2	0.2	NUM
hjic-918	76	18	to	to	PART
hjic-918	76	19	1.5	1.5	NUM
hjic-918	76	20	meters	meter	NOUN
hjic-918	76	21	,	,	PUNCT
hjic-918	76	22	with	with	ADP
hjic-918	76	23	a	a	DET
hjic-918	76	24	horizontal	horizontal	ADJ
hjic-918	76	25	angle	angle	NOUN
hjic-918	76	26	of	of	ADP
hjic-918	76	27	±60	±60	NOUN
hjic-918	76	28	◦	◦	NOUN
hjic-918	76	29	and	and	CCONJ
hjic-918	76	30	a	a	DET
hjic-918	76	31	vertical	vertical	ADJ
hjic-918	76	32	angle	angle	NOUN
hjic-918	76	33	of	of	ADP
hjic-918	76	34	±30	±30	PROPN
hjic-918	76	35	◦	◦	NOUN
hjic-918	76	36	,	,	PUNCT
hjic-918	76	37	and	and	CCONJ
hjic-918	76	38	are	be	AUX
hjic-918	76	39	primarily	primarily	ADV
hjic-918	76	40	used	use	VERB
hjic-918	76	41	in	in	ADP
hjic-918	76	42	parking	parking	NOUN
hjic-918	76	43	aids	aid	NOUN
hjic-918	76	44	.	.	PUNCT
hjic-918	77	1	nevertheless	nevertheless	ADV
hjic-918	77	2	,	,	PUNCT
hjic-918	77	3	the	the	DET
hjic-918	77	4	use	use	NOUN
hjic-918	77	5	of	of	ADP
hjic-918	77	6	such	such	ADJ
hjic-918	77	7	sensors	sensor	NOUN
hjic-918	77	8	might	might	AUX
hjic-918	77	9	provide	provide	VERB
hjic-918	77	10	useful	useful	ADJ
hjic-918	77	11	inputs	input	NOUN
hjic-918	77	12	for	for	ADP
hjic-918	77	13	a	a	DET
hjic-918	77	14	localization	localization	NOUN
hjic-918	77	15	algorithm	algorithm	NOUN
hjic-918	77	16	under	under	ADP
hjic-918	77	17	given	give	VERB
hjic-918	77	18	circumstances	circumstance	NOUN
hjic-918	77	19	.	.	PUNCT
hjic-918	78	1	lidar	lidar	NOUN
hjic-918	78	2	(	(	PUNCT
hjic-918	78	3	light	light	ADJ
hjic-918	78	4	detection	detection	NOUN
hjic-918	78	5	and	and	CCONJ
hjic-918	78	6	ranging	ranging	NOUN
hjic-918	78	7	)	)	PUNCT
hjic-918	78	8	measures	measure	VERB
hjic-918	78	9	the	the	DET
hjic-918	78	10	distance	distance	NOUN
hjic-918	78	11	of	of	ADP
hjic-918	78	12	an	an	DET
hjic-918	78	13	object	object	NOUN
hjic-918	78	14	by	by	ADP
hjic-918	78	15	emitting	emit	VERB
hjic-918	78	16	laser	laser	NOUN
hjic-918	78	17	light	light	NOUN
hjic-918	78	18	and	and	CCONJ
hjic-918	78	19	detecting	detect	VERB
hjic-918	78	20	the	the	DET
hjic-918	78	21	returning	return	VERB
hjic-918	78	22	light	light	NOUN
hjic-918	78	23	.	.	PUNCT
hjic-918	79	1	the	the	DET
hjic-918	79	2	differences	difference	NOUN
hjic-918	79	3	in	in	ADP
hjic-918	79	4	return	return	NOUN
hjic-918	79	5	times	time	NOUN
hjic-918	79	6	and	and	CCONJ
hjic-918	79	7	wavelengths	wavelength	NOUN
hjic-918	79	8	then	then	ADV
hjic-918	79	9	provide	provide	VERB
hjic-918	79	10	the	the	DET
hjic-918	79	11	basis	basis	NOUN
hjic-918	79	12	for	for	ADP
hjic-918	79	13	a	a	DET
hjic-918	79	14	3d	3d	NOUN
hjic-918	79	15	representation	representation	NOUN
hjic-918	79	16	of	of	ADP
hjic-918	79	17	the	the	DET
hjic-918	79	18	surroundings	surrounding	NOUN
hjic-918	79	19	.	.	PUNCT
hjic-918	80	1	2.5	2.5	NUM
hjic-918	80	2	databases	database	NOUN
hjic-918	80	3	and	and	CCONJ
hjic-918	80	4	maps	map	NOUN
hjic-918	80	5	maps	map	NOUN
hjic-918	80	6	stored	store	VERB
hjic-918	80	7	in	in	ADP
hjic-918	80	8	digital	digital	ADJ
hjic-918	80	9	format	format	NOUN
hjic-918	80	10	differ	differ	VERB
hjic-918	80	11	from	from	ADP
hjic-918	80	12	the	the	DET
hjic-918	80	13	classical	classical	ADJ
hjic-918	80	14	map	map	NOUN
hjic-918	80	15	representations	representation	NOUN
hjic-918	80	16	intended	intend	VERB
hjic-918	80	17	to	to	PART
hjic-918	80	18	be	be	AUX
hjic-918	80	19	read	read	VERB
hjic-918	80	20	by	by	ADP
hjic-918	80	21	humans	human	NOUN
hjic-918	80	22	.	.	PUNCT
hjic-918	81	1	digital	digital	ADJ
hjic-918	81	2	road	road	NOUN
hjic-918	81	3	maps	map	NOUN
hjic-918	81	4	are	be	AUX
hjic-918	81	5	comprised	comprise	VERB
hjic-918	81	6	of	of	ADP
hjic-918	81	7	nodes	node	NOUN
hjic-918	81	8	and	and	CCONJ
hjic-918	81	9	arcs	arc	NOUN
hjic-918	81	10	connecting	connect	VERB
hjic-918	81	11	the	the	DET
hjic-918	81	12	nodes	node	NOUN
hjic-918	81	13	.	.	PUNCT
hjic-918	82	1	arcs	arc	NOUN
hjic-918	82	2	are	be	AUX
hjic-918	82	3	represented	represent	VERB
hjic-918	82	4	in	in	ADP
hjic-918	82	5	a	a	DET
hjic-918	82	6	discrete	discrete	ADJ
hjic-918	82	7	form	form	NOUN
hjic-918	82	8	and	and	CCONJ
hjic-918	82	9	every	every	DET
hjic-918	82	10	node	node	NOUN
hjic-918	82	11	and	and	CCONJ
hjic-918	82	12	shape	shape	NOUN
hjic-918	82	13	point	point	NOUN
hjic-918	82	14	on	on	ADP
hjic-918	82	15	the	the	DET
hjic-918	82	16	arc	arc	NOUN
hjic-918	82	17	has	have	VERB
hjic-918	82	18	geospatial	geospatial	ADJ
hjic-918	82	19	coordinates	coordinate	NOUN
hjic-918	82	20	linked	link	VERB
hjic-918	82	21	to	to	ADP
hjic-918	82	22	them	they	PRON
hjic-918	82	23	.	.	PUNCT
hjic-918	83	1	they	they	PRON
hjic-918	83	2	are	be	AUX
hjic-918	83	3	often	often	ADV
hjic-918	83	4	represented	represent	VERB
hjic-918	83	5	as	as	ADP
hjic-918	83	6	planar	planar	ADJ
hjic-918	83	7	models	model	NOUN
hjic-918	83	8	in	in	ADP
hjic-918	83	9	applications	application	NOUN
hjic-918	83	10	currently	currently	ADV
hjic-918	83	11	on	on	ADP
hjic-918	83	12	the	the	DET
hjic-918	83	13	market	market	NOUN
hjic-918	83	14	.	.	PUNCT
hjic-918	84	1	2.6	2.6	NUM
hjic-918	84	2	dedicated	dedicated	ADJ
hjic-918	84	3	short	short	ADJ
hjic-918	84	4	-	-	PUNCT
hjic-918	84	5	range	range	NOUN
hjic-918	84	6	communications	communication	NOUN
hjic-918	84	7	for	for	ADP
hjic-918	84	8	any	any	DET
hjic-918	84	9	vehicle	vehicle	NOUN
hjic-918	84	10	to	to	PART
hjic-918	84	11	communicate	communicate	VERB
hjic-918	84	12	with	with	ADP
hjic-918	84	13	either	either	CCONJ
hjic-918	84	14	the	the	DET
hjic-918	84	15	infrastructure	infrastructure	NOUN
hjic-918	84	16	(	(	PUNCT
hjic-918	84	17	vehicle	vehicle	NOUN
hjic-918	84	18	-	-	PUNCT
hjic-918	84	19	to	to	ADP
hjic-918	84	20	-	-	PUNCT
hjic-918	84	21	infrastructure	infrastructure	NOUN
hjic-918	84	22	:	:	PUNCT
hjic-918	84	23	v2i	v2i	NOUN
hjic-918	84	24	)	)	PUNCT
hjic-918	84	25	or	or	CCONJ
hjic-918	84	26	with	with	ADP
hjic-918	84	27	another	another	DET
hjic-918	84	28	vehicle	vehicle	NOUN
hjic-918	84	29	(	(	PUNCT
hjic-918	84	30	vehicle	vehicle	NOUN
hjic-918	84	31	-	-	PUNCT
hjic-918	84	32	to	to	ADP
hjic-918	84	33	-	-	PUNCT
hjic-918	84	34	vehicle	vehicle	NOUN
hjic-918	84	35	:	:	PUNCT
hjic-918	84	36	v2v	v2v	NUM
hjic-918	84	37	)	)	PUNCT
hjic-918	84	38	,	,	PUNCT
hjic-918	84	39	it	it	PRON
hjic-918	84	40	is	be	AUX
hjic-918	84	41	assumed	assume	VERB
hjic-918	84	42	that	that	SCONJ
hjic-918	84	43	a	a	DET
hjic-918	84	44	suitable	suitable	ADJ
hjic-918	84	45	wireless	wireless	ADJ
hjic-918	84	46	protocol	protocol	NOUN
hjic-918	84	47	is	be	AUX
hjic-918	84	48	in	in	ADP
hjic-918	84	49	place	place	NOUN
hjic-918	84	50	,	,	PUNCT
hjic-918	84	51	which	which	PRON
hjic-918	84	52	allows	allow	VERB
hjic-918	84	53	bidirectional	bidirectional	ADJ
hjic-918	84	54	information	information	NOUN
hjic-918	84	55	flow	flow	NOUN
hjic-918	84	56	in	in	ADP
hjic-918	84	57	real	real	ADJ
hjic-918	84	58	time	time	NOUN
hjic-918	84	59	when	when	SCONJ
hjic-918	84	60	a	a	DET
hjic-918	84	61	vehicle	vehicle	NOUN
hjic-918	84	62	is	be	AUX
hjic-918	84	63	travelling	travel	VERB
hjic-918	84	64	at	at	ADP
hjic-918	84	65	high	high	ADJ
hjic-918	84	66	speed	speed	NOUN
hjic-918	84	67	and	and	CCONJ
hjic-918	84	68	is	be	AUX
hjic-918	84	69	able	able	ADJ
hjic-918	84	70	to	to	PART
hjic-918	84	71	simultaneously	simultaneously	ADV
hjic-918	84	72	handle	handle	VERB
hjic-918	84	73	multiple	multiple	ADJ
hjic-918	84	74	vehicles	vehicle	NOUN
hjic-918	84	75	.	.	PUNCT
hjic-918	85	1	based	base	VERB
hjic-918	85	2	on	on	ADP
hjic-918	85	3	these	these	DET
hjic-918	85	4	assumptions	assumption	NOUN
hjic-918	85	5	,	,	PUNCT
hjic-918	85	6	only	only	ADV
hjic-918	85	7	applications	application	NOUN
hjic-918	85	8	related	relate	VERB
hjic-918	85	9	to	to	ADP
hjic-918	85	10	localization	localization	NOUN
hjic-918	85	11	are	be	AUX
hjic-918	85	12	considered	consider	VERB
hjic-918	85	13	here	here	ADV
hjic-918	85	14	.	.	PUNCT
hjic-918	86	1	the	the	DET
hjic-918	86	2	main	main	ADJ
hjic-918	86	3	purpose	purpose	NOUN
hjic-918	86	4	of	of	ADP
hjic-918	86	5	v2i	v2i	NOUN
hjic-918	86	6	communication	communication	NOUN
hjic-918	86	7	is	be	AUX
hjic-918	86	8	to	to	PART
hjic-918	86	9	support	support	VERB
hjic-918	86	10	applications	application	NOUN
hjic-918	86	11	that	that	PRON
hjic-918	86	12	target	target	VERB
hjic-918	86	13	safety	safety	NOUN
hjic-918	86	14	and	and	CCONJ
hjic-918	86	15	mobility	mobility	NOUN
hjic-918	86	16	.	.	PUNCT
hjic-918	87	1	safety	safety	NOUN
hjic-918	87	2	applications	application	NOUN
hjic-918	87	3	mainly	mainly	ADV
hjic-918	87	4	consist	consist	VERB
hjic-918	87	5	of	of	ADP
hjic-918	87	6	alerts	alert	NOUN
hjic-918	87	7	and	and	CCONJ
hjic-918	87	8	warnings	warning	NOUN
hjic-918	87	9	,	,	PUNCT
hjic-918	87	10	while	while	SCONJ
hjic-918	87	11	mobility	mobility	NOUN
hjic-918	87	12	applications	application	NOUN
hjic-918	87	13	collect	collect	VERB
hjic-918	87	14	data	datum	NOUN
hjic-918	87	15	from	from	ADP
hjic-918	87	16	vehicles	vehicle	NOUN
hjic-918	87	17	in	in	ADP
hjic-918	87	18	order	order	NOUN
hjic-918	87	19	to	to	PART
hjic-918	87	20	capture	capture	VERB
hjic-918	87	21	the	the	DET
hjic-918	87	22	actual	actual	ADJ
hjic-918	87	23	state	state	NOUN
hjic-918	87	24	of	of	ADP
hjic-918	87	25	the	the	DET
hjic-918	87	26	traffic	traffic	NOUN
hjic-918	87	27	and	and	CCONJ
hjic-918	87	28	provide	provide	VERB
hjic-918	87	29	such	such	ADJ
hjic-918	87	30	information	information	NOUN
hjic-918	87	31	to	to	ADP
hjic-918	87	32	vehicles	vehicle	NOUN
hjic-918	87	33	.	.	PUNCT
hjic-918	88	1	v2v	v2v	NOUN
hjic-918	88	2	applications	application	NOUN
hjic-918	88	3	determine	determine	VERB
hjic-918	88	4	the	the	DET
hjic-918	88	5	state	state	NOUN
hjic-918	88	6	of	of	ADP
hjic-918	88	7	other	other	ADJ
hjic-918	88	8	nearby	nearby	ADJ
hjic-918	88	9	vehicles	vehicle	NOUN
hjic-918	88	10	through	through	ADP
hjic-918	88	11	the	the	DET
hjic-918	88	12	transmission	transmission	NOUN
hjic-918	88	13	of	of	ADP
hjic-918	88	14	one	one	NUM
hjic-918	88	15	or	or	CCONJ
hjic-918	88	16	several	several	ADJ
hjic-918	88	17	messages	message	NOUN
hjic-918	88	18	.	.	PUNCT
hjic-918	89	1	overall	overall	ADV
hjic-918	89	2	,	,	PUNCT
hjic-918	89	3	the	the	DET
hjic-918	89	4	location	location	NOUN
hjic-918	89	5	-	-	PUNCT
hjic-918	89	6	related	relate	VERB
hjic-918	89	7	content	content	NOUN
hjic-918	89	8	of	of	ADP
hjic-918	89	9	these	these	DET
hjic-918	89	10	messages	message	NOUN
hjic-918	89	11	alone	alone	ADV
hjic-918	89	12	might	might	AUX
hjic-918	89	13	be	be	AUX
hjic-918	89	14	insufficient	insufficient	ADJ
hjic-918	89	15	for	for	SCONJ
hjic-918	89	16	a	a	DET
hjic-918	89	17	vehicle	vehicle	NOUN
hjic-918	89	18	to	to	PART
hjic-918	89	19	determine	determine	VERB
hjic-918	89	20	its	its	PRON
hjic-918	89	21	own	own	ADJ
hjic-918	89	22	location	location	NOUN
hjic-918	89	23	,	,	PUNCT
hjic-918	89	24	but	but	CCONJ
hjic-918	89	25	can	can	AUX
hjic-918	89	26	still	still	ADV
hjic-918	89	27	provide	provide	VERB
hjic-918	89	28	useful	useful	ADJ
hjic-918	89	29	complementary	complementary	ADJ
hjic-918	89	30	information	information	NOUN
hjic-918	89	31	to	to	ADP
hjic-918	89	32	fusion	fusion	NOUN
hjic-918	89	33	algorithms	algorithm	NOUN
hjic-918	89	34	.	.	PUNCT
hjic-918	90	1	3	3	X
hjic-918	90	2	.	.	X
hjic-918	90	3	fusion	fusion	NOUN
hjic-918	90	4	algorithms	algorithm	NOUN
hjic-918	90	5	the	the	DET
hjic-918	90	6	purpose	purpose	NOUN
hjic-918	90	7	of	of	ADP
hjic-918	90	8	information	information	NOUN
hjic-918	90	9	fusion	fusion	NOUN
hjic-918	90	10	is	be	AUX
hjic-918	90	11	to	to	PART
hjic-918	90	12	obtain	obtain	VERB
hjic-918	90	13	more	more	ADJ
hjic-918	90	14	information	information	NOUN
hjic-918	90	15	from	from	ADP
hjic-918	90	16	the	the	DET
hjic-918	90	17	sources	source	NOUN
hjic-918	90	18	than	than	ADP
hjic-918	90	19	what	what	PRON
hjic-918	90	20	is	be	AUX
hjic-918	90	21	accessible	accessible	ADJ
hjic-918	90	22	from	from	ADP
hjic-918	90	23	each	each	DET
hjic-918	90	24	individual	individual	ADJ
hjic-918	90	25	source	source	NOUN
hjic-918	90	26	.	.	PUNCT
hjic-918	91	1	this	this	PRON
hjic-918	91	2	is	be	AUX
hjic-918	91	3	achieved	achieve	VERB
hjic-918	91	4	by	by	ADP
hjic-918	91	5	combining	combine	VERB
hjic-918	91	6	sources	source	NOUN
hjic-918	91	7	which	which	PRON
hjic-918	91	8	are	be	AUX
hjic-918	91	9	complementary	complementary	ADJ
hjic-918	91	10	,	,	PUNCT
hjic-918	91	11	moreover	moreover	ADV
hjic-918	91	12	,	,	PUNCT
hjic-918	91	13	the	the	DET
hjic-918	91	14	use	use	NOUN
hjic-918	91	15	of	of	ADP
hjic-918	91	16	partially	partially	ADV
hjic-918	91	17	redundant	redundant	ADJ
hjic-918	91	18	sources	source	NOUN
hjic-918	91	19	reduces	reduce	VERB
hjic-918	91	20	the	the	DET
hjic-918	91	21	ambiguity	ambiguity	NOUN
hjic-918	91	22	of	of	ADP
hjic-918	91	23	the	the	DET
hjic-918	91	24	measured	measure	VERB
hjic-918	91	25	data	datum	NOUN
hjic-918	91	26	which	which	PRON
hjic-918	91	27	,	,	PUNCT
hjic-918	91	28	overall	overall	ADV
hjic-918	91	29	,	,	PUNCT
hjic-918	91	30	improves	improve	VERB
hjic-918	91	31	the	the	DET
hjic-918	91	32	performance	performance	NOUN
hjic-918	91	33	of	of	ADP
hjic-918	91	34	the	the	DET
hjic-918	91	35	system	system	NOUN
hjic-918	91	36	.	.	PUNCT
hjic-918	92	1	fusion	fusion	NOUN
hjic-918	92	2	algorithms	algorithm	NOUN
hjic-918	92	3	can	can	AUX
hjic-918	92	4	be	be	AUX
hjic-918	92	5	realized	realize	VERB
hjic-918	92	6	in	in	ADP
hjic-918	92	7	either	either	CCONJ
hjic-918	92	8	centralized	centralized	ADJ
hjic-918	92	9	or	or	CCONJ
hjic-918	92	10	decentralized	decentralized	ADJ
hjic-918	92	11	structures	structure	NOUN
hjic-918	92	12	,	,	PUNCT
hjic-918	92	13	as	as	SCONJ
hjic-918	92	14	is	be	AUX
hjic-918	92	15	shown	show	VERB
hjic-918	92	16	in	in	ADP
hjic-918	92	17	fig	fig	NOUN
hjic-918	92	18	.	.	PUNCT
hjic-918	93	1	2	2	NUM
hjic-918	93	2	.	.	X
hjic-918	93	3	48(1	48(1	NOUN
hjic-918	93	4	)	)	PUNCT
hjic-918	93	5	pp	pp	ADV
hjic-918	93	6	.	.	PUNCT
hjic-918	94	1	43–49	43–49	NUM
hjic-918	94	2	(	(	PUNCT
hjic-918	94	3	2020	2020	NUM
hjic-918	94	4	)	)	PUNCT
hjic-918	94	5	46	46	NUM
hjic-918	94	6	medve	medve	PROPN
hjic-918	94	7	és	és	PROPN
hjic-918	94	8	fodor	fodor	PROPN
hjic-918	94	9	figure	figure	NOUN
hjic-918	94	10	2	2	NUM
hjic-918	94	11	:	:	PUNCT
hjic-918	94	12	filtering	filter	VERB
hjic-918	94	13	structures	structure	NOUN
hjic-918	94	14	:	:	PUNCT
hjic-918	94	15	a	a	X
hjic-918	94	16	)	)	PUNCT
hjic-918	94	17	centralized	centralized	ADJ
hjic-918	94	18	,	,	PUNCT
hjic-918	94	19	b	b	NOUN
hjic-918	94	20	)	)	PUNCT
hjic-918	94	21	decentralized	decentralize	VERB
hjic-918	94	22	as	as	SCONJ
hjic-918	94	23	the	the	DET
hjic-918	94	24	name	name	NOUN
hjic-918	94	25	suggests	suggest	VERB
hjic-918	94	26	,	,	PUNCT
hjic-918	94	27	in	in	ADP
hjic-918	94	28	centralized	centralized	ADJ
hjic-918	94	29	structures	structure	NOUN
hjic-918	94	30	,	,	PUNCT
hjic-918	94	31	one	one	NUM
hjic-918	94	32	filter	filter	NOUN
hjic-918	94	33	performs	perform	VERB
hjic-918	94	34	the	the	DET
hjic-918	94	35	filtering	filtering	NOUN
hjic-918	94	36	of	of	ADP
hjic-918	94	37	all	all	DET
hjic-918	94	38	signals	signal	NOUN
hjic-918	94	39	which	which	PRON
hjic-918	94	40	yields	yield	VERB
hjic-918	94	41	the	the	DET
hjic-918	94	42	benefit	benefit	NOUN
hjic-918	94	43	of	of	ADP
hjic-918	94	44	minimal	minimal	ADJ
hjic-918	94	45	information	information	NOUN
hjic-918	94	46	loss	loss	NOUN
hjic-918	94	47	as	as	SCONJ
hjic-918	94	48	everything	everything	PRON
hjic-918	94	49	is	be	AUX
hjic-918	94	50	directly	directly	ADV
hjic-918	94	51	available	available	ADJ
hjic-918	94	52	to	to	ADP
hjic-918	94	53	the	the	DET
hjic-918	94	54	filter	filter	NOUN
hjic-918	94	55	,	,	PUNCT
hjic-918	94	56	while	while	SCONJ
hjic-918	94	57	the	the	DET
hjic-918	94	58	amount	amount	NOUN
hjic-918	94	59	of	of	ADP
hjic-918	94	60	data	datum	NOUN
hjic-918	94	61	to	to	PART
hjic-918	94	62	be	be	AUX
hjic-918	94	63	processed	process	VERB
hjic-918	94	64	in	in	ADP
hjic-918	94	65	real	real	ADJ
hjic-918	94	66	time	time	NOUN
hjic-918	94	67	might	might	AUX
hjic-918	94	68	imply	imply	VERB
hjic-918	94	69	an	an	DET
hjic-918	94	70	impractical	impractical	ADJ
hjic-918	94	71	degree	degree	NOUN
hjic-918	94	72	of	of	ADP
hjic-918	94	73	computational	computational	ADJ
hjic-918	94	74	complexity	complexity	NOUN
hjic-918	94	75	.	.	PUNCT
hjic-918	95	1	this	this	PRON
hjic-918	95	2	is	be	AUX
hjic-918	95	3	addressed	address	VERB
hjic-918	95	4	by	by	ADP
hjic-918	95	5	decentralized	decentralized	ADJ
hjic-918	95	6	filters	filter	NOUN
hjic-918	95	7	as	as	SCONJ
hjic-918	95	8	every	every	DET
hjic-918	95	9	signal	signal	NOUN
hjic-918	95	10	is	be	AUX
hjic-918	95	11	filtered	filter	VERB
hjic-918	95	12	separately	separately	ADV
hjic-918	95	13	before	before	ADP
hjic-918	95	14	being	be	AUX
hjic-918	95	15	processed	process	VERB
hjic-918	95	16	by	by	ADP
hjic-918	95	17	a	a	DET
hjic-918	95	18	master	master	NOUN
hjic-918	95	19	filter	filter	NOUN
hjic-918	95	20	.	.	PUNCT
hjic-918	96	1	the	the	DET
hjic-918	96	2	computational	computational	ADJ
hjic-918	96	3	load	load	NOUN
hjic-918	96	4	in	in	ADP
hjic-918	96	5	general	general	ADJ
hjic-918	96	6	would	would	AUX
hjic-918	96	7	be	be	AUX
hjic-918	96	8	significantly	significantly	ADV
hjic-918	96	9	less	less	ADJ
hjic-918	96	10	for	for	ADP
hjic-918	96	11	one	one	NUM
hjic-918	96	12	filtering	filter	VERB
hjic-918	96	13	unit	unit	NOUN
hjic-918	96	14	,	,	PUNCT
hjic-918	96	15	however	however	ADV
hjic-918	96	16	,	,	PUNCT
hjic-918	96	17	at	at	ADP
hjic-918	96	18	the	the	DET
hjic-918	96	19	expense	expense	NOUN
hjic-918	96	20	of	of	ADP
hjic-918	96	21	partial	partial	ADJ
hjic-918	96	22	information	information	NOUN
hjic-918	96	23	loss	loss	NOUN
hjic-918	96	24	and	and	CCONJ
hjic-918	96	25	reduced	reduced	ADJ
hjic-918	96	26	estimation	estimation	NOUN
hjic-918	96	27	accuracy	accuracy	NOUN
hjic-918	96	28	.	.	PUNCT
hjic-918	97	1	in	in	ADP
hjic-918	97	2	this	this	DET
hjic-918	97	3	chapter	chapter	NOUN
hjic-918	97	4	,	,	PUNCT
hjic-918	97	5	selected	select	VERB
hjic-918	97	6	filtering	filtering	NOUN
hjic-918	97	7	methods	method	NOUN
hjic-918	97	8	are	be	AUX
hjic-918	97	9	presented	present	VERB
hjic-918	97	10	:	:	PUNCT
hjic-918	97	11	a	a	DET
hjic-918	97	12	conventional	conventional	ADJ
hjic-918	97	13	and	and	CCONJ
hjic-918	97	14	widely	widely	ADV
hjic-918	97	15	used	use	VERB
hjic-918	97	16	localization	localization	NOUN
hjic-918	97	17	method	method	NOUN
hjic-918	97	18	,	,	PUNCT
hjic-918	97	19	as	as	ADV
hjic-918	97	20	well	well	ADV
hjic-918	97	21	as	as	ADP
hjic-918	97	22	a	a	DET
hjic-918	97	23	linear	linear	NOUN
hjic-918	97	24	and	and	CCONJ
hjic-918	97	25	a	a	DET
hjic-918	97	26	non	non	ADJ
hjic-918	97	27	-	-	ADJ
hjic-918	97	28	linear	linear	ADJ
hjic-918	97	29	filtering	filtering	NOUN
hjic-918	97	30	method	method	NOUN
hjic-918	97	31	.	.	PUNCT
hjic-918	98	1	advanced	advanced	ADJ
hjic-918	98	2	filtering	filtering	NOUN
hjic-918	98	3	methods	method	NOUN
hjic-918	98	4	require	require	VERB
hjic-918	98	5	prior	prior	ADJ
hjic-918	98	6	knowledge	knowledge	NOUN
hjic-918	98	7	of	of	ADP
hjic-918	98	8	the	the	DET
hjic-918	98	9	system	system	NOUN
hjic-918	98	10	model	model	NOUN
hjic-918	98	11	and	and	CCONJ
hjic-918	98	12	dynamics	dynamic	NOUN
hjic-918	98	13	,	,	PUNCT
hjic-918	98	14	the	the	DET
hjic-918	98	15	type	type	NOUN
hjic-918	98	16	of	of	ADP
hjic-918	98	17	noise	noise	NOUN
hjic-918	98	18	and	and	CCONJ
hjic-918	98	19	their	their	PRON
hjic-918	98	20	probability	probability	NOUN
hjic-918	98	21	density	density	NOUN
hjic-918	98	22	functions	function	NOUN
hjic-918	98	23	as	as	ADP
hjic-918	98	24	these	these	PRON
hjic-918	98	25	are	be	AUX
hjic-918	98	26	core	core	ADJ
hjic-918	98	27	elements	element	NOUN
hjic-918	98	28	to	to	PART
hjic-918	98	29	design	design	VERB
hjic-918	98	30	a	a	DET
hjic-918	98	31	high	high	ADJ
hjic-918	98	32	-	-	PUNCT
hjic-918	98	33	performance	performance	NOUN
hjic-918	98	34	filter	filter	NOUN
hjic-918	98	35	.	.	PUNCT
hjic-918	99	1	the	the	DET
hjic-918	99	2	filtering	filter	VERB
hjic-918	99	3	algorithms	algorithm	NOUN
hjic-918	99	4	presented	present	VERB
hjic-918	99	5	in	in	ADP
hjic-918	99	6	the	the	DET
hjic-918	99	7	following	follow	VERB
hjic-918	99	8	sections	section	NOUN
hjic-918	99	9	are	be	AUX
hjic-918	99	10	used	use	VERB
hjic-918	99	11	by	by	ADP
hjic-918	99	12	the	the	DET
hjic-918	99	13	scientific	scientific	ADJ
hjic-918	99	14	community	community	NOUN
hjic-918	99	15	in	in	ADP
hjic-918	99	16	various	various	ADJ
hjic-918	99	17	forms	form	NOUN
hjic-918	99	18	but	but	CCONJ
hjic-918	99	19	often	often	ADV
hjic-918	99	20	altered	alter	VERB
hjic-918	99	21	when	when	SCONJ
hjic-918	99	22	compared	compare	VERB
hjic-918	99	23	to	to	ADP
hjic-918	99	24	their	their	PRON
hjic-918	99	25	originally	originally	ADV
hjic-918	99	26	published	publish	VERB
hjic-918	99	27	format	format	NOUN
hjic-918	99	28	(	(	PUNCT
hjic-918	99	29	kalman	kalman	NOUN
hjic-918	99	30	filter	filter	VERB
hjic-918	99	31	in	in	ADP
hjic-918	99	32	[	[	X
hjic-918	99	33	5	5	NUM
hjic-918	99	34	]	]	PUNCT
hjic-918	99	35	,	,	PUNCT
hjic-918	99	36	particle	particle	NOUN
hjic-918	99	37	filter	filter	NOUN
hjic-918	99	38	in	in	ADP
hjic-918	99	39	[	[	X
hjic-918	99	40	6	6	NUM
hjic-918	99	41	]	]	NUM
hjic-918	99	42	)	)	PUNCT
hjic-918	99	43	,	,	PUNCT
hjic-918	99	44	in	in	ADP
hjic-918	99	45	order	order	NOUN
hjic-918	99	46	to	to	PART
hjic-918	99	47	better	well	ADV
hjic-918	99	48	suit	suit	VERB
hjic-918	99	49	the	the	DET
hjic-918	99	50	actual	actual	ADJ
hjic-918	99	51	problem	problem	NOUN
hjic-918	99	52	.	.	PUNCT
hjic-918	100	1	in	in	ADP
hjic-918	100	2	this	this	DET
hjic-918	100	3	paper	paper	NOUN
hjic-918	100	4	,	,	PUNCT
hjic-918	100	5	the	the	DET
hjic-918	100	6	thought	thought	NOUN
hjic-918	100	7	process	process	NOUN
hjic-918	100	8	of	of	ADP
hjic-918	100	9	[	[	X
hjic-918	100	10	7	7	NUM
hjic-918	100	11	]	]	PUNCT
hjic-918	100	12	is	be	AUX
hjic-918	100	13	followed	follow	VERB
hjic-918	100	14	.	.	PUNCT
hjic-918	101	1	3.1	3.1	NUM
hjic-918	101	2	simple	simple	ADJ
hjic-918	101	3	algorithms	algorithm	NOUN
hjic-918	101	4	:	:	PUNCT
hjic-918	101	5	dead	dead	ADJ
hjic-918	101	6	reckoning	reckoning	NOUN
hjic-918	101	7	,	,	PUNCT
hjic-918	101	8	inertial	inertial	ADJ
hjic-918	101	9	navigation	navigation	NOUN
hjic-918	101	10	and	and	CCONJ
hjic-918	101	11	map	map	VERB
hjic-918	101	12	matching	match	VERB
hjic-918	101	13	the	the	DET
hjic-918	101	14	conventional	conventional	ADJ
hjic-918	101	15	localization	localization	NOUN
hjic-918	101	16	algorithm	algorithm	NOUN
hjic-918	101	17	consists	consist	VERB
hjic-918	101	18	of	of	ADP
hjic-918	101	19	two	two	NUM
hjic-918	101	20	steps	step	NOUN
hjic-918	101	21	;	;	PUNCT
hjic-918	101	22	the	the	DET
hjic-918	101	23	first	first	ADJ
hjic-918	101	24	is	be	AUX
hjic-918	101	25	the	the	DET
hjic-918	101	26	gnss	gnss	NOUN
hjic-918	101	27	which	which	PRON
hjic-918	101	28	defines	define	VERB
hjic-918	101	29	the	the	DET
hjic-918	101	30	coordinates	coordinate	NOUN
hjic-918	101	31	,	,	PUNCT
hjic-918	101	32	the	the	DET
hjic-918	101	33	second	second	NOUN
hjic-918	101	34	is	be	AUX
hjic-918	101	35	to	to	PART
hjic-918	101	36	match	match	VERB
hjic-918	101	37	the	the	DET
hjic-918	101	38	given	give	VERB
hjic-918	101	39	coordinates	coordinate	NOUN
hjic-918	101	40	to	to	ADP
hjic-918	101	41	a	a	DET
hjic-918	101	42	map	map	NOUN
hjic-918	101	43	.	.	PUNCT
hjic-918	102	1	this	this	PRON
hjic-918	102	2	is	be	AUX
hjic-918	102	3	shown	show	VERB
hjic-918	102	4	in	in	ADP
hjic-918	102	5	fig	fig	NOUN
hjic-918	102	6	.	.	PUNCT
hjic-918	103	1	3	3	X
hjic-918	103	2	.	.	X
hjic-918	103	3	the	the	DET
hjic-918	103	4	process	process	NOUN
hjic-918	103	5	of	of	ADP
hjic-918	103	6	calculating	calculate	VERB
hjic-918	103	7	the	the	DET
hjic-918	103	8	position	position	NOUN
hjic-918	103	9	based	base	VERB
hjic-918	103	10	on	on	ADP
hjic-918	103	11	its	its	PRON
hjic-918	103	12	previously	previously	ADV
hjic-918	103	13	known	know	VERB
hjic-918	103	14	position	position	NOUN
hjic-918	103	15	,	,	PUNCT
hjic-918	103	16	elapsed	elapse	VERB
hjic-918	103	17	time	time	NOUN
hjic-918	103	18	and	and	CCONJ
hjic-918	103	19	speed	speed	NOUN
hjic-918	103	20	is	be	AUX
hjic-918	103	21	referred	refer	VERB
hjic-918	103	22	to	to	ADP
hjic-918	103	23	as	as	ADP
hjic-918	103	24	dead	dead	ADJ
hjic-918	103	25	reckoning	reckon	VERB
hjic-918	103	26	[	[	X
hjic-918	103	27	8	8	NUM
hjic-918	103	28	]	]	PUNCT
hjic-918	103	29	.	.	PUNCT
hjic-918	104	1	inertial	inertial	ADJ
hjic-918	104	2	navigation	navigation	NOUN
hjic-918	104	3	is	be	AUX
hjic-918	104	4	a	a	DET
hjic-918	104	5	very	very	ADV
hjic-918	104	6	similar	similar	ADJ
hjic-918	104	7	concept	concept	NOUN
hjic-918	104	8	where	where	SCONJ
hjic-918	104	9	the	the	DET
hjic-918	104	10	position	position	NOUN
hjic-918	104	11	is	be	AUX
hjic-918	104	12	calculated	calculate	VERB
hjic-918	104	13	based	base	VERB
hjic-918	104	14	on	on	ADP
hjic-918	104	15	data	datum	NOUN
hjic-918	104	16	from	from	ADP
hjic-918	104	17	accelerometers	accelerometer	NOUN
hjic-918	104	18	and	and	CCONJ
hjic-918	104	19	gyroscopes	gyroscope	NOUN
hjic-918	104	20	,	,	PUNCT
hjic-918	104	21	also	also	ADV
hjic-918	104	22	referred	refer	VERB
hjic-918	104	23	to	to	ADP
hjic-918	104	24	as	as	ADP
hjic-918	104	25	dead	dead	ADJ
hjic-918	104	26	reckoning	reckoning	NOUN
hjic-918	104	27	based	base	VERB
hjic-918	104	28	on	on	ADP
hjic-918	104	29	inertial	inertial	ADJ
hjic-918	104	30	sensors	sensor	NOUN
hjic-918	104	31	.	.	PUNCT
hjic-918	105	1	in	in	ADP
hjic-918	105	2	the	the	DET
hjic-918	105	3	following	follow	VERB
hjic-918	105	4	sections	section	NOUN
hjic-918	105	5	,	,	PUNCT
hjic-918	105	6	no	no	DET
hjic-918	105	7	specific	specific	ADJ
hjic-918	105	8	distinction	distinction	NOUN
hjic-918	105	9	is	be	AUX
hjic-918	105	10	made	make	VERB
hjic-918	105	11	between	between	ADP
hjic-918	105	12	dead	dead	ADJ
hjic-918	105	13	reckoning	reckoning	NOUN
hjic-918	105	14	and	and	CCONJ
hjic-918	105	15	inertial	inertial	ADJ
hjic-918	105	16	navigation	navigation	NOUN
hjic-918	105	17	.	.	PUNCT
hjic-918	106	1	figure	figure	VERB
hjic-918	106	2	3	3	NUM
hjic-918	106	3	:	:	PUNCT
hjic-918	106	4	conventional	conventional	ADJ
hjic-918	106	5	localization	localization	NOUN
hjic-918	106	6	algorithm	algorithm	NOUN
hjic-918	106	7	traditional	traditional	ADJ
hjic-918	106	8	vehicle	vehicle	NOUN
hjic-918	106	9	sensors	sensor	NOUN
hjic-918	106	10	and	and	CCONJ
hjic-918	106	11	the	the	DET
hjic-918	106	12	inertial	inertial	ADJ
hjic-918	106	13	measurement	measurement	NOUN
hjic-918	106	14	unit	unit	NOUN
hjic-918	106	15	(	(	PUNCT
hjic-918	106	16	imu	imu	NOUN
hjic-918	106	17	)	)	PUNCT
hjic-918	106	18	provide	provide	VERB
hjic-918	106	19	information	information	NOUN
hjic-918	106	20	about	about	ADP
hjic-918	106	21	either	either	CCONJ
hjic-918	106	22	the	the	DET
hjic-918	106	23	first	first	ADJ
hjic-918	106	24	or	or	CCONJ
hjic-918	106	25	second	second	ADJ
hjic-918	106	26	order	order	NOUN
hjic-918	106	27	derivatives	derivative	NOUN
hjic-918	106	28	of	of	ADP
hjic-918	106	29	the	the	DET
hjic-918	106	30	position	position	NOUN
hjic-918	106	31	of	of	ADP
hjic-918	106	32	the	the	DET
hjic-918	106	33	vehicle	vehicle	NOUN
hjic-918	106	34	together	together	ADV
hjic-918	106	35	with	with	ADP
hjic-918	106	36	the	the	DET
hjic-918	106	37	odometer	odometer	NOUN
hjic-918	106	38	which	which	PRON
hjic-918	106	39	measures	measure	VERB
hjic-918	106	40	the	the	DET
hjic-918	106	41	distance	distance	NOUN
hjic-918	106	42	travelled	travel	VERB
hjic-918	106	43	.	.	PUNCT
hjic-918	107	1	all	all	DET
hjic-918	107	2	the	the	DET
hjic-918	107	3	data	datum	NOUN
hjic-918	107	4	provided	provide	VERB
hjic-918	107	5	is	be	AUX
hjic-918	107	6	relative	relative	ADJ
hjic-918	107	7	to	to	ADP
hjic-918	107	8	the	the	DET
hjic-918	107	9	starting	starting	NOUN
hjic-918	107	10	position	position	NOUN
hjic-918	107	11	,	,	PUNCT
hjic-918	107	12	therefore	therefore	ADV
hjic-918	107	13	,	,	PUNCT
hjic-918	107	14	none	none	NOUN
hjic-918	107	15	of	of	ADP
hjic-918	107	16	the	the	DET
hjic-918	107	17	sensors	sensor	NOUN
hjic-918	107	18	provide	provide	VERB
hjic-918	107	19	information	information	NOUN
hjic-918	107	20	about	about	ADP
hjic-918	107	21	its	its	PRON
hjic-918	107	22	absolute	absolute	ADJ
hjic-918	107	23	position	position	NOUN
hjic-918	107	24	.	.	PUNCT
hjic-918	108	1	in	in	ADP
hjic-918	108	2	addition	addition	NOUN
hjic-918	108	3	,	,	PUNCT
hjic-918	108	4	all	all	DET
hjic-918	108	5	data	datum	NOUN
hjic-918	108	6	will	will	AUX
hjic-918	108	7	be	be	AUX
hjic-918	108	8	incorporated	incorporate	VERB
hjic-918	108	9	into	into	ADP
hjic-918	108	10	the	the	DET
hjic-918	108	11	coordinate	coordinate	NOUN
hjic-918	108	12	system	system	NOUN
hjic-918	108	13	of	of	ADP
hjic-918	108	14	the	the	DET
hjic-918	108	15	vehicle	vehicle	NOUN
hjic-918	108	16	since	since	SCONJ
hjic-918	108	17	all	all	DET
hjic-918	108	18	the	the	DET
hjic-918	108	19	sensors	sensor	NOUN
hjic-918	108	20	are	be	AUX
hjic-918	108	21	mounted	mount	VERB
hjic-918	108	22	on	on	ADP
hjic-918	108	23	the	the	DET
hjic-918	108	24	vehicle	vehicle	NOUN
hjic-918	108	25	,	,	PUNCT
hjic-918	108	26	therefore	therefore	ADV
hjic-918	108	27	,	,	PUNCT
hjic-918	108	28	coordinate	coordinate	VERB
hjic-918	108	29	transformations	transformation	NOUN
hjic-918	108	30	to	to	ADP
hjic-918	108	31	the	the	DET
hjic-918	108	32	main	main	ADJ
hjic-918	108	33	coordinate	coordinate	NOUN
hjic-918	108	34	system	system	NOUN
hjic-918	108	35	,	,	PUNCT
hjic-918	108	36	which	which	PRON
hjic-918	108	37	are	be	AUX
hjic-918	108	38	used	use	VERB
hjic-918	108	39	for	for	ADP
hjic-918	108	40	the	the	DET
hjic-918	108	41	localization	localization	NOUN
hjic-918	108	42	,	,	PUNCT
hjic-918	108	43	are	be	AUX
hjic-918	108	44	required	require	VERB
hjic-918	108	45	.	.	PUNCT
hjic-918	109	1	the	the	DET
hjic-918	109	2	measured	measured	ADJ
hjic-918	109	3	values	value	NOUN
hjic-918	109	4	are	be	AUX
hjic-918	109	5	integrated	integrate	VERB
hjic-918	109	6	by	by	ADP
hjic-918	109	7	taking	take	VERB
hjic-918	109	8	into	into	ADP
hjic-918	109	9	consideration	consideration	NOUN
hjic-918	109	10	an	an	DET
hjic-918	109	11	initial	initial	ADJ
hjic-918	109	12	position	position	NOUN
hjic-918	109	13	and	and	CCONJ
hjic-918	109	14	,	,	PUNCT
hjic-918	109	15	over	over	ADP
hjic-918	109	16	time	time	NOUN
hjic-918	109	17	,	,	PUNCT
hjic-918	109	18	the	the	DET
hjic-918	109	19	errors	error	NOUN
hjic-918	109	20	will	will	AUX
hjic-918	109	21	be	be	AUX
hjic-918	109	22	accumulated	accumulate	VERB
hjic-918	109	23	as	as	ADP
hjic-918	109	24	part	part	NOUN
hjic-918	109	25	of	of	ADP
hjic-918	109	26	the	the	DET
hjic-918	109	27	integration	integration	NOUN
hjic-918	109	28	.	.	PUNCT
hjic-918	110	1	it	it	PRON
hjic-918	110	2	is	be	AUX
hjic-918	110	3	important	important	ADJ
hjic-918	110	4	to	to	PART
hjic-918	110	5	note	note	VERB
hjic-918	110	6	that	that	SCONJ
hjic-918	110	7	the	the	DET
hjic-918	110	8	extent	extent	NOUN
hjic-918	110	9	to	to	PART
hjic-918	110	10	which	which	PRON
hjic-918	110	11	the	the	DET
hjic-918	110	12	error	error	NOUN
hjic-918	110	13	can	can	AUX
hjic-918	110	14	increase	increase	VERB
hjic-918	110	15	is	be	AUX
hjic-918	110	16	infinite	infinite	ADJ
hjic-918	110	17	.	.	PUNCT
hjic-918	111	1	despite	despite	SCONJ
hjic-918	111	2	such	such	DET
hjic-918	111	3	a	a	DET
hjic-918	111	4	disadvantage	disadvantage	NOUN
hjic-918	111	5	,	,	PUNCT
hjic-918	111	6	the	the	DET
hjic-918	111	7	popularity	popularity	NOUN
hjic-918	111	8	of	of	ADP
hjic-918	111	9	the	the	DET
hjic-918	111	10	method	method	NOUN
hjic-918	111	11	lies	lie	VERB
hjic-918	111	12	in	in	ADP
hjic-918	111	13	the	the	DET
hjic-918	111	14	fact	fact	NOUN
hjic-918	111	15	that	that	SCONJ
hjic-918	111	16	it	it	PRON
hjic-918	111	17	does	do	AUX
hjic-918	111	18	not	not	PART
hjic-918	111	19	rely	rely	VERB
hjic-918	111	20	on	on	ADP
hjic-918	111	21	external	external	ADJ
hjic-918	111	22	sources	source	NOUN
hjic-918	111	23	of	of	ADP
hjic-918	111	24	information	information	NOUN
hjic-918	111	25	and	and	CCONJ
hjic-918	111	26	the	the	DET
hjic-918	111	27	update	update	NOUN
hjic-918	111	28	rate	rate	NOUN
hjic-918	111	29	is	be	AUX
hjic-918	111	30	determined	determine	VERB
hjic-918	111	31	by	by	ADP
hjic-918	111	32	the	the	DET
hjic-918	111	33	system	system	NOUN
hjic-918	111	34	itself	itself	PRON
hjic-918	111	35	,	,	PUNCT
hjic-918	111	36	which	which	PRON
hjic-918	111	37	overall	overall	ADJ
hjic-918	111	38	defines	define	VERB
hjic-918	111	39	the	the	DET
hjic-918	111	40	complementary	complementary	ADJ
hjic-918	111	41	nature	nature	NOUN
hjic-918	111	42	of	of	ADP
hjic-918	111	43	inertial	inertial	ADJ
hjic-918	111	44	navigation	navigation	NOUN
hjic-918	111	45	to	to	ADP
hjic-918	111	46	gnss	gnss	NOUN
hjic-918	111	47	.	.	PUNCT
hjic-918	112	1	map	map	NOUN
hjic-918	112	2	matching	matching	NOUN
hjic-918	112	3	is	be	AUX
hjic-918	112	4	the	the	DET
hjic-918	112	5	process	process	NOUN
hjic-918	112	6	of	of	ADP
hjic-918	112	7	identifying	identify	VERB
hjic-918	112	8	on	on	ADP
hjic-918	112	9	the	the	DET
hjic-918	112	10	map	map	NOUN
hjic-918	112	11	the	the	DET
hjic-918	112	12	coordinates	coordinate	NOUN
hjic-918	112	13	given	give	VERB
hjic-918	112	14	by	by	ADP
hjic-918	112	15	the	the	DET
hjic-918	112	16	gnss	gnss	NOUN
hjic-918	112	17	on	on	ADP
hjic-918	112	18	the	the	DET
hjic-918	112	19	map	map	NOUN
hjic-918	112	20	.	.	PUNCT
hjic-918	113	1	on	on	ADP
hjic-918	113	2	digital	digital	ADJ
hjic-918	113	3	road	road	NOUN
hjic-918	113	4	maps	map	NOUN
hjic-918	113	5	,	,	PUNCT
hjic-918	113	6	the	the	DET
hjic-918	113	7	road	road	NOUN
hjic-918	113	8	network	network	NOUN
hjic-918	113	9	is	be	AUX
hjic-918	113	10	represented	represent	VERB
hjic-918	113	11	in	in	ADP
hjic-918	113	12	a	a	DET
hjic-918	113	13	discrete	discrete	ADJ
hjic-918	113	14	form	form	NOUN
hjic-918	113	15	as	as	ADP
hjic-918	113	16	nodes	node	NOUN
hjic-918	113	17	and	and	CCONJ
hjic-918	113	18	arcs	arc	NOUN
hjic-918	113	19	which	which	PRON
hjic-918	113	20	connect	connect	VERB
hjic-918	113	21	nodes	node	NOUN
hjic-918	113	22	,	,	PUNCT
hjic-918	113	23	each	each	PRON
hjic-918	113	24	of	of	ADP
hjic-918	113	25	which	which	PRON
hjic-918	113	26	has	have	VERB
hjic-918	113	27	geospatial	geospatial	ADJ
hjic-918	113	28	coordinate	coordinate	NOUN
hjic-918	113	29	information	information	NOUN
hjic-918	113	30	linked	link	VERB
hjic-918	113	31	to	to	ADP
hjic-918	113	32	it	it	PRON
hjic-918	113	33	.	.	PUNCT
hjic-918	114	1	the	the	DET
hjic-918	114	2	purpose	purpose	NOUN
hjic-918	114	3	of	of	ADP
hjic-918	114	4	the	the	DET
hjic-918	114	5	map	map	NOUN
hjic-918	114	6	matching	matching	NOUN
hjic-918	114	7	algorithm	algorithm	NOUN
hjic-918	114	8	is	be	AUX
hjic-918	114	9	to	to	PART
hjic-918	114	10	match	match	VERB
hjic-918	114	11	the	the	DET
hjic-918	114	12	gnss	gnss	NOUN
hjic-918	114	13	coordinates	coordinate	NOUN
hjic-918	114	14	to	to	ADP
hjic-918	114	15	the	the	DET
hjic-918	114	16	road	road	NOUN
hjic-918	114	17	map	map	NOUN
hjic-918	114	18	.	.	PUNCT
hjic-918	115	1	it	it	PRON
hjic-918	115	2	is	be	AUX
hjic-918	115	3	highly	highly	ADV
hjic-918	115	4	likely	likely	ADJ
hjic-918	115	5	that	that	SCONJ
hjic-918	115	6	the	the	DET
hjic-918	115	7	map	map	NOUN
hjic-918	115	8	will	will	AUX
hjic-918	115	9	not	not	PART
hjic-918	115	10	contain	contain	VERB
hjic-918	115	11	the	the	DET
hjic-918	115	12	exact	exact	ADJ
hjic-918	115	13	coordinates	coordinate	NOUN
hjic-918	115	14	defined	define	VERB
hjic-918	115	15	by	by	ADP
hjic-918	115	16	the	the	DET
hjic-918	115	17	gnss	gnss	NOUN
hjic-918	115	18	and	and	CCONJ
hjic-918	115	19	inertial	inertial	ADJ
hjic-918	115	20	navigation	navigation	NOUN
hjic-918	115	21	,	,	PUNCT
hjic-918	115	22	therefore	therefore	ADV
hjic-918	115	23	,	,	PUNCT
hjic-918	115	24	it	it	PRON
hjic-918	115	25	has	have	VERB
hjic-918	115	26	to	to	PART
hjic-918	115	27	be	be	AUX
hjic-918	115	28	matched	match	VERB
hjic-918	115	29	to	to	ADP
hjic-918	115	30	one	one	NUM
hjic-918	115	31	of	of	ADP
hjic-918	115	32	the	the	DET
hjic-918	115	33	few	few	ADJ
hjic-918	115	34	possible	possible	ADJ
hjic-918	115	35	ones	one	NOUN
hjic-918	115	36	.	.	PUNCT
hjic-918	116	1	map	map	VERB
hjic-918	116	2	matching	matching	NOUN
hjic-918	116	3	algorithms	algorithm	NOUN
hjic-918	116	4	assign	assign	VERB
hjic-918	116	5	probabilities	probability	NOUN
hjic-918	116	6	to	to	ADP
hjic-918	116	7	each	each	DET
hjic-918	116	8	possible	possible	ADJ
hjic-918	116	9	location	location	NOUN
hjic-918	116	10	based	base	VERB
hjic-918	116	11	on	on	ADP
hjic-918	116	12	a	a	DET
hjic-918	116	13	set	set	NOUN
hjic-918	116	14	of	of	ADP
hjic-918	116	15	information	information	NOUN
hjic-918	116	16	including	include	VERB
hjic-918	116	17	previous	previous	ADJ
hjic-918	116	18	locations	location	NOUN
hjic-918	116	19	,	,	PUNCT
hjic-918	116	20	speed	speed	NOUN
hjic-918	116	21	and	and	CCONJ
hjic-918	116	22	heading	heading	NOUN
hjic-918	116	23	of	of	ADP
hjic-918	116	24	the	the	DET
hjic-918	116	25	vehicle	vehicle	NOUN
hjic-918	116	26	,	,	PUNCT
hjic-918	116	27	subsequently	subsequently	ADV
hjic-918	116	28	the	the	DET
hjic-918	116	29	evaluation	evaluation	NOUN
hjic-918	116	30	is	be	AUX
hjic-918	116	31	concluded	conclude	VERB
hjic-918	116	32	based	base	VERB
hjic-918	116	33	on	on	ADP
hjic-918	116	34	these	these	DET
hjic-918	116	35	probabilities	probability	NOUN
hjic-918	116	36	.	.	PUNCT
hjic-918	117	1	such	such	ADJ
hjic-918	117	2	algorithms	algorithm	NOUN
hjic-918	117	3	can	can	AUX
hjic-918	117	4	provide	provide	VERB
hjic-918	117	5	useful	useful	ADJ
hjic-918	117	6	inputs	input	NOUN
hjic-918	117	7	to	to	PART
hjic-918	117	8	assist	assist	VERB
hjic-918	117	9	a	a	DET
hjic-918	117	10	human	human	ADJ
hjic-918	117	11	driver	driver	NOUN
hjic-918	117	12	,	,	PUNCT
hjic-918	117	13	however	however	ADV
hjic-918	117	14	,	,	PUNCT
hjic-918	117	15	it	it	PRON
hjic-918	117	16	is	be	AUX
hjic-918	117	17	easy	easy	ADJ
hjic-918	117	18	to	to	PART
hjic-918	117	19	realize	realize	VERB
hjic-918	117	20	that	that	SCONJ
hjic-918	117	21	rarely	rarely	ADV
hjic-918	117	22	rarely	rarely	ADV
hjic-918	117	23	can	can	AUX
hjic-918	117	24	they	they	PRON
hjic-918	117	25	provide	provide	VERB
hjic-918	117	26	sufficiently	sufficiently	ADV
hjic-918	117	27	reliable	reliable	ADJ
hjic-918	117	28	inputs	input	NOUN
hjic-918	117	29	for	for	ADP
hjic-918	117	30	autonomous	autonomous	ADJ
hjic-918	117	31	driving	driving	NOUN
hjic-918	117	32	.	.	PUNCT
hjic-918	118	1	this	this	PRON
hjic-918	118	2	creates	create	VERB
hjic-918	118	3	the	the	DET
hjic-918	118	4	need	need	NOUN
hjic-918	118	5	for	for	ADP
hjic-918	118	6	more	more	ADV
hjic-918	118	7	reliable	reliable	ADJ
hjic-918	118	8	algorithms	algorithm	NOUN
hjic-918	118	9	,	,	PUNCT
hjic-918	118	10	which	which	PRON
hjic-918	118	11	are	be	AUX
hjic-918	118	12	normally	normally	ADV
hjic-918	118	13	more	more	ADV
hjic-918	118	14	complex	complex	ADJ
hjic-918	118	15	and	and	CCONJ
hjic-918	118	16	require	require	VERB
hjic-918	118	17	more	more	ADJ
hjic-918	118	18	computational	computational	ADJ
hjic-918	118	19	power	power	NOUN
hjic-918	118	20	.	.	PUNCT
hjic-918	119	1	3.2	3.2	NUM
hjic-918	119	2	linear	linear	ADJ
hjic-918	119	3	filtering	filtering	NOUN
hjic-918	119	4	:	:	PUNCT
hjic-918	119	5	the	the	DET
hjic-918	119	6	kalman	kalman	PROPN
hjic-918	119	7	filter	filter	VERB
hjic-918	119	8	the	the	DET
hjic-918	119	9	kalman	kalman	PROPN
hjic-918	119	10	filter	filter	NOUN
hjic-918	119	11	is	be	AUX
hjic-918	119	12	a	a	DET
hjic-918	119	13	useful	useful	ADJ
hjic-918	119	14	engineering	engineering	NOUN
hjic-918	119	15	tool	tool	NOUN
hjic-918	119	16	in	in	ADP
hjic-918	119	17	many	many	ADJ
hjic-918	119	18	industries	industry	NOUN
hjic-918	119	19	and	and	CCONJ
hjic-918	119	20	control	control	NOUN
hjic-918	119	21	applications	application	NOUN
hjic-918	119	22	ranging	range	VERB
hjic-918	119	23	from	from	ADP
hjic-918	119	24	robotics	robotic	NOUN
hjic-918	119	25	,	,	PUNCT
hjic-918	119	26	automotive	automotive	ADJ
hjic-918	119	27	,	,	PUNCT
hjic-918	119	28	plant	plant	NOUN
hjic-918	119	29	control	control	NOUN
hjic-918	119	30	,	,	PUNCT
hjic-918	119	31	aircraft	aircraft	NOUN
hjic-918	119	32	tracking	tracking	NOUN
hjic-918	119	33	and	and	CCONJ
hjic-918	119	34	navigation	navigation	NOUN
hjic-918	119	35	.	.	PUNCT
hjic-918	120	1	in	in	ADP
hjic-918	120	2	general	general	ADJ
hjic-918	120	3	,	,	PUNCT
hjic-918	120	4	they	they	PRON
hjic-918	120	5	are	be	AUX
hjic-918	120	6	relatively	relatively	ADV
hjic-918	120	7	easy	easy	ADJ
hjic-918	120	8	to	to	PART
hjic-918	120	9	design	design	VERB
hjic-918	120	10	and	and	CCONJ
hjic-918	120	11	code	code	NOUN
hjic-918	120	12	with	with	ADP
hjic-918	120	13	an	an	DET
hjic-918	120	14	optimal	optimal	ADJ
hjic-918	120	15	degree	degree	NOUN
hjic-918	120	16	of	of	ADP
hjic-918	120	17	estimation	estimation	NOUN
hjic-918	120	18	accuracy	accuracy	NOUN
hjic-918	120	19	for	for	ADP
hjic-918	120	20	linear	linear	PROPN
hjic-918	120	21	systems	system	NOUN
hjic-918	120	22	with	with	ADP
hjic-918	120	23	gaussian	gaussian	ADJ
hjic-918	120	24	noise	noise	NOUN
hjic-918	120	25	.	.	PUNCT
hjic-918	121	1	let	let	VERB
hjic-918	121	2	us	we	PRON
hjic-918	121	3	describe	describe	VERB
hjic-918	121	4	a	a	DET
hjic-918	121	5	linear	linear	ADJ
hjic-918	121	6	system	system	NOUN
hjic-918	121	7	with	with	ADP
hjic-918	121	8	the	the	DET
hjic-918	121	9	following	follow	VERB
hjic-918	121	10	dishungarian	dishungarian	ADJ
hjic-918	121	11	journal	journal	NOUN
hjic-918	121	12	of	of	ADP
hjic-918	121	13	industry	industry	NOUN
hjic-918	121	14	and	and	CCONJ
hjic-918	121	15	chemistry	chemistry	NOUN
hjic-918	121	16	challenges	challenge	NOUN
hjic-918	121	17	of	of	ADP
hjic-918	121	18	localization	localization	NOUN
hjic-918	121	19	algorithms	algorithm	NOUN
hjic-918	121	20	for	for	ADP
hjic-918	121	21	autonomous	autonomous	ADJ
hjic-918	121	22	driving	drive	VERB
hjic-918	121	23	47	47	NUM
hjic-918	121	24	crete	crete	ADJ
hjic-918	121	25	state	state	NOUN
hjic-918	121	26	-	-	PUNCT
hjic-918	121	27	space	space	NOUN
hjic-918	121	28	model	model	NOUN
hjic-918	121	29	equations	equation	NOUN
hjic-918	121	30	:	:	PUNCT
hjic-918	121	31	xk	xk	PROPN
hjic-918	121	32	=	=	PUNCT
hjic-918	121	33	ak−1xk−1	ak−1xk−1	PROPN
hjic-918	121	34	+	+	NOUN
hjic-918	121	35	bk−1uk−1	bk−1uk−1	ADV
hjic-918	121	36	+	+	CCONJ
hjic-918	121	37	wk−1	wk−1	PROPN
hjic-918	121	38	yk	yk	NOUN
hjic-918	121	39	=	=	PROPN
hjic-918	121	40	ckxk	ckxk	PROPN
hjic-918	121	41	+	+	CCONJ
hjic-918	121	42	vk	vk	PROPN
hjic-918	121	43	(	(	PUNCT
hjic-918	121	44	1	1	NUM
hjic-918	121	45	)	)	PUNCT
hjic-918	121	46	where	where	SCONJ
hjic-918	121	47	k	k	PROPN
hjic-918	121	48	in	in	ADP
hjic-918	121	49	subscript	subscript	NOUN
hjic-918	121	50	refers	refer	VERB
hjic-918	121	51	to	to	ADP
hjic-918	121	52	states	state	NOUN
hjic-918	121	53	and	and	CCONJ
hjic-918	121	54	measurements	measurement	NOUN
hjic-918	121	55	at	at	ADP
hjic-918	121	56	each	each	DET
hjic-918	121	57	discrete	discrete	ADJ
hjic-918	121	58	time	time	NOUN
hjic-918	121	59	instant	instant	NOUN
hjic-918	121	60	and	and	CCONJ
hjic-918	121	61	k	k	NOUN
hjic-918	121	62	−	−	PROPN
hjic-918	121	63	1	1	NUM
hjic-918	121	64	in	in	ADP
hjic-918	121	65	subscript	subscript	NOUN
hjic-918	121	66	to	to	ADP
hjic-918	121	67	those	those	PRON
hjic-918	121	68	at	at	ADP
hjic-918	121	69	the	the	DET
hjic-918	121	70	previous	previous	ADJ
hjic-918	121	71	time	time	NOUN
hjic-918	121	72	instant	instant	NOUN
hjic-918	121	73	,	,	PUNCT
hjic-918	121	74	xk	xk	PROPN
hjic-918	121	75	denotes	denote	VERB
hjic-918	121	76	the	the	DET
hjic-918	121	77	vector	vector	NOUN
hjic-918	121	78	of	of	ADP
hjic-918	121	79	the	the	DET
hjic-918	121	80	state	state	NOUN
hjic-918	121	81	variable	variable	NOUN
hjic-918	121	82	,	,	PUNCT
hjic-918	121	83	uk	uk	PROPN
hjic-918	121	84	stands	stand	VERB
hjic-918	121	85	for	for	ADP
hjic-918	121	86	the	the	DET
hjic-918	121	87	input	input	NOUN
hjic-918	121	88	or	or	CCONJ
hjic-918	121	89	control	control	NOUN
hjic-918	121	90	vector	vector	NOUN
hjic-918	121	91	,	,	PUNCT
hjic-918	121	92	yk	yk	PROPN
hjic-918	121	93	represents	represent	VERB
hjic-918	121	94	the	the	DET
hjic-918	121	95	output	output	NOUN
hjic-918	121	96	vector	vector	NOUN
hjic-918	121	97	,	,	PUNCT
hjic-918	121	98	ak	ak	PROPN
hjic-918	121	99	refers	refer	VERB
hjic-918	121	100	to	to	ADP
hjic-918	121	101	the	the	DET
hjic-918	121	102	system	system	NOUN
hjic-918	121	103	matrix	matrix	NOUN
hjic-918	121	104	,	,	PUNCT
hjic-918	121	105	bk	bk	PROPN
hjic-918	121	106	and	and	CCONJ
hjic-918	121	107	ck	ck	PROPN
hjic-918	121	108	denote	denote	VERB
hjic-918	121	109	the	the	DET
hjic-918	121	110	input	input	NOUN
hjic-918	121	111	and	and	CCONJ
hjic-918	121	112	output	output	NOUN
hjic-918	121	113	matrices	matrix	NOUN
hjic-918	121	114	,	,	PUNCT
hjic-918	121	115	wk	wk	X
hjic-918	121	116	and	and	CCONJ
hjic-918	121	117	vk	vk	PROPN
hjic-918	121	118	stand	stand	VERB
hjic-918	121	119	for	for	ADP
hjic-918	121	120	the	the	DET
hjic-918	121	121	process	process	NOUN
hjic-918	121	122	and	and	CCONJ
hjic-918	121	123	measurement	measurement	NOUN
hjic-918	121	124	noise	noise	NOUN
hjic-918	121	125	,	,	PUNCT
hjic-918	121	126	respectively	respectively	ADV
hjic-918	121	127	,	,	PUNCT
hjic-918	121	128	which	which	PRON
hjic-918	121	129	are	be	AUX
hjic-918	121	130	white	white	ADJ
hjic-918	121	131	with	with	ADP
hjic-918	121	132	gaussian	gaussian	ADJ
hjic-918	121	133	distribution	distribution	NOUN
hjic-918	121	134	and	and	CCONJ
hjic-918	121	135	zero	zero	NUM
hjic-918	121	136	mean	mean	NOUN
hjic-918	121	137	,	,	PUNCT
hjic-918	121	138	and	and	CCONJ
hjic-918	121	139	rk	rk	PROPN
hjic-918	121	140	and	and	CCONJ
hjic-918	121	141	qk	qk	PROPN
hjic-918	121	142	are	be	AUX
hjic-918	121	143	known	know	VERB
hjic-918	121	144	covariance	covariance	NOUN
hjic-918	121	145	matrices	matrix	NOUN
hjic-918	121	146	.	.	PUNCT
hjic-918	122	1	wk	wk	NOUN
hjic-918	122	2	∼	∼	NOUN
hjic-918	122	3	(	(	PUNCT
hjic-918	122	4	0	0	NUM
hjic-918	122	5	,	,	PUNCT
hjic-918	122	6	rk	rk	NOUN
hjic-918	122	7	)	)	PUNCT
hjic-918	122	8	vk	vk	VERB
hjic-918	122	9	∼	∼	NOUN
hjic-918	122	10	(	(	PUNCT
hjic-918	122	11	0	0	NUM
hjic-918	122	12	,	,	PUNCT
hjic-918	122	13	qk	qk	NOUN
hjic-918	122	14	)	)	PUNCT
hjic-918	122	15	e	e	PROPN
hjic-918	122	16	[	[	PUNCT
hjic-918	122	17	wkw	wkw	PROPN
hjic-918	122	18	t	t	PROPN
hjic-918	122	19	j	j	PROPN
hjic-918	122	20	]	]	X
hjic-918	123	1	=	=	SYM
hjic-918	124	1	qkδk−j	qkδk−j	NUM
hjic-918	124	2	e	e	X
hjic-918	124	3	[	[	PUNCT
hjic-918	124	4	vkv	vkv	NOUN
hjic-918	124	5	t	t	PROPN
hjic-918	124	6	j	j	PROPN
hjic-918	124	7	]	]	X
hjic-918	125	1	=	=	PUNCT
hjic-918	125	2	rkδk−j	rkδk−j	NOUN
hjic-918	125	3	e	e	X
hjic-918	125	4	[	[	PUNCT
hjic-918	125	5	wvtj	wvtj	X
hjic-918	125	6	]	]	PUNCT
hjic-918	125	7	=	=	SYM
hjic-918	125	8	0	0	PUNCT
hjic-918	125	9	(	(	PUNCT
hjic-918	125	10	2	2	NUM
hjic-918	125	11	)	)	PUNCT
hjic-918	125	12	where	where	SCONJ
hjic-918	125	13	δk−j	δk−j	NOUN
hjic-918	125	14	is	be	AUX
hjic-918	125	15	the	the	DET
hjic-918	125	16	kronecker	kronecker	NOUN
hjic-918	125	17	delta	delta	NOUN
hjic-918	125	18	function	function	NOUN
hjic-918	125	19	(	(	PUNCT
hjic-918	125	20	δk−j	δk−j	NOUN
hjic-918	125	21	=	=	SYM
hjic-918	125	22	1	1	NUM
hjic-918	125	23	,	,	PUNCT
hjic-918	125	24	if	if	SCONJ
hjic-918	125	25	k	k	PROPN
hjic-918	125	26	=	=	SYM
hjic-918	125	27	j	j	PROPN
hjic-918	125	28	and	and	CCONJ
hjic-918	125	29	δk−j	δk−j	PROPN
hjic-918	125	30	=	=	SYM
hjic-918	125	31	0	0	NUM
hjic-918	125	32	,	,	PUNCT
hjic-918	125	33	if	if	SCONJ
hjic-918	125	34	k	k	PROPN
hjic-918	125	35	6=	6=	PROPN
hjic-918	125	36	j	j	PROPN
hjic-918	125	37	)	)	PUNCT
hjic-918	125	38	.	.	PUNCT
hjic-918	126	1	the	the	DET
hjic-918	126	2	aim	aim	NOUN
hjic-918	126	3	is	be	AUX
hjic-918	126	4	to	to	PART
hjic-918	126	5	estimate	estimate	VERB
hjic-918	126	6	the	the	DET
hjic-918	126	7	system	system	NOUN
hjic-918	126	8	state	state	NOUN
hjic-918	126	9	xk	xk	PROPN
hjic-918	126	10	by	by	ADP
hjic-918	126	11	knowing	know	VERB
hjic-918	126	12	the	the	DET
hjic-918	126	13	system	system	NOUN
hjic-918	126	14	dynamics	dynamic	NOUN
hjic-918	126	15	and	and	CCONJ
hjic-918	126	16	the	the	DET
hjic-918	126	17	noisy	noisy	ADJ
hjic-918	126	18	measurements	measurement	NOUN
hjic-918	126	19	yk	yk	PROPN
hjic-918	126	20	.	.	PUNCT
hjic-918	127	1	the	the	DET
hjic-918	127	2	available	available	ADJ
hjic-918	127	3	information	information	NOUN
hjic-918	127	4	for	for	ADP
hjic-918	127	5	the	the	DET
hjic-918	127	6	state	state	NOUN
hjic-918	127	7	estimation	estimation	NOUN
hjic-918	127	8	always	always	ADV
hjic-918	127	9	depends	depend	VERB
hjic-918	127	10	on	on	ADP
hjic-918	127	11	the	the	DET
hjic-918	127	12	actual	actual	ADJ
hjic-918	127	13	problem	problem	NOUN
hjic-918	127	14	at	at	ADP
hjic-918	127	15	hand	hand	NOUN
hjic-918	127	16	.	.	PUNCT
hjic-918	128	1	if	if	SCONJ
hjic-918	128	2	all	all	DET
hjic-918	128	3	measurements	measurement	NOUN
hjic-918	128	4	are	be	AUX
hjic-918	128	5	up	up	ADP
hjic-918	128	6	to	to	ADP
hjic-918	128	7	date	date	NOUN
hjic-918	128	8	and	and	CCONJ
hjic-918	128	9	accessible	accessible	ADJ
hjic-918	128	10	,	,	PUNCT
hjic-918	128	11	including	include	VERB
hjic-918	128	12	kth	kth	PROPN
hjic-918	128	13	,	,	PUNCT
hjic-918	128	14	then	then	ADV
hjic-918	128	15	a	a	DET
hjic-918	128	16	posteriori	posteriori	NOUN
hjic-918	128	17	estimation	estimation	NOUN
hjic-918	128	18	can	can	AUX
hjic-918	128	19	be	be	AUX
hjic-918	128	20	computed	compute	VERB
hjic-918	128	21	,	,	PUNCT
hjic-918	128	22	which	which	PRON
hjic-918	128	23	is	be	AUX
hjic-918	128	24	denoted	denote	VERB
hjic-918	128	25	by	by	ADP
hjic-918	128	26	x̂+k	x̂+k	PROPN
hjic-918	128	27	.	.	PUNCT
hjic-918	129	1	the	the	DET
hjic-918	129	2	meaning	meaning	NOUN
hjic-918	129	3	of	of	ADP
hjic-918	129	4	the	the	DET
hjic-918	129	5	“	"	PUNCT
hjic-918	129	6	+	+	ADJ
hjic-918	129	7	”	"	PUNCT
hjic-918	129	8	sign	sign	NOUN
hjic-918	129	9	in	in	ADP
hjic-918	129	10	superscript	superscript	PROPN
hjic-918	129	11	means	mean	VERB
hjic-918	129	12	the	the	DET
hjic-918	129	13	estimation	estimation	NOUN
hjic-918	129	14	is	be	AUX
hjic-918	129	15	an	an	DET
hjic-918	129	16	a	a	DET
hjic-918	129	17	posteriori	posteriori	NOUN
hjic-918	129	18	estimation	estimation	NOUN
hjic-918	129	19	.	.	PUNCT
hjic-918	130	1	the	the	DET
hjic-918	130	2	best	good	ADJ
hjic-918	130	3	way	way	NOUN
hjic-918	130	4	to	to	PART
hjic-918	130	5	estimate	estimate	VERB
hjic-918	130	6	the	the	DET
hjic-918	130	7	a	a	DET
hjic-918	130	8	posteriori	posteriori	NOUN
hjic-918	130	9	estimation	estimation	NOUN
hjic-918	130	10	is	be	AUX
hjic-918	130	11	by	by	ADP
hjic-918	130	12	computing	compute	VERB
hjic-918	130	13	the	the	DET
hjic-918	130	14	expected	expect	VERB
hjic-918	130	15	value	value	NOUN
hjic-918	130	16	of	of	ADP
hjic-918	130	17	xk	xk	PROPN
hjic-918	130	18	conditioned	condition	VERB
hjic-918	130	19	to	to	ADP
hjic-918	130	20	all	all	DET
hjic-918	130	21	measurements	measurement	NOUN
hjic-918	130	22	up	up	ADP
hjic-918	130	23	to	to	ADP
hjic-918	130	24	now	now	ADV
hjic-918	130	25	,	,	PUNCT
hjic-918	130	26	including	include	VERB
hjic-918	130	27	k	k	PROPN
hjic-918	130	28	as	as	ADV
hjic-918	130	29	well	well	ADV
hjic-918	130	30	.	.	PUNCT
hjic-918	131	1	x̂+k	x̂+k	PROPN
hjic-918	132	1	=	=	PUNCT
hjic-918	132	2	e	e	X
hjic-918	133	1	[	[	X
hjic-918	133	2	xk|y1	xk|y1	PROPN
hjic-918	133	3	,	,	PUNCT
hjic-918	133	4	y2	y2	PROPN
hjic-918	133	5	,	,	PUNCT
hjic-918	133	6	.	.	PUNCT
hjic-918	133	7	.	.	PUNCT
hjic-918	134	1	.	.	PUNCT
hjic-918	135	1	,	,	PUNCT
hjic-918	135	2	yk	yk	PROPN
hjic-918	135	3	]	]	X
hjic-918	135	4	(	(	PUNCT
hjic-918	135	5	3	3	X
hjic-918	135	6	)	)	PUNCT
hjic-918	135	7	if	if	SCONJ
hjic-918	135	8	all	all	DET
hjic-918	135	9	measurements	measurement	NOUN
hjic-918	135	10	,	,	PUNCT
hjic-918	135	11	apart	apart	ADV
hjic-918	135	12	from	from	ADP
hjic-918	135	13	k	k	PROPN
hjic-918	135	14	,	,	PUNCT
hjic-918	135	15	are	be	AUX
hjic-918	135	16	accessible	accessible	ADJ
hjic-918	135	17	,	,	PUNCT
hjic-918	135	18	then	then	ADV
hjic-918	135	19	the	the	DET
hjic-918	135	20	a	a	DET
hjic-918	135	21	priori	priori	ADJ
hjic-918	135	22	estimate	estimate	NOUN
hjic-918	135	23	can	can	AUX
hjic-918	135	24	be	be	AUX
hjic-918	135	25	computed	compute	VERB
hjic-918	135	26	,	,	PUNCT
hjic-918	135	27	denoted	denote	VERB
hjic-918	135	28	by	by	ADP
hjic-918	135	29	x̂−k	x̂−k	PROPN
hjic-918	135	30	,	,	PUNCT
hjic-918	135	31	where	where	SCONJ
hjic-918	135	32	the	the	DET
hjic-918	135	33	“	"	PUNCT
hjic-918	135	34	−	−	NOUN
hjic-918	135	35	”	"	PUNCT
hjic-918	135	36	sign	sign	NOUN
hjic-918	135	37	in	in	ADP
hjic-918	135	38	superscript	superscript	PROPN
hjic-918	135	39	denotes	denote	NOUN
hjic-918	135	40	the	the	DET
hjic-918	135	41	a	a	DET
hjic-918	135	42	priori	priori	ADJ
hjic-918	135	43	estimate	estimate	NOUN
hjic-918	135	44	.	.	PUNCT
hjic-918	136	1	the	the	DET
hjic-918	136	2	best	good	ADJ
hjic-918	136	3	way	way	NOUN
hjic-918	136	4	to	to	PART
hjic-918	136	5	estimate	estimate	VERB
hjic-918	136	6	the	the	DET
hjic-918	136	7	a	a	DET
hjic-918	136	8	priori	priori	ADJ
hjic-918	136	9	state	state	NOUN
hjic-918	136	10	estimate	estimate	NOUN
hjic-918	136	11	is	be	AUX
hjic-918	136	12	if	if	SCONJ
hjic-918	136	13	the	the	DET
hjic-918	136	14	expected	expect	VERB
hjic-918	136	15	value	value	NOUN
hjic-918	136	16	of	of	ADP
hjic-918	136	17	xk	xk	PROPN
hjic-918	136	18	conditioned	condition	VERB
hjic-918	136	19	to	to	ADP
hjic-918	136	20	all	all	DET
hjic-918	136	21	measurements	measurement	NOUN
hjic-918	136	22	up	up	ADP
hjic-918	136	23	to	to	ADP
hjic-918	136	24	now	now	ADV
hjic-918	136	25	,	,	PUNCT
hjic-918	136	26	excluding	exclude	VERB
hjic-918	136	27	k	k	NOUN
hjic-918	136	28	,	,	PUNCT
hjic-918	136	29	is	be	AUX
hjic-918	136	30	computed	compute	VERB
hjic-918	136	31	:	:	PUNCT
hjic-918	136	32	x̂−k	x̂−k	X
hjic-918	136	33	=	=	PUNCT
hjic-918	136	34	e	e	PROPN
hjic-918	137	1	[	[	X
hjic-918	137	2	xk|y1	xk|y1	PROPN
hjic-918	137	3	,	,	PUNCT
hjic-918	137	4	y2	y2	PROPN
hjic-918	137	5	,	,	PUNCT
hjic-918	137	6	.	.	PUNCT
hjic-918	137	7	.	.	PUNCT
hjic-918	138	1	.	.	PUNCT
hjic-918	139	1	,	,	PUNCT
hjic-918	139	2	yk−1	yk−1	PROPN
hjic-918	139	3	]	]	PUNCT
hjic-918	139	4	(	(	PUNCT
hjic-918	139	5	4	4	X
hjic-918	139	6	)	)	PUNCT
hjic-918	139	7	it	it	PRON
hjic-918	139	8	is	be	AUX
hjic-918	139	9	important	important	ADJ
hjic-918	139	10	to	to	PART
hjic-918	139	11	note	note	VERB
hjic-918	139	12	that	that	SCONJ
hjic-918	139	13	x̂−k	x̂−k	PROPN
hjic-918	139	14	and	and	CCONJ
hjic-918	139	15	x̂+k	x̂+k	PROPN
hjic-918	139	16	are	be	AUX
hjic-918	139	17	estimates	estimate	NOUN
hjic-918	139	18	of	of	ADP
hjic-918	139	19	the	the	DET
hjic-918	139	20	same	same	ADJ
hjic-918	139	21	quantity	quantity	NOUN
hjic-918	139	22	,	,	PUNCT
hjic-918	139	23	before	before	SCONJ
hjic-918	139	24	and	and	CCONJ
hjic-918	139	25	after	after	SCONJ
hjic-918	139	26	the	the	DET
hjic-918	139	27	actual	actual	ADJ
hjic-918	139	28	measurement	measurement	NOUN
hjic-918	139	29	is	be	AUX
hjic-918	139	30	obtained	obtain	VERB
hjic-918	139	31	,	,	PUNCT
hjic-918	139	32	respectively	respectively	ADV
hjic-918	139	33	.	.	PUNCT
hjic-918	140	1	naturally	naturally	ADV
hjic-918	140	2	,	,	PUNCT
hjic-918	140	3	it	it	PRON
hjic-918	140	4	is	be	AUX
hjic-918	140	5	expected	expect	VERB
hjic-918	140	6	that	that	SCONJ
hjic-918	140	7	x̂+k	x̂+k	PROPN
hjic-918	140	8	is	be	AUX
hjic-918	140	9	a	a	DET
hjic-918	140	10	more	more	ADV
hjic-918	140	11	accurate	accurate	ADJ
hjic-918	140	12	estimate	estimate	NOUN
hjic-918	140	13	as	as	SCONJ
hjic-918	140	14	more	more	ADJ
hjic-918	140	15	information	information	NOUN
hjic-918	140	16	is	be	AUX
hjic-918	140	17	available	available	ADJ
hjic-918	140	18	.	.	PUNCT
hjic-918	141	1	at	at	ADP
hjic-918	141	2	the	the	DET
hjic-918	141	3	beginning	beginning	NOUN
hjic-918	141	4	of	of	ADP
hjic-918	141	5	the	the	DET
hjic-918	141	6	estimation	estimation	NOUN
hjic-918	141	7	process	process	NOUN
hjic-918	141	8	,	,	PUNCT
hjic-918	141	9	the	the	DET
hjic-918	141	10	first	first	ADJ
hjic-918	141	11	measurement	measurement	NOUN
hjic-918	141	12	is	be	AUX
hjic-918	141	13	obtained	obtain	VERB
hjic-918	141	14	at	at	ADP
hjic-918	141	15	k	k	PROPN
hjic-918	141	16	=	=	SYM
hjic-918	141	17	1	1	NUM
hjic-918	141	18	,	,	PUNCT
hjic-918	141	19	therefore	therefore	ADV
hjic-918	141	20	,	,	PUNCT
hjic-918	141	21	the	the	DET
hjic-918	141	22	estimate	estimate	NOUN
hjic-918	141	23	of	of	ADP
hjic-918	141	24	x̂+0	x̂+0	PROPN
hjic-918	141	25	(	(	PUNCT
hjic-918	141	26	k	k	NOUN
hjic-918	141	27	=	=	NOUN
hjic-918	141	28	0	0	NUM
hjic-918	141	29	)	)	PUNCT
hjic-918	141	30	is	be	AUX
hjic-918	141	31	given	give	VERB
hjic-918	141	32	by	by	ADP
hjic-918	141	33	computing	compute	VERB
hjic-918	141	34	the	the	DET
hjic-918	141	35	expected	expect	VERB
hjic-918	141	36	value	value	NOUN
hjic-918	141	37	of	of	ADP
hjic-918	141	38	x0	x0	PROPN
hjic-918	141	39	:	:	PUNCT
hjic-918	141	40	x̂+0	x̂+0	X
hjic-918	142	1	=	=	PUNCT
hjic-918	142	2	e	e	X
hjic-918	143	1	[	[	X
hjic-918	143	2	x0	x0	X
hjic-918	143	3	]	]	X
hjic-918	143	4	(	(	PUNCT
hjic-918	143	5	5	5	X
hjic-918	143	6	)	)	PUNCT
hjic-918	143	7	estimation	estimation	NOUN
hjic-918	143	8	of	of	ADP
hjic-918	143	9	the	the	DET
hjic-918	143	10	error	error	NOUN
hjic-918	143	11	covariance	covariance	NOUN
hjic-918	143	12	is	be	AUX
hjic-918	143	13	denoted	denote	VERB
hjic-918	143	14	by	by	ADP
hjic-918	143	15	pk	pk	NOUN
hjic-918	143	16	,	,	PUNCT
hjic-918	143	17	therefore	therefore	ADV
hjic-918	143	18	,	,	PUNCT
hjic-918	143	19	p−	p−	PROPN
hjic-918	143	20	k	k	NOUN
hjic-918	143	21	represents	represent	VERB
hjic-918	143	22	the	the	DET
hjic-918	143	23	estimation	estimation	NOUN
hjic-918	143	24	of	of	ADP
hjic-918	143	25	the	the	DET
hjic-918	143	26	error	error	NOUN
hjic-918	143	27	covariance	covariance	NOUN
hjic-918	143	28	of	of	ADP
hjic-918	143	29	the	the	DET
hjic-918	143	30	a	a	DET
hjic-918	143	31	priori	priori	ADJ
hjic-918	143	32	estimate	estimate	NOUN
hjic-918	143	33	x̂−k	x̂−k	PROPN
hjic-918	144	1	and	and	CCONJ
hjic-918	144	2	p+	p+	PROPN
hjic-918	144	3	k	k	PROPN
hjic-918	144	4	stands	stand	VERB
hjic-918	144	5	for	for	ADP
hjic-918	144	6	the	the	DET
hjic-918	144	7	estimation	estimation	NOUN
hjic-918	144	8	of	of	ADP
hjic-918	144	9	the	the	DET
hjic-918	144	10	error	error	NOUN
hjic-918	144	11	covariance	covariance	NOUN
hjic-918	144	12	of	of	ADP
hjic-918	144	13	the	the	DET
hjic-918	144	14	a	a	DET
hjic-918	144	15	posteriori	posteriori	NOUN
hjic-918	144	16	estimation	estimation	NOUN
hjic-918	144	17	x̂+k	x̂+k	PROPN
hjic-918	144	18	:	:	PUNCT
hjic-918	145	1	p−	p−	X
hjic-918	145	2	k	k	NOUN
hjic-918	145	3	=	=	PUNCT
hjic-918	145	4	e	e	X
hjic-918	146	1	[	[	X
hjic-918	146	2	(	(	PUNCT
hjic-918	146	3	xk	xk	INTJ
hjic-918	146	4	−	−	PROPN
hjic-918	146	5	x̂−k	x̂−k	PROPN
hjic-918	146	6	)	)	PUNCT
hjic-918	147	1	(	(	PUNCT
hjic-918	147	2	xk	xk	INTJ
hjic-918	147	3	−	−	PROPN
hjic-918	147	4	x̂−k	x̂−k	PROPN
hjic-918	147	5	)	)	PUNCT
hjic-918	147	6	t	t	PROPN
hjic-918	147	7	]	]	PUNCT
hjic-918	147	8	p+	p+	PROPN
hjic-918	147	9	k	k	NOUN
hjic-918	147	10	=	=	SYM
hjic-918	147	11	e	e	X
hjic-918	148	1	[	[	X
hjic-918	148	2	(	(	PUNCT
hjic-918	148	3	xk	xk	INTJ
hjic-918	148	4	−	−	PROPN
hjic-918	148	5	x̂+k	x̂+k	PROPN
hjic-918	148	6	)	)	PUNCT
hjic-918	149	1	(	(	PUNCT
hjic-918	149	2	xk	xk	PROPN
hjic-918	149	3	−	−	PROPN
hjic-918	150	1	x̂+k	x̂+k	PROPN
hjic-918	151	1	)	)	PUNCT
hjic-918	152	1	t	t	NOUN
hjic-918	152	2	]	]	PUNCT
hjic-918	152	3	(	(	PUNCT
hjic-918	152	4	6	6	X
hjic-918	152	5	)	)	PUNCT
hjic-918	152	6	the	the	DET
hjic-918	152	7	estimation	estimation	NOUN
hjic-918	152	8	process	process	NOUN
hjic-918	152	9	starts	start	VERB
hjic-918	152	10	by	by	ADP
hjic-918	152	11	computing	compute	VERB
hjic-918	152	12	x̂+0	x̂+0	PROPN
hjic-918	152	13	,	,	PUNCT
hjic-918	152	14	which	which	PRON
hjic-918	152	15	is	be	AUX
hjic-918	152	16	the	the	DET
hjic-918	152	17	best	well	ADV
hjic-918	152	18	available	available	ADJ
hjic-918	152	19	estimate	estimate	NOUN
hjic-918	152	20	at	at	ADP
hjic-918	152	21	this	this	DET
hjic-918	152	22	time	time	NOUN
hjic-918	152	23	instant	instant	NOUN
hjic-918	152	24	for	for	ADP
hjic-918	152	25	the	the	DET
hjic-918	152	26	value	value	NOUN
hjic-918	152	27	of	of	ADP
hjic-918	152	28	x̂+0	x̂+0	PROPN
hjic-918	152	29	.	.	PUNCT
hjic-918	153	1	if	if	SCONJ
hjic-918	153	2	x̂+0	x̂+0	PROPN
hjic-918	153	3	is	be	AUX
hjic-918	153	4	known	know	VERB
hjic-918	153	5	,	,	PUNCT
hjic-918	153	6	x̂−1	x̂−1	PROPN
hjic-918	153	7	can	can	AUX
hjic-918	153	8	be	be	AUX
hjic-918	153	9	computed	compute	VERB
hjic-918	153	10	as	as	SCONJ
hjic-918	153	11	follows	follow	VERB
hjic-918	153	12	:	:	PUNCT
hjic-918	154	1	x̂−1	x̂−1	PROPN
hjic-918	154	2	=	=	SYM
hjic-918	154	3	a0x̂	a0x̂	PROPN
hjic-918	154	4	+	+	CCONJ
hjic-918	154	5	0	0	NUM
hjic-918	155	1	+	+	ADJ
hjic-918	155	2	b0u0	b0u0	PROPN
hjic-918	155	3	(	(	PUNCT
hjic-918	155	4	7	7	NUM
hjic-918	155	5	)	)	PUNCT
hjic-918	155	6	then	then	ADV
hjic-918	155	7	the	the	DET
hjic-918	155	8	general	general	ADJ
hjic-918	155	9	form	form	NOUN
hjic-918	155	10	to	to	PART
hjic-918	155	11	compute	compute	VERB
hjic-918	155	12	x̂−k	x̂−k	PROPN
hjic-918	155	13	can	can	AUX
hjic-918	155	14	be	be	AUX
hjic-918	155	15	established	establish	VERB
hjic-918	155	16	:	:	PUNCT
hjic-918	156	1	x̂−k	x̂−k	X
hjic-918	156	2	=	=	PUNCT
hjic-918	156	3	ak−1x̂	ak−1x̂	X
hjic-918	157	1	+	+	CCONJ
hjic-918	157	2	k−1	k−1	PROPN
hjic-918	157	3	+	+	NOUN
hjic-918	157	4	bk−1uk−1	bk−1uk−1	VERB
hjic-918	157	5	(	(	PUNCT
hjic-918	157	6	8)	8)	NOUN
hjic-918	157	7	this	this	PRON
hjic-918	157	8	is	be	AUX
hjic-918	157	9	referred	refer	VERB
hjic-918	157	10	to	to	ADP
hjic-918	157	11	as	as	ADP
hjic-918	157	12	time	time	NOUN
hjic-918	157	13	update	update	NOUN
hjic-918	157	14	from	from	ADP
hjic-918	157	15	time	time	NOUN
hjic-918	157	16	instants	instant	NOUN
hjic-918	157	17	(	(	PUNCT
hjic-918	157	18	k	k	NOUN
hjic-918	157	19	−	−	PROPN
hjic-918	157	20	1	1	NUM
hjic-918	157	21	)	)	PUNCT
hjic-918	157	22	+	+	CCONJ
hjic-918	157	23	to	to	ADP
hjic-918	157	24	k−.	k−.	PROPN
hjic-918	157	25	no	no	DET
hjic-918	157	26	new	new	ADJ
hjic-918	157	27	measurement	measurement	NOUN
hjic-918	157	28	information	information	NOUN
hjic-918	157	29	is	be	AUX
hjic-918	157	30	available	available	ADJ
hjic-918	157	31	between	between	ADP
hjic-918	157	32	the	the	DET
hjic-918	157	33	two	two	NUM
hjic-918	157	34	,	,	PUNCT
hjic-918	157	35	therefore	therefore	ADV
hjic-918	157	36	,	,	PUNCT
hjic-918	157	37	the	the	DET
hjic-918	157	38	state	state	NOUN
hjic-918	157	39	estimation	estimation	NOUN
hjic-918	157	40	propagates	propagate	VERB
hjic-918	157	41	from	from	ADP
hjic-918	157	42	one	one	NUM
hjic-918	157	43	time	time	NOUN
hjic-918	157	44	instant	instant	NOUN
hjic-918	157	45	to	to	ADP
hjic-918	157	46	the	the	DET
hjic-918	157	47	other	other	ADJ
hjic-918	157	48	,	,	PUNCT
hjic-918	157	49	and	and	CCONJ
hjic-918	157	50	all	all	DET
hjic-918	157	51	state	state	NOUN
hjic-918	157	52	estimations	estimation	NOUN
hjic-918	157	53	are	be	AUX
hjic-918	157	54	based	base	VERB
hjic-918	157	55	on	on	ADP
hjic-918	157	56	knowledge	knowledge	NOUN
hjic-918	157	57	of	of	ADP
hjic-918	157	58	the	the	DET
hjic-918	157	59	system	system	NOUN
hjic-918	157	60	dynamics	dynamic	NOUN
hjic-918	157	61	.	.	PUNCT
hjic-918	158	1	the	the	DET
hjic-918	158	2	time	time	NOUN
hjic-918	158	3	update	update	NOUN
hjic-918	158	4	is	be	AUX
hjic-918	158	5	often	often	ADV
hjic-918	158	6	referred	refer	VERB
hjic-918	158	7	to	to	ADP
hjic-918	158	8	as	as	ADP
hjic-918	158	9	the	the	DET
hjic-918	158	10	prediction	prediction	NOUN
hjic-918	158	11	step	step	NOUN
hjic-918	158	12	.	.	PUNCT
hjic-918	159	1	the	the	DET
hjic-918	159	2	next	next	ADJ
hjic-918	159	3	stage	stage	NOUN
hjic-918	159	4	is	be	AUX
hjic-918	159	5	to	to	PART
hjic-918	159	6	compute	compute	VERB
hjic-918	159	7	p	p	NOUN
hjic-918	159	8	,	,	PUNCT
hjic-918	159	9	the	the	DET
hjic-918	159	10	estimation	estimation	NOUN
hjic-918	159	11	of	of	ADP
hjic-918	159	12	the	the	DET
hjic-918	159	13	error	error	NOUN
hjic-918	159	14	covariance	covariance	NOUN
hjic-918	159	15	.	.	PUNCT
hjic-918	160	1	the	the	DET
hjic-918	160	2	process	process	NOUN
hjic-918	160	3	starts	start	VERB
hjic-918	160	4	by	by	ADP
hjic-918	160	5	computing	compute	VERB
hjic-918	160	6	p+	p+	X
hjic-918	160	7	0	0	NUM
hjic-918	160	8	which	which	PRON
hjic-918	160	9	is	be	AUX
hjic-918	160	10	the	the	DET
hjic-918	160	11	error	error	NOUN
hjic-918	160	12	covariance	covariance	NOUN
hjic-918	160	13	of	of	ADP
hjic-918	160	14	x̂+0	x̂+0	PROPN
hjic-918	160	15	.	.	PUNCT
hjic-918	161	1	if	if	SCONJ
hjic-918	161	2	the	the	DET
hjic-918	161	3	initial	initial	ADJ
hjic-918	161	4	state	state	NOUN
hjic-918	161	5	is	be	AUX
hjic-918	161	6	perfectly	perfectly	ADV
hjic-918	161	7	known	know	VERB
hjic-918	161	8	,	,	PUNCT
hjic-918	161	9	then	then	ADV
hjic-918	161	10	p+	p+	VERB
hjic-918	161	11	0	0	NUM
hjic-918	161	12	=	=	SYM
hjic-918	161	13	0	0	NUM
hjic-918	161	14	;	;	PUNCT
hjic-918	161	15	if	if	SCONJ
hjic-918	161	16	no	no	DET
hjic-918	161	17	information	information	NOUN
hjic-918	161	18	is	be	AUX
hjic-918	161	19	available	available	ADJ
hjic-918	161	20	,	,	PUNCT
hjic-918	161	21	then	then	ADV
hjic-918	161	22	p+	p+	VERB
hjic-918	161	23	0	0	NUM
hjic-918	161	24	=	=	SYM
hjic-918	161	25	∞i	∞i	NUM
hjic-918	161	26	.	.	PUNCT
hjic-918	162	1	in	in	ADP
hjic-918	162	2	general	general	ADJ
hjic-918	162	3	,	,	PUNCT
hjic-918	162	4	the	the	DET
hjic-918	162	5	meaning	meaning	NOUN
hjic-918	162	6	of	of	ADP
hjic-918	162	7	p+	p+	NOUN
hjic-918	162	8	0	0	NUM
hjic-918	162	9	is	be	AUX
hjic-918	162	10	the	the	DET
hjic-918	162	11	uncertainty	uncertainty	NOUN
hjic-918	162	12	regarding	regard	VERB
hjic-918	162	13	the	the	DET
hjic-918	162	14	initial	initial	ADJ
hjic-918	162	15	estimation	estimation	NOUN
hjic-918	162	16	of	of	ADP
hjic-918	162	17	x0	x0	PROPN
hjic-918	162	18	:	:	PUNCT
hjic-918	162	19	p+	p+	X
hjic-918	162	20	0	0	NUM
hjic-918	162	21	=	=	SYM
hjic-918	162	22	e	e	X
hjic-918	163	1	[	[	X
hjic-918	163	2	(	(	PUNCT
hjic-918	163	3	x0	x0	PROPN
hjic-918	163	4	−	−	PROPN
hjic-918	163	5	x̂+0	x̂+0	PROPN
hjic-918	163	6	)	)	PUNCT
hjic-918	164	1	(	(	PUNCT
hjic-918	164	2	x0	x0	PROPN
hjic-918	164	3	−	−	PROPN
hjic-918	164	4	x̂+0	x̂+0	PROPN
hjic-918	164	5	)	)	PUNCT
hjic-918	165	1	t	t	NOUN
hjic-918	165	2	]	]	PUNCT
hjic-918	165	3	(	(	PUNCT
hjic-918	165	4	9	9	X
hjic-918	165	5	)	)	PUNCT
hjic-918	165	6	if	if	SCONJ
hjic-918	165	7	p+	p+	NOUN
hjic-918	165	8	0	0	NUM
hjic-918	165	9	is	be	AUX
hjic-918	165	10	known	know	VERB
hjic-918	165	11	,	,	PUNCT
hjic-918	165	12	then	then	ADV
hjic-918	165	13	p−	p−	NOUN
hjic-918	165	14	1	1	NUM
hjic-918	165	15	can	can	AUX
hjic-918	165	16	be	be	AUX
hjic-918	165	17	computed	compute	VERB
hjic-918	165	18	as	as	SCONJ
hjic-918	165	19	follows	follow	VERB
hjic-918	165	20	:	:	PUNCT
hjic-918	165	21	p−	p−	NOUN
hjic-918	165	22	1	1	NUM
hjic-918	165	23	=	=	NOUN
hjic-918	165	24	a0p	a0p	NOUN
hjic-918	165	25	+	+	NOUN
hjic-918	165	26	0	0	NUM
hjic-918	165	27	a	a	DET
hjic-918	165	28	t	t	NOUN
hjic-918	165	29	0	0	PUNCT
hjic-918	166	1	+	+	ADJ
hjic-918	166	2	q0	q0	ADJ
hjic-918	166	3	(	(	PUNCT
hjic-918	166	4	10	10	NUM
hjic-918	166	5	)	)	PUNCT
hjic-918	166	6	based	base	VERB
hjic-918	166	7	on	on	ADP
hjic-918	166	8	the	the	DET
hjic-918	166	9	above	above	NOUN
hjic-918	166	10	,	,	PUNCT
hjic-918	166	11	the	the	DET
hjic-918	166	12	generic	generic	ADJ
hjic-918	166	13	form	form	NOUN
hjic-918	166	14	of	of	ADP
hjic-918	166	15	the	the	DET
hjic-918	166	16	time	time	NOUN
hjic-918	166	17	update	update	NOUN
hjic-918	166	18	of	of	ADP
hjic-918	166	19	p−	p−	NOUN
hjic-918	166	20	k	k	PROPN
hjic-918	166	21	can	can	AUX
hjic-918	166	22	be	be	AUX
hjic-918	166	23	stated	state	VERB
hjic-918	166	24	:	:	PUNCT
hjic-918	166	25	p−	p−	NOUN
hjic-918	166	26	k	k	NOUN
hjic-918	166	27	=	=	PUNCT
hjic-918	167	1	ak−1p	ak−1p	PROPN
hjic-918	168	1	+	+	CCONJ
hjic-918	168	2	k−1a	k−1a	PROPN
hjic-918	168	3	t	t	PROPN
hjic-918	168	4	k−1	k−1	PROPN
hjic-918	168	5	+	+	PROPN
hjic-918	168	6	qk−1	qk−1	PROPN
hjic-918	168	7	(	(	PUNCT
hjic-918	168	8	11	11	NUM
hjic-918	168	9	)	)	PUNCT
hjic-918	168	10	so	so	ADV
hjic-918	168	11	far	far	ADV
hjic-918	168	12	,	,	PUNCT
hjic-918	168	13	the	the	DET
hjic-918	168	14	time	time	NOUN
hjic-918	168	15	update	update	NOUN
hjic-918	168	16	step	step	NOUN
hjic-918	168	17	has	have	AUX
hjic-918	168	18	been	be	AUX
hjic-918	168	19	presented	present	VERB
hjic-918	168	20	,	,	PUNCT
hjic-918	168	21	which	which	PRON
hjic-918	168	22	is	be	AUX
hjic-918	168	23	based	base	VERB
hjic-918	168	24	on	on	ADP
hjic-918	168	25	the	the	DET
hjic-918	168	26	system	system	NOUN
hjic-918	168	27	dynamics	dynamic	NOUN
hjic-918	168	28	.	.	PUNCT
hjic-918	169	1	the	the	DET
hjic-918	169	2	next	next	ADJ
hjic-918	169	3	step	step	NOUN
hjic-918	169	4	is	be	AUX
hjic-918	169	5	the	the	DET
hjic-918	169	6	measurement	measurement	NOUN
hjic-918	169	7	update	update	NOUN
hjic-918	169	8	,	,	PUNCT
hjic-918	169	9	where	where	SCONJ
hjic-918	169	10	new	new	ADJ
hjic-918	169	11	information	information	NOUN
hjic-918	169	12	is	be	AUX
hjic-918	169	13	obtained	obtain	VERB
hjic-918	169	14	from	from	ADP
hjic-918	169	15	the	the	DET
hjic-918	169	16	measurements	measurement	NOUN
hjic-918	169	17	.	.	PUNCT
hjic-918	170	1	using	use	VERB
hjic-918	170	2	the	the	DET
hjic-918	170	3	logic	logic	NOUN
hjic-918	170	4	from	from	ADP
hjic-918	170	5	the	the	DET
hjic-918	170	6	method	method	NOUN
hjic-918	170	7	of	of	ADP
hjic-918	170	8	recursive	recursive	ADJ
hjic-918	170	9	least	least	ADJ
hjic-918	170	10	squares	square	NOUN
hjic-918	170	11	,	,	PUNCT
hjic-918	170	12	the	the	DET
hjic-918	170	13	availability	availability	NOUN
hjic-918	170	14	of	of	ADP
hjic-918	170	15	the	the	DET
hjic-918	170	16	measurement	measurement	NOUN
hjic-918	170	17	yk	yk	PROPN
hjic-918	170	18	changes	change	VERB
hjic-918	170	19	the	the	DET
hjic-918	170	20	value	value	NOUN
hjic-918	170	21	of	of	ADP
hjic-918	170	22	the	the	DET
hjic-918	170	23	constant	constant	ADJ
hjic-918	170	24	x	x	PUNCT
hjic-918	170	25	in	in	ADP
hjic-918	170	26	the	the	DET
hjic-918	170	27	following	following	ADJ
hjic-918	170	28	way	way	NOUN
hjic-918	170	29	:	:	PUNCT
hjic-918	170	30	kk	kk	PROPN
hjic-918	170	31	=	=	PUNCT
hjic-918	171	1	pk−1c	pk−1c	PROPN
hjic-918	171	2	t	t	X
hjic-918	171	3	k	k	X
hjic-918	171	4	(	(	PUNCT
hjic-918	171	5	ckpk−1c	ckpk−1c	NUM
hjic-918	171	6	t	t	NOUN
hjic-918	171	7	k	k	X
hjic-918	172	1	+	+	PROPN
hjic-918	172	2	rk	rk	NOUN
hjic-918	172	3	)	)	PUNCT
hjic-918	172	4	−1	−1	NOUN
hjic-918	172	5	=	=	SYM
hjic-918	172	6	pkc	pkc	PROPN
hjic-918	172	7	t	t	NOUN
hjic-918	173	1	k	k	NOUN
hjic-918	173	2	r	r	NOUN
hjic-918	173	3	−1	−1	NOUN
hjic-918	173	4	k−1	k−1	PROPN
hjic-918	173	5	x̂k	x̂k	PUNCT
hjic-918	173	6	=	=	PUNCT
hjic-918	174	1	x̂k−1	x̂k−1	PUNCT
hjic-918	175	1	+	+	X
hjic-918	175	2	kk(yk	kk(yk	NOUN
hjic-918	175	3	−	−	NOUN
hjic-918	175	4	ckx̂k−1	ckx̂k−1	NOUN
hjic-918	175	5	)	)	PUNCT
hjic-918	175	6	pk	pk	NOUN
hjic-918	175	7	=	=	SYM
hjic-918	175	8	(	(	PUNCT
hjic-918	175	9	i−kkck)pk−1(i−kkck	i−kkck)pk−1(i−kkck	NOUN
hjic-918	175	10	)	)	PUNCT
hjic-918	175	11	t	t	NOUN
hjic-918	176	1	+	+	NOUN
hjic-918	176	2	kkrkk	kkrkk	NOUN
hjic-918	176	3	t	t	PROPN
hjic-918	176	4	k	k	PROPN
hjic-918	177	1	=	=	PUNCT
hjic-918	177	2	=	=	PUNCT
hjic-918	177	3	(	(	PUNCT
hjic-918	177	4	p−1	p−1	PROPN
hjic-918	177	5	k−1+c	k−1+c	INTJ
hjic-918	177	6	t	t	PROPN
hjic-918	178	1	k	k	NOUN
hjic-918	178	2	r	r	NOUN
hjic-918	178	3	−1	−1	NOUN
hjic-918	179	1	k	k	NOUN
hjic-918	179	2	ck	ck	NOUN
hjic-918	179	3	)	)	PUNCT
hjic-918	179	4	−1	−1	NOUN
hjic-918	179	5	=	=	PUNCT
hjic-918	180	1	=	=	SYM
hjic-918	180	2	(	(	PUNCT
hjic-918	180	3	i−kkck)pk−1	i−kkck)pk−1	PROPN
hjic-918	180	4	(	(	PUNCT
hjic-918	180	5	12	12	NUM
hjic-918	180	6	)	)	PUNCT
hjic-918	180	7	48(1	48(1	NOUN
hjic-918	180	8	)	)	PUNCT
hjic-918	180	9	pp	pp	ADV
hjic-918	180	10	.	.	PUNCT
hjic-918	181	1	43–49	43–49	NUM
hjic-918	181	2	(	(	PUNCT
hjic-918	181	3	2020	2020	NUM
hjic-918	181	4	)	)	PUNCT
hjic-918	181	5	48	48	NUM
hjic-918	181	6	medve	medve	PROPN
hjic-918	181	7	és	és	PROPN
hjic-918	181	8	fodor	fodor	PROPN
hjic-918	181	9	where	where	SCONJ
hjic-918	181	10	x̂k−1	x̂k−1	PROPN
hjic-918	181	11	denotes	denote	VERB
hjic-918	181	12	the	the	DET
hjic-918	181	13	estimation	estimation	NOUN
hjic-918	181	14	and	and	CCONJ
hjic-918	181	15	pk−1	pk−1	PROPN
hjic-918	181	16	stands	stand	VERB
hjic-918	181	17	for	for	ADP
hjic-918	181	18	the	the	DET
hjic-918	181	19	the	the	DET
hjic-918	181	20	estimation	estimation	NOUN
hjic-918	181	21	of	of	ADP
hjic-918	181	22	the	the	DET
hjic-918	181	23	error	error	NOUN
hjic-918	181	24	covariance	covariance	NOUN
hjic-918	181	25	before	before	ADP
hjic-918	181	26	processing	processing	NOUN
hjic-918	181	27	measurement	measurement	NOUN
hjic-918	181	28	yk	yk	PROPN
hjic-918	181	29	,	,	PUNCT
hjic-918	181	30	therefore	therefore	ADV
hjic-918	181	31	,	,	PUNCT
hjic-918	181	32	x̂k	x̂k	PROPN
hjic-918	181	33	and	and	CCONJ
hjic-918	181	34	pk	pk	NOUN
hjic-918	181	35	refer	refer	NOUN
hjic-918	181	36	to	to	ADP
hjic-918	181	37	the	the	DET
hjic-918	181	38	same	same	ADJ
hjic-918	181	39	informaton	informaton	NOUN
hjic-918	181	40	but	but	CCONJ
hjic-918	181	41	after	after	SCONJ
hjic-918	181	42	yk	yk	PROPN
hjic-918	181	43	has	have	AUX
hjic-918	181	44	been	be	AUX
hjic-918	181	45	processed	process	VERB
hjic-918	181	46	.	.	PUNCT
hjic-918	182	1	if	if	SCONJ
hjic-918	182	2	the	the	DET
hjic-918	182	3	logic	logic	NOUN
hjic-918	182	4	of	of	ADP
hjic-918	182	5	x̂k−1	x̂k−1	PROPN
hjic-918	182	6	→	→	SYM
hjic-918	182	7	x̂−k	x̂−k	PROPN
hjic-918	182	8	and	and	CCONJ
hjic-918	182	9	x̂k	x̂k	PROPN
hjic-918	182	10	→	→	SYM
hjic-918	182	11	x̂+k	x̂+k	PROPN
hjic-918	182	12	(	(	PUNCT
hjic-918	182	13	a	a	DET
hjic-918	182	14	priori	priori	NOUN
hjic-918	182	15	and	and	CCONJ
hjic-918	182	16	a	a	DET
hjic-918	182	17	posteriori	posteriori	NOUN
hjic-918	182	18	,	,	PUNCT
hjic-918	182	19	respectively	respectively	ADV
hjic-918	182	20	)	)	PUNCT
hjic-918	182	21	is	be	AUX
hjic-918	182	22	applied	apply	VERB
hjic-918	182	23	and	and	CCONJ
hjic-918	182	24	the	the	DET
hjic-918	182	25	aforementioned	aforementioned	ADJ
hjic-918	182	26	equation	equation	NOUN
hjic-918	182	27	reformulated	reformulate	VERB
hjic-918	182	28	,	,	PUNCT
hjic-918	182	29	the	the	DET
hjic-918	182	30	a	a	DET
hjic-918	182	31	posteriori	posteriori	NOUN
hjic-918	182	32	estimation	estimation	NOUN
hjic-918	182	33	is	be	AUX
hjic-918	182	34	produced	produce	VERB
hjic-918	182	35	:	:	PUNCT
hjic-918	183	1	kk	kk	X
hjic-918	183	2	=	=	PUNCT
hjic-918	184	1	p−	p−	NOUN
hjic-918	184	2	k	k	PROPN
hjic-918	184	3	c	c	PROPN
hjic-918	184	4	t	t	PROPN
hjic-918	184	5	k	k	PROPN
hjic-918	184	6	(	(	PUNCT
hjic-918	184	7	ckp	ckp	PROPN
hjic-918	184	8	−	−	PROPN
hjic-918	185	1	k	k	PROPN
hjic-918	185	2	c	c	PROPN
hjic-918	185	3	t	t	PROPN
hjic-918	185	4	k	k	PROPN
hjic-918	186	1	+	+	PROPN
hjic-918	186	2	rk	rk	NOUN
hjic-918	186	3	)	)	PUNCT
hjic-918	186	4	−1	−1	NOUN
hjic-918	187	1	=	=	SYM
hjic-918	187	2	p+	p+	VERB
hjic-918	187	3	k	k	PROPN
hjic-918	187	4	c	c	PROPN
hjic-918	187	5	t	t	PROPN
hjic-918	188	1	k	k	NOUN
hjic-918	188	2	r	r	NOUN
hjic-918	188	3	−1	−1	NOUN
hjic-918	188	4	k	k	PROPN
hjic-918	188	5	x̂+k	x̂+k	PROPN
hjic-918	189	1	=	=	PUNCT
hjic-918	189	2	x̂−k	x̂−k	PROPN
hjic-918	190	1	+	+	ADJ
hjic-918	190	2	kk(yk−ckx̂	kk(yk−ckx̂	PROPN
hjic-918	190	3	−	−	PROPN
hjic-918	190	4	k	k	PROPN
hjic-918	190	5	)	)	PUNCT
hjic-918	190	6	p+	p+	PROPN
hjic-918	190	7	k	k	NOUN
hjic-918	190	8	=	=	PUNCT
hjic-918	190	9	(	(	PUNCT
hjic-918	190	10	i−kkck)p	i−kkck)p	PROPN
hjic-918	190	11	−	−	PROPN
hjic-918	191	1	k	k	PROPN
hjic-918	191	2	(	(	PUNCT
hjic-918	191	3	i−kkck	i−kkck	PROPN
hjic-918	191	4	)	)	PUNCT
hjic-918	191	5	t	t	PROPN
hjic-918	192	1	+	+	PROPN
hjic-918	192	2	kkrkk	kkrkk	NOUN
hjic-918	192	3	t	t	PROPN
hjic-918	192	4	k	k	NOUN
hjic-918	193	1	=	=	PUNCT
hjic-918	193	2	=	=	PUNCT
hjic-918	194	1	[	[	X
hjic-918	194	2	(	(	PUNCT
hjic-918	194	3	p−	p−	NOUN
hjic-918	194	4	k	k	NOUN
hjic-918	194	5	)	)	PUNCT
hjic-918	194	6	−1	−1	NOUN
hjic-918	195	1	+	+	NOUN
hjic-918	195	2	ct	ct	PROPN
hjic-918	195	3	k	k	NOUN
hjic-918	195	4	r	r	NOUN
hjic-918	195	5	−1	−1	NOUN
hjic-918	196	1	k	k	X
hjic-918	196	2	ck	ck	INTJ
hjic-918	196	3	]	]	X
hjic-918	196	4	−1	−1	NOUN
hjic-918	196	5	=	=	SYM
hjic-918	197	1	=	=	SYM
hjic-918	198	1	(	(	PUNCT
hjic-918	198	2	i−kkck)p	i−kkck)p	PROPN
hjic-918	198	3	−	−	PROPN
hjic-918	199	1	k	k	PROPN
hjic-918	199	2	(	(	PUNCT
hjic-918	199	3	13	13	NUM
hjic-918	199	4	)	)	PUNCT
hjic-918	199	5	these	these	PRON
hjic-918	199	6	are	be	AUX
hjic-918	199	7	the	the	DET
hjic-918	199	8	equations	equation	NOUN
hjic-918	199	9	for	for	ADP
hjic-918	199	10	the	the	DET
hjic-918	199	11	kalman	kalman	PROPN
hjic-918	199	12	filter	filter	PROPN
hjic-918	199	13	measurement	measurement	NOUN
hjic-918	199	14	update	update	NOUN
hjic-918	199	15	or	or	CCONJ
hjic-918	199	16	a	a	DET
hjic-918	199	17	posteriori	posteriori	NOUN
hjic-918	199	18	estimation	estimation	NOUN
hjic-918	199	19	.	.	PUNCT
hjic-918	200	1	the	the	DET
hjic-918	200	2	matrix	matrix	NOUN
hjic-918	200	3	kk	kk	X
hjic-918	200	4	is	be	AUX
hjic-918	200	5	often	often	ADV
hjic-918	200	6	referred	refer	VERB
hjic-918	200	7	to	to	ADP
hjic-918	200	8	as	as	SCONJ
hjic-918	200	9	the	the	DET
hjic-918	200	10	kalman	kalman	NOUN
hjic-918	200	11	gain	gain	VERB
hjic-918	200	12	.	.	PUNCT
hjic-918	201	1	by	by	ADP
hjic-918	201	2	summarising	summarise	VERB
hjic-918	201	3	the	the	DET
hjic-918	201	4	kalman	kalman	NOUN
hjic-918	201	5	filtering	filtering	NOUN
hjic-918	201	6	algorithm	algorithm	PROPN
hjic-918	201	7	,	,	PUNCT
hjic-918	201	8	after	after	ADP
hjic-918	201	9	initiation	initiation	NOUN
hjic-918	201	10	,	,	PUNCT
hjic-918	201	11	the	the	DET
hjic-918	201	12	a	a	DET
hjic-918	201	13	priori	priori	ADJ
hjic-918	201	14	estimate	estimate	NOUN
hjic-918	201	15	for	for	ADP
hjic-918	201	16	every	every	DET
hjic-918	201	17	time	time	NOUN
hjic-918	201	18	instant	instant	ADJ
hjic-918	201	19	k	k	PROPN
hjic-918	201	20	is	be	AUX
hjic-918	201	21	given	give	VERB
hjic-918	201	22	by	by	ADP
hjic-918	201	23	:	:	PUNCT
hjic-918	201	24	x̂−k	x̂−k	PROPN
hjic-918	201	25	=	=	PUNCT
hjic-918	201	26	ak−1x̂	ak−1x̂	X
hjic-918	202	1	+	+	CCONJ
hjic-918	203	1	k−1	k−1	PROPN
hjic-918	203	2	+	+	NOUN
hjic-918	203	3	bk−1uk−1	bk−1uk−1	ADV
hjic-918	203	4	p−	p−	NOUN
hjic-918	203	5	k	k	NOUN
hjic-918	203	6	=	=	PUNCT
hjic-918	203	7	ak−1p	ak−1p	PROPN
hjic-918	204	1	+	+	CCONJ
hjic-918	204	2	k−1a	k−1a	PROPN
hjic-918	204	3	t	t	PROPN
hjic-918	204	4	k−1	k−1	PROPN
hjic-918	204	5	+	+	PROPN
hjic-918	204	6	qk−1	qk−1	PROPN
hjic-918	204	7	(	(	PUNCT
hjic-918	204	8	14	14	NUM
hjic-918	204	9	)	)	PUNCT
hjic-918	204	10	and	and	CCONJ
hjic-918	204	11	the	the	DET
hjic-918	204	12	a	a	DET
hjic-918	204	13	posteriori	posteriori	NOUN
hjic-918	204	14	estimation	estimation	NOUN
hjic-918	204	15	is	be	AUX
hjic-918	204	16	given	give	VERB
hjic-918	204	17	by	by	ADP
hjic-918	204	18	:	:	PUNCT
hjic-918	204	19	kk	kk	PROPN
hjic-918	204	20	=	=	PUNCT
hjic-918	204	21	pkc	pkc	PROPN
hjic-918	204	22	t	t	NOUN
hjic-918	205	1	k	k	NOUN
hjic-918	205	2	r	r	NOUN
hjic-918	205	3	−1	−1	NOUN
hjic-918	205	4	k−1	k−1	PROPN
hjic-918	205	5	x̂+k	x̂+k	PROPN
hjic-918	206	1	=	=	PUNCT
hjic-918	206	2	x̂−k	x̂−k	PUNCT
hjic-918	207	1	+	+	PUNCT
hjic-918	207	2	kk(yk	kk(yk	PROPN
hjic-918	207	3	−	−	PROPN
hjic-918	207	4	ckx̂	ckx̂	PROPN
hjic-918	207	5	−	−	PROPN
hjic-918	207	6	k	k	PROPN
hjic-918	207	7	)	)	PUNCT
hjic-918	207	8	p+	p+	PROPN
hjic-918	207	9	k	k	NOUN
hjic-918	208	1	=	=	PUNCT
hjic-918	209	1	(	(	PUNCT
hjic-918	209	2	i	i	PRON
hjic-918	209	3	−kkck)p	−kkck)p	ADP
hjic-918	209	4	−	−	PROPN
hjic-918	210	1	k	k	X
hjic-918	210	2	(	(	PUNCT
hjic-918	210	3	15	15	NUM
hjic-918	210	4	)	)	PUNCT
hjic-918	210	5	the	the	DET
hjic-918	210	6	aforementioned	aforementioned	ADJ
hjic-918	210	7	kalman	kalman	PROPN
hjic-918	210	8	filtering	filtering	PROPN
hjic-918	210	9	algorithm	algorithm	PROPN
hjic-918	210	10	is	be	AUX
hjic-918	210	11	the	the	DET
hjic-918	210	12	optimal	optimal	ADJ
hjic-918	210	13	state	state	NOUN
hjic-918	210	14	estimator	estimator	NOUN
hjic-918	210	15	for	for	ADP
hjic-918	210	16	linear	linear	PROPN
hjic-918	210	17	systems	system	NOUN
hjic-918	210	18	with	with	ADP
hjic-918	210	19	gaussian	gaussian	ADJ
hjic-918	210	20	unimodal	unimodal	ADJ
hjic-918	210	21	noise	noise	NOUN
hjic-918	210	22	processes	process	NOUN
hjic-918	210	23	,	,	PUNCT
hjic-918	210	24	however	however	ADV
hjic-918	210	25	,	,	PUNCT
hjic-918	210	26	most	most	ADJ
hjic-918	210	27	real	real	ADJ
hjic-918	210	28	-	-	PUNCT
hjic-918	210	29	world	world	NOUN
hjic-918	210	30	systems	system	NOUN
hjic-918	210	31	are	be	AUX
hjic-918	210	32	nonlinear	nonlinear	ADJ
hjic-918	210	33	and	and	CCONJ
hjic-918	210	34	,	,	PUNCT
hjic-918	210	35	in	in	ADP
hjic-918	210	36	many	many	ADJ
hjic-918	210	37	cases	case	NOUN
hjic-918	210	38	,	,	PUNCT
hjic-918	210	39	with	with	ADP
hjic-918	210	40	multimodal	multimodal	ADJ
hjic-918	210	41	non	non	ADJ
hjic-918	210	42	-	-	ADJ
hjic-918	210	43	gaussian	gaussian	ADJ
hjic-918	210	44	noise	noise	NOUN
hjic-918	210	45	,	,	PUNCT
hjic-918	210	46	include	include	VERB
hjic-918	210	47	a	a	DET
hjic-918	210	48	probability	probability	NOUN
hjic-918	210	49	density	density	NOUN
hjic-918	210	50	function	function	NOUN
hjic-918	210	51	.	.	PUNCT
hjic-918	211	1	a	a	DET
hjic-918	211	2	number	number	NOUN
hjic-918	211	3	of	of	ADP
hjic-918	211	4	variations	variation	NOUN
hjic-918	211	5	of	of	ADP
hjic-918	211	6	kalman	kalman	NOUN
hjic-918	211	7	filters	filter	NOUN
hjic-918	211	8	developed	develop	VERB
hjic-918	211	9	by	by	ADP
hjic-918	211	10	the	the	DET
hjic-918	211	11	scientific	scientific	ADJ
hjic-918	211	12	community	community	NOUN
hjic-918	211	13	are	be	AUX
hjic-918	211	14	trying	try	VERB
hjic-918	211	15	to	to	PART
hjic-918	211	16	address	address	VERB
hjic-918	211	17	the	the	DET
hjic-918	211	18	problem	problem	NOUN
hjic-918	211	19	of	of	ADP
hjic-918	211	20	nonlinearity	nonlinearity	NOUN
hjic-918	211	21	.	.	PUNCT
hjic-918	212	1	most	most	ADJ
hjic-918	212	2	of	of	ADP
hjic-918	212	3	them	they	PRON
hjic-918	212	4	rely	rely	VERB
hjic-918	212	5	on	on	ADP
hjic-918	212	6	the	the	DET
hjic-918	212	7	basic	basic	ADJ
hjic-918	212	8	concept	concept	NOUN
hjic-918	212	9	of	of	ADP
hjic-918	212	10	kalman	kalman	NOUN
hjic-918	212	11	filters	filter	NOUN
hjic-918	212	12	using	use	VERB
hjic-918	212	13	nonlinear	nonlinear	ADJ
hjic-918	212	14	adaptations	adaptation	NOUN
hjic-918	212	15	,	,	PUNCT
hjic-918	212	16	e.g.	e.g.	ADV
hjic-918	212	17	the	the	DET
hjic-918	212	18	extended	extended	ADJ
hjic-918	212	19	kalman	kalman	NOUN
hjic-918	212	20	filter	filter	NOUN
hjic-918	212	21	which	which	PRON
hjic-918	212	22	,	,	PUNCT
hjic-918	212	23	at	at	ADP
hjic-918	212	24	its	its	PRON
hjic-918	212	25	core	core	NOUN
hjic-918	212	26	,	,	PUNCT
hjic-918	212	27	is	be	AUX
hjic-918	212	28	still	still	ADV
hjic-918	212	29	a	a	DET
hjic-918	212	30	linear	linear	ADJ
hjic-918	212	31	filter	filter	NOUN
hjic-918	212	32	.	.	PUNCT
hjic-918	213	1	in	in	ADP
hjic-918	213	2	general	general	ADJ
hjic-918	213	3	,	,	PUNCT
hjic-918	213	4	versions	version	NOUN
hjic-918	213	5	of	of	ADP
hjic-918	213	6	the	the	DET
hjic-918	213	7	nonlinear	nonlinear	PROPN
hjic-918	213	8	kalman	kalman	PROPN
hjic-918	213	9	filter	filter	NOUN
hjic-918	213	10	are	be	AUX
hjic-918	213	11	considered	consider	VERB
hjic-918	213	12	to	to	PART
hjic-918	213	13	estimate	estimate	VERB
hjic-918	213	14	accuracy	accuracy	NOUN
hjic-918	213	15	well	well	ADV
hjic-918	213	16	but	but	CCONJ
hjic-918	213	17	are	be	AUX
hjic-918	213	18	often	often	ADV
hjic-918	213	19	poor	poor	ADJ
hjic-918	213	20	compared	compare	VERB
hjic-918	213	21	with	with	ADP
hjic-918	213	22	the	the	DET
hjic-918	213	23	theoretically	theoretically	ADV
hjic-918	213	24	optimal	optimal	ADJ
hjic-918	213	25	accuracy	accuracy	NOUN
hjic-918	213	26	,	,	PUNCT
hjic-918	213	27	with	with	ADP
hjic-918	213	28	a	a	DET
hjic-918	213	29	real	real	ADJ
hjic-918	213	30	-	-	PUNCT
hjic-918	213	31	time	time	NOUN
hjic-918	213	32	computational	computational	ADJ
hjic-918	213	33	complexity	complexity	NOUN
hjic-918	213	34	in	in	ADP
hjic-918	213	35	the	the	DET
hjic-918	213	36	order	order	NOUN
hjic-918	213	37	of	of	ADP
hjic-918	213	38	d3	d3	PROPN
hjic-918	213	39	where	where	SCONJ
hjic-918	213	40	d	d	PROPN
hjic-918	213	41	denotes	denote	VERB
hjic-918	213	42	a	a	DET
hjic-918	213	43	dimension	dimension	NOUN
hjic-918	213	44	of	of	ADP
hjic-918	213	45	the	the	DET
hjic-918	213	46	state	state	NOUN
hjic-918	213	47	vector	vector	NOUN
hjic-918	214	1	[	[	X
hjic-918	214	2	9	9	NUM
hjic-918	214	3	]	]	SYM
hjic-918	214	4	.	.	PUNCT
hjic-918	215	1	3.3	3.3	NUM
hjic-918	215	2	nonlinear	nonlinear	ADJ
hjic-918	215	3	filtering	filtering	NOUN
hjic-918	215	4	:	:	PUNCT
hjic-918	215	5	the	the	DET
hjic-918	215	6	particle	particle	NOUN
hjic-918	215	7	filter	filter	NOUN
hjic-918	215	8	given	give	VERB
hjic-918	215	9	the	the	DET
hjic-918	215	10	concerns	concern	NOUN
hjic-918	215	11	about	about	ADP
hjic-918	215	12	the	the	DET
hjic-918	215	13	estimation	estimation	NOUN
hjic-918	215	14	accuracy	accuracy	NOUN
hjic-918	215	15	of	of	ADP
hjic-918	215	16	versions	version	NOUN
hjic-918	215	17	of	of	ADP
hjic-918	215	18	kalman	kalman	NOUN
hjic-918	215	19	filters	filter	NOUN
hjic-918	215	20	,	,	PUNCT
hjic-918	215	21	true	true	ADJ
hjic-918	215	22	nonlinear	nonlinear	ADJ
hjic-918	215	23	filters	filter	NOUN
hjic-918	215	24	or	or	CCONJ
hjic-918	215	25	estimators	estimator	NOUN
hjic-918	215	26	are	be	AUX
hjic-918	215	27	needed	need	VERB
hjic-918	215	28	.	.	PUNCT
hjic-918	216	1	the	the	DET
hjic-918	216	2	particle	particle	NOUN
hjic-918	216	3	filter	filter	NOUN
hjic-918	216	4	is	be	AUX
hjic-918	216	5	a	a	DET
hjic-918	216	6	statistics	statistic	NOUN
hjic-918	216	7	-	-	PUNCT
hjic-918	216	8	based	base	VERB
hjic-918	216	9	estimator	estimator	NOUN
hjic-918	216	10	where	where	SCONJ
hjic-918	216	11	at	at	ADP
hjic-918	216	12	every	every	DET
hjic-918	216	13	discrete	discrete	ADJ
hjic-918	216	14	time	time	NOUN
hjic-918	216	15	instant	instant	NOUN
hjic-918	216	16	,	,	PUNCT
hjic-918	216	17	a	a	DET
hjic-918	216	18	number	number	NOUN
hjic-918	216	19	of	of	ADP
hjic-918	216	20	state	state	NOUN
hjic-918	216	21	vectors	vector	NOUN
hjic-918	216	22	,	,	PUNCT
hjic-918	216	23	referred	refer	VERB
hjic-918	216	24	to	to	ADP
hjic-918	216	25	as	as	ADP
hjic-918	216	26	particles	particle	NOUN
hjic-918	216	27	,	,	PUNCT
hjic-918	216	28	are	be	AUX
hjic-918	216	29	assessed	assess	VERB
hjic-918	216	30	with	with	ADP
hjic-918	216	31	regard	regard	NOUN
hjic-918	216	32	to	to	ADP
hjic-918	216	33	how	how	SCONJ
hjic-918	216	34	likely	likely	ADJ
hjic-918	216	35	they	they	PRON
hjic-918	216	36	are	be	AUX
hjic-918	216	37	to	to	PART
hjic-918	216	38	be	be	AUX
hjic-918	216	39	the	the	DET
hjic-918	216	40	closest	close	ADJ
hjic-918	216	41	to	to	ADP
hjic-918	216	42	the	the	DET
hjic-918	216	43	actual	actual	ADJ
hjic-918	216	44	state	state	NOUN
hjic-918	216	45	.	.	PUNCT
hjic-918	217	1	the	the	DET
hjic-918	217	2	mathematical	mathematical	ADJ
hjic-918	217	3	formulation	formulation	NOUN
hjic-918	217	4	of	of	ADP
hjic-918	217	5	the	the	DET
hjic-918	217	6	aforementioned	aforementioned	ADJ
hjic-918	217	7	idea	idea	NOUN
hjic-918	217	8	is	be	AUX
hjic-918	217	9	summarized	summarize	VERB
hjic-918	217	10	in	in	ADP
hjic-918	217	11	this	this	DET
hjic-918	217	12	section	section	NOUN
hjic-918	217	13	.	.	PUNCT
hjic-918	218	1	let	let	VERB
hjic-918	218	2	us	we	PRON
hjic-918	218	3	describe	describe	VERB
hjic-918	218	4	a	a	DET
hjic-918	218	5	nonlinear	nonlinear	ADJ
hjic-918	218	6	system	system	NOUN
hjic-918	218	7	using	use	VERB
hjic-918	218	8	the	the	DET
hjic-918	218	9	following	follow	VERB
hjic-918	218	10	equations	equation	NOUN
hjic-918	218	11	:	:	PUNCT
hjic-918	218	12	xk+1	xk+1	PROPN
hjic-918	219	1	=	=	SYM
hjic-918	219	2	fk	fk	INTJ
hjic-918	219	3	(	(	PUNCT
hjic-918	219	4	xk	xk	PROPN
hjic-918	219	5	,	,	PUNCT
hjic-918	219	6	wk	wk	PROPN
hjic-918	219	7	)	)	PUNCT
hjic-918	219	8	yk	yk	PROPN
hjic-918	219	9	=	=	SYM
hjic-918	219	10	hk	hk	PROPN
hjic-918	219	11	(	(	PUNCT
hjic-918	219	12	xk	xk	PROPN
hjic-918	219	13	,	,	PUNCT
hjic-918	219	14	vk	vk	PROPN
hjic-918	219	15	)	)	PUNCT
hjic-918	219	16	(	(	PUNCT
hjic-918	219	17	16	16	NUM
hjic-918	219	18	)	)	PUNCT
hjic-918	219	19	where	where	SCONJ
hjic-918	219	20	k	k	PROPN
hjic-918	219	21	denotes	denote	NOUN
hjic-918	219	22	discrete	discrete	ADJ
hjic-918	219	23	time	time	NOUN
hjic-918	219	24	instants	instant	NOUN
hjic-918	219	25	,	,	PUNCT
hjic-918	219	26	xk	xk	PROPN
hjic-918	219	27	and	and	CCONJ
hjic-918	219	28	yk	yk	PROPN
hjic-918	219	29	represent	represent	VERB
hjic-918	219	30	the	the	DET
hjic-918	219	31	state	state	NOUN
hjic-918	219	32	and	and	CCONJ
hjic-918	219	33	measurement	measurement	NOUN
hjic-918	219	34	,	,	PUNCT
hjic-918	219	35	respectively	respectively	ADV
hjic-918	219	36	,	,	PUNCT
hjic-918	219	37	and	and	CCONJ
hjic-918	219	38	wk	wk	INTJ
hjic-918	219	39	and	and	CCONJ
hjic-918	219	40	vk	vk	NOUN
hjic-918	219	41	stand	stand	VERB
hjic-918	219	42	for	for	ADP
hjic-918	219	43	the	the	DET
hjic-918	219	44	noises	noise	NOUN
hjic-918	219	45	of	of	ADP
hjic-918	219	46	the	the	DET
hjic-918	219	47	system	system	NOUN
hjic-918	219	48	and	and	CCONJ
hjic-918	219	49	measurement	measurement	NOUN
hjic-918	219	50	,	,	PUNCT
hjic-918	219	51	respectively	respectively	ADV
hjic-918	219	52	.	.	PUNCT
hjic-918	220	1	the	the	DET
hjic-918	220	2	functions	function	NOUN
hjic-918	220	3	fk	fk	INTJ
hjic-918	220	4	(	(	PUNCT
hjic-918	220	5	·	·	PUNCT
hjic-918	220	6	)	)	PUNCT
hjic-918	220	7	and	and	CCONJ
hjic-918	220	8	hk	hk	PROPN
hjic-918	220	9	(	(	PUNCT
hjic-918	220	10	·	·	PUNCT
hjic-918	220	11	)	)	PUNCT
hjic-918	220	12	are	be	AUX
hjic-918	220	13	a	a	DET
hjic-918	220	14	time	time	NOUN
hjic-918	220	15	variant	variant	NOUN
hjic-918	220	16	nonlinear	nonlinear	ADJ
hjic-918	220	17	system	system	NOUN
hjic-918	220	18	and	and	CCONJ
hjic-918	220	19	a	a	DET
hjic-918	220	20	measurement	measurement	NOUN
hjic-918	220	21	function	function	NOUN
hjic-918	220	22	,	,	PUNCT
hjic-918	220	23	respectively	respectively	ADV
hjic-918	220	24	.	.	PUNCT
hjic-918	221	1	the	the	DET
hjic-918	221	2	noises	noise	NOUN
hjic-918	221	3	of	of	ADP
hjic-918	221	4	the	the	DET
hjic-918	221	5	system	system	NOUN
hjic-918	221	6	and	and	CCONJ
hjic-918	221	7	measurement	measurement	NOUN
hjic-918	221	8	are	be	AUX
hjic-918	221	9	assumed	assume	VERB
hjic-918	221	10	to	to	PART
hjic-918	221	11	be	be	AUX
hjic-918	221	12	white	white	ADJ
hjic-918	221	13	and	and	CCONJ
hjic-918	221	14	independent	independent	ADJ
hjic-918	221	15	from	from	ADP
hjic-918	221	16	each	each	DET
hjic-918	221	17	other	other	ADJ
hjic-918	221	18	with	with	ADP
hjic-918	221	19	known	know	VERB
hjic-918	221	20	probability	probability	NOUN
hjic-918	221	21	density	density	NOUN
hjic-918	221	22	functions	function	NOUN
hjic-918	221	23	.	.	PUNCT
hjic-918	222	1	the	the	DET
hjic-918	222	2	aim	aim	NOUN
hjic-918	222	3	of	of	ADP
hjic-918	222	4	the	the	DET
hjic-918	222	5	generic	generic	ADJ
hjic-918	222	6	bayes	bayes	PROPN
hjic-918	222	7	estimator	estimator	NOUN
hjic-918	222	8	is	be	AUX
hjic-918	222	9	to	to	PART
hjic-918	222	10	approximate	approximate	VERB
hjic-918	222	11	the	the	DET
hjic-918	222	12	conditional	conditional	ADJ
hjic-918	222	13	probability	probability	NOUN
hjic-918	222	14	density	density	NOUN
hjic-918	222	15	function	function	NOUN
hjic-918	222	16	xk	xk	PROPN
hjic-918	222	17	based	base	VERB
hjic-918	222	18	on	on	ADP
hjic-918	222	19	measurements	measurement	NOUN
hjic-918	222	20	y1	y1	PROPN
hjic-918	222	21	,	,	PUNCT
hjic-918	222	22	y2	y2	INTJ
hjic-918	222	23	,	,	PUNCT
hjic-918	222	24	.	.	PUNCT
hjic-918	222	25	.	.	PUNCT
hjic-918	223	1	.	.	PUNCT
hjic-918	224	1	,	,	PUNCT
hjic-918	224	2	yk	yk	PROPN
hjic-918	224	3	.	.	PUNCT
hjic-918	225	1	this	this	DET
hjic-918	225	2	conditional	conditional	ADJ
hjic-918	225	3	probability	probability	NOUN
hjic-918	225	4	density	density	NOUN
hjic-918	225	5	function	function	NOUN
hjic-918	225	6	is	be	AUX
hjic-918	225	7	denoted	denote	VERB
hjic-918	225	8	as	as	SCONJ
hjic-918	225	9	follows	follow	VERB
hjic-918	225	10	:	:	PUNCT
hjic-918	225	11	p	p	X
hjic-918	225	12	(	(	PUNCT
hjic-918	225	13	xk|yk	xk|yk	NOUN
hjic-918	225	14	)	)	PUNCT
hjic-918	225	15	=	=	SYM
hjic-918	225	16	xk	xk	PROPN
hjic-918	225	17	(	(	PUNCT
hjic-918	225	18	17	17	NUM
hjic-918	225	19	)	)	PUNCT
hjic-918	225	20	conditioned	condition	VERB
hjic-918	225	21	on	on	ADP
hjic-918	225	22	measurements	measurement	NOUN
hjic-918	225	23	y1	y1	PROPN
hjic-918	225	24	,	,	PUNCT
hjic-918	225	25	y2	y2	INTJ
hjic-918	225	26	,	,	PUNCT
hjic-918	225	27	.	.	PUNCT
hjic-918	225	28	.	.	PUNCT
hjic-918	226	1	.	.	PUNCT
hjic-918	227	1	,	,	PUNCT
hjic-918	227	2	yk	yk	PROPN
hjic-918	227	3	.	.	PUNCT
hjic-918	228	1	the	the	DET
hjic-918	228	2	particle	particle	NOUN
hjic-918	228	3	filter	filter	NOUN
hjic-918	228	4	is	be	AUX
hjic-918	228	5	the	the	DET
hjic-918	228	6	numeric	numeric	ADJ
hjic-918	228	7	implementation	implementation	NOUN
hjic-918	228	8	of	of	ADP
hjic-918	228	9	the	the	DET
hjic-918	228	10	bayes	bayes	PROPN
hjic-918	228	11	estimator	estimator	NOUN
hjic-918	228	12	,	,	PUNCT
hjic-918	228	13	in	in	ADP
hjic-918	228	14	the	the	DET
hjic-918	228	15	following	follow	VERB
hjic-918	228	16	section	section	NOUN
hjic-918	228	17	this	this	PRON
hjic-918	228	18	will	will	AUX
hjic-918	228	19	be	be	AUX
hjic-918	228	20	described	describe	VERB
hjic-918	228	21	.	.	PUNCT
hjic-918	229	1	at	at	ADP
hjic-918	229	2	the	the	DET
hjic-918	229	3	beginning	beginning	NOUN
hjic-918	229	4	of	of	ADP
hjic-918	229	5	the	the	DET
hjic-918	229	6	estimation	estimation	NOUN
hjic-918	229	7	,	,	PUNCT
hjic-918	229	8	it	it	PRON
hjic-918	229	9	is	be	AUX
hjic-918	229	10	assumed	assume	VERB
hjic-918	229	11	that	that	SCONJ
hjic-918	229	12	the	the	DET
hjic-918	229	13	probability	probability	NOUN
hjic-918	229	14	density	density	NOUN
hjic-918	229	15	function	function	NOUN
hjic-918	229	16	of	of	ADP
hjic-918	229	17	p(x0	p(x0	NOUN
hjic-918	229	18	)	)	PUNCT
hjic-918	229	19	is	be	AUX
hjic-918	229	20	known	know	VERB
hjic-918	229	21	,	,	PUNCT
hjic-918	229	22	then	then	ADV
hjic-918	229	23	n	n	DET
hjic-918	229	24	number	number	NOUN
hjic-918	229	25	of	of	ADP
hjic-918	229	26	state	state	NOUN
hjic-918	229	27	vectors	vector	NOUN
hjic-918	229	28	based	base	VERB
hjic-918	229	29	on	on	ADP
hjic-918	229	30	the	the	DET
hjic-918	229	31	probability	probability	NOUN
hjic-918	229	32	density	density	NOUN
hjic-918	229	33	function	function	NOUN
hjic-918	229	34	of	of	ADP
hjic-918	229	35	p(x0	p(x0	NOUN
hjic-918	229	36	)	)	PUNCT
hjic-918	229	37	are	be	AUX
hjic-918	229	38	randomly	randomly	ADV
hjic-918	229	39	generated	generate	VERB
hjic-918	229	40	.	.	PUNCT
hjic-918	230	1	these	these	DET
hjic-918	230	2	state	state	NOUN
hjic-918	230	3	vectors	vector	NOUN
hjic-918	230	4	are	be	AUX
hjic-918	230	5	the	the	DET
hjic-918	230	6	particles	particle	NOUN
hjic-918	230	7	and	and	CCONJ
hjic-918	230	8	are	be	AUX
hjic-918	230	9	denoted	denote	VERB
hjic-918	230	10	by	by	ADP
hjic-918	230	11	x+0,i	x+0,i	PROPN
hjic-918	230	12	(	(	PUNCT
hjic-918	230	13	i	i	NOUN
hjic-918	230	14	=	=	NOUN
hjic-918	230	15	1	1	NUM
hjic-918	230	16	,	,	PUNCT
hjic-918	230	17	.	.	PUNCT
hjic-918	230	18	.	.	PUNCT
hjic-918	231	1	.	.	PUNCT
hjic-918	231	2	,	,	PUNCT
hjic-918	231	3	n	n	CCONJ
hjic-918	231	4	)	)	PUNCT
hjic-918	231	5	.	.	PUNCT
hjic-918	232	1	the	the	DET
hjic-918	232	2	value	value	NOUN
hjic-918	232	3	of	of	ADP
hjic-918	232	4	n	n	NUM
hjic-918	232	5	can	can	AUX
hjic-918	232	6	be	be	AUX
hjic-918	232	7	chosen	choose	VERB
hjic-918	232	8	arbitrarily	arbitrarily	ADV
hjic-918	232	9	,	,	PUNCT
hjic-918	232	10	depending	depend	VERB
hjic-918	232	11	on	on	ADP
hjic-918	232	12	the	the	DET
hjic-918	232	13	expected	expect	VERB
hjic-918	232	14	estimation	estimation	NOUN
hjic-918	232	15	accuracy	accuracy	NOUN
hjic-918	232	16	and	and	CCONJ
hjic-918	232	17	available	available	ADJ
hjic-918	232	18	computational	computational	ADJ
hjic-918	232	19	capacity	capacity	NOUN
hjic-918	232	20	.	.	PUNCT
hjic-918	233	1	at	at	ADP
hjic-918	233	2	every	every	DET
hjic-918	233	3	k	k	NOUN
hjic-918	233	4	=	=	SYM
hjic-918	233	5	1	1	NUM
hjic-918	233	6	,	,	PUNCT
hjic-918	233	7	2	2	NUM
hjic-918	233	8	,	,	PUNCT
hjic-918	233	9	3	3	NUM
hjic-918	233	10	.	.	PUNCT
hjic-918	233	11	.	.	PUNCT
hjic-918	233	12	.	.	PUNCT
hjic-918	234	1	discrete	discrete	ADJ
hjic-918	234	2	time	time	NOUN
hjic-918	234	3	instant	instant	NOUN
hjic-918	234	4	,	,	PUNCT
hjic-918	234	5	every	every	DET
hjic-918	234	6	particle	particle	NOUN
hjic-918	234	7	is	be	AUX
hjic-918	234	8	propagated	propagate	VERB
hjic-918	234	9	to	to	ADP
hjic-918	234	10	the	the	DET
hjic-918	234	11	next	next	ADJ
hjic-918	234	12	time	time	NOUN
hjic-918	234	13	instant	instant	ADJ
hjic-918	234	14	using	use	VERB
hjic-918	234	15	process	process	NOUN
hjic-918	234	16	equations	equation	NOUN
hjic-918	234	17	fk	fk	INTJ
hjic-918	234	18	(	(	PUNCT
hjic-918	234	19	·	·	PUNCT
hjic-918	234	20	):	):	PUNCT
hjic-918	234	21	x−k	x−k	PROPN
hjic-918	234	22	,	,	PUNCT
hjic-918	234	23	i	i	PRON
hjic-918	234	24	=	=	PUNCT
hjic-918	234	25	fk−1	fk−1	PROPN
hjic-918	234	26	(	(	PUNCT
hjic-918	234	27	x+k−1,i	x+k−1,i	PROPN
hjic-918	234	28	,	,	PUNCT
hjic-918	234	29	w	w	PROPN
hjic-918	234	30	i	i	NOUN
hjic-918	234	31	k−1	k−1	PROPN
hjic-918	234	32	)	)	PUNCT
hjic-918	235	1	(	(	PUNCT
hjic-918	235	2	18	18	NUM
hjic-918	235	3	)	)	PUNCT
hjic-918	235	4	where	where	SCONJ
hjic-918	235	5	(	(	PUNCT
hjic-918	235	6	i	i	NOUN
hjic-918	235	7	=	=	NOUN
hjic-918	235	8	1	1	NUM
hjic-918	235	9	,	,	PUNCT
hjic-918	235	10	.	.	PUNCT
hjic-918	235	11	.	.	PUNCT
hjic-918	236	1	.	.	PUNCT
hjic-918	236	2	,	,	PUNCT
hjic-918	237	1	n	n	CCONJ
hjic-918	237	2	)	)	PUNCT
hjic-918	238	1	and	and	CCONJ
hjic-918	238	2	every	every	DET
hjic-918	238	3	noise	noise	NOUN
hjic-918	238	4	vector	vector	NOUN
hjic-918	238	5	wi	wi	PROPN
hjic-918	238	6	k−1	k−1	PROPN
hjic-918	238	7	is	be	AUX
hjic-918	238	8	randomly	randomly	ADV
hjic-918	238	9	generated	generate	VERB
hjic-918	238	10	based	base	VERB
hjic-918	238	11	on	on	ADP
hjic-918	238	12	the	the	DET
hjic-918	238	13	known	know	VERB
hjic-918	238	14	probability	probability	NOUN
hjic-918	238	15	density	density	NOUN
hjic-918	238	16	function	function	NOUN
hjic-918	238	17	of	of	ADP
hjic-918	238	18	wk−1	wk−1	PROPN
hjic-918	238	19	.	.	PUNCT
hjic-918	239	1	this	this	PRON
hjic-918	239	2	is	be	AUX
hjic-918	239	3	the	the	DET
hjic-918	239	4	a	a	DET
hjic-918	239	5	priori	priori	ADJ
hjic-918	239	6	estimate	estimate	NOUN
hjic-918	239	7	of	of	ADP
hjic-918	239	8	the	the	DET
hjic-918	239	9	particle	particle	NOUN
hjic-918	239	10	filter	filter	NOUN
hjic-918	239	11	.	.	PUNCT
hjic-918	240	1	subsequently	subsequently	ADV
hjic-918	240	2	,	,	PUNCT
hjic-918	240	3	at	at	ADP
hjic-918	240	4	every	every	DET
hjic-918	240	5	time	time	NOUN
hjic-918	240	6	instant	instant	ADJ
hjic-918	240	7	k	k	NOUN
hjic-918	240	8	,	,	PUNCT
hjic-918	240	9	once	once	SCONJ
hjic-918	240	10	the	the	DET
hjic-918	240	11	measurement	measurement	NOUN
hjic-918	240	12	result	result	NOUN
hjic-918	240	13	can	can	AUX
hjic-918	240	14	be	be	AUX
hjic-918	240	15	accessed	access	VERB
hjic-918	240	16	,	,	PUNCT
hjic-918	240	17	the	the	DET
hjic-918	240	18	relative	relative	ADJ
hjic-918	240	19	conditional	conditional	ADJ
hjic-918	240	20	probability	probability	NOUN
hjic-918	240	21	of	of	ADP
hjic-918	240	22	each	each	DET
hjic-918	240	23	x−k	x−k	PROPN
hjic-918	240	24	,	,	PUNCT
hjic-918	240	25	i	i	PRON
hjic-918	240	26	can	can	AUX
hjic-918	240	27	be	be	AUX
hjic-918	240	28	computed	compute	VERB
hjic-918	240	29	and	and	CCONJ
hjic-918	240	30	qi	qi	PROPN
hjic-918	240	31	=	=	SYM
hjic-918	240	32	pk	pk	PROPN
hjic-918	240	33	(	(	PUNCT
hjic-918	240	34	yk	yk	PROPN
hjic-918	240	35	∣∣∣	∣∣∣	PROPN
hjic-918	240	36	x−k	x−k	PROPN
hjic-918	240	37	,	,	PUNCT
hjic-918	240	38	i	i	NOUN
hjic-918	240	39	)	)	PUNCT
hjic-918	240	40	evaluated	evaluate	VERB
hjic-918	240	41	if	if	SCONJ
hjic-918	240	42	the	the	DET
hjic-918	240	43	nonlinear	nonlinear	ADJ
hjic-918	240	44	measurement	measurement	NOUN
hjic-918	240	45	equation	equation	NOUN
hjic-918	240	46	and	and	CCONJ
hjic-918	240	47	the	the	DET
hjic-918	240	48	probability	probability	NOUN
hjic-918	240	49	density	density	NOUN
hjic-918	240	50	function	function	NOUN
hjic-918	240	51	of	of	ADP
hjic-918	240	52	the	the	DET
hjic-918	240	53	measurement	measurement	NOUN
hjic-918	240	54	noise	noise	NOUN
hjic-918	240	55	are	be	AUX
hjic-918	240	56	known	know	VERB
hjic-918	240	57	.	.	PUNCT
hjic-918	241	1	after	after	SCONJ
hjic-918	241	2	the	the	DET
hjic-918	241	3	relative	relative	ADJ
hjic-918	241	4	conditional	conditional	ADJ
hjic-918	241	5	probability	probability	NOUN
hjic-918	241	6	of	of	ADP
hjic-918	241	7	each	each	DET
hjic-918	241	8	particle	particle	NOUN
hjic-918	241	9	has	have	AUX
hjic-918	241	10	been	be	AUX
hjic-918	241	11	evaluated	evaluate	VERB
hjic-918	241	12	,	,	PUNCT
hjic-918	241	13	the	the	DET
hjic-918	241	14	relative	relative	ADJ
hjic-918	241	15	probability	probability	NOUN
hjic-918	241	16	of	of	ADP
hjic-918	241	17	the	the	DET
hjic-918	241	18	actual	actual	ADJ
hjic-918	241	19	state	state	NOUN
hjic-918	241	20	being	be	AUX
hjic-918	241	21	equal	equal	ADJ
hjic-918	241	22	to	to	ADP
hjic-918	241	23	each	each	PRON
hjic-918	241	24	of	of	ADP
hjic-918	241	25	the	the	DET
hjic-918	241	26	particles	particle	NOUN
hjic-918	241	27	is	be	AUX
hjic-918	241	28	correct	correct	ADJ
hjic-918	241	29	.	.	PUNCT
hjic-918	242	1	the	the	DET
hjic-918	242	2	relative	relative	ADJ
hjic-918	242	3	probabilities	probability	NOUN
hjic-918	242	4	qi	qi	PROPN
hjic-918	242	5	are	be	AUX
hjic-918	242	6	then	then	ADV
hjic-918	242	7	scaled	scale	VERB
hjic-918	242	8	to	to	ADP
hjic-918	242	9	the	the	DET
hjic-918	242	10	interval	interval	NOUN
hjic-918	242	11	[	[	X
hjic-918	242	12	0	0	NUM
hjic-918	242	13	,	,	PUNCT
hjic-918	242	14	1	1	NUM
hjic-918	242	15	]	]	PUNCT
hjic-918	242	16	as	as	SCONJ
hjic-918	242	17	follows	follow	VERB
hjic-918	242	18	:	:	PUNCT
hjic-918	242	19	qi	qi	NOUN
hjic-918	242	20	=	=	X
hjic-918	242	21	qi∑n	qi∑n	NOUN
hjic-918	242	22	j=1	j=1	PROPN
hjic-918	242	23	qj	qj	PROPN
hjic-918	242	24	(	(	PUNCT
hjic-918	242	25	19	19	NUM
hjic-918	242	26	)	)	PUNCT
hjic-918	242	27	hungarian	hungarian	ADJ
hjic-918	242	28	journal	journal	NOUN
hjic-918	242	29	of	of	ADP
hjic-918	242	30	industry	industry	NOUN
hjic-918	242	31	and	and	CCONJ
hjic-918	242	32	chemistry	chemistry	NOUN
hjic-918	242	33	challenges	challenge	NOUN
hjic-918	242	34	of	of	ADP
hjic-918	242	35	localization	localization	NOUN
hjic-918	242	36	algorithms	algorithm	NOUN
hjic-918	242	37	for	for	ADP
hjic-918	242	38	autonomous	autonomous	ADJ
hjic-918	242	39	driving	drive	VERB
hjic-918	242	40	49	49	NUM
hjic-918	242	41	this	this	PRON
hjic-918	242	42	ensures	ensure	VERB
hjic-918	242	43	that	that	SCONJ
hjic-918	242	44	the	the	DET
hjic-918	242	45	total	total	ADJ
hjic-918	242	46	probability	probability	NOUN
hjic-918	242	47	is	be	AUX
hjic-918	242	48	equal	equal	ADJ
hjic-918	242	49	to	to	ADP
hjic-918	242	50	one	one	NUM
hjic-918	242	51	.	.	PUNCT
hjic-918	243	1	the	the	DET
hjic-918	243	2	next	next	ADJ
hjic-918	243	3	stage	stage	NOUN
hjic-918	243	4	is	be	AUX
hjic-918	243	5	the	the	DET
hjic-918	243	6	resampling	resampling	NOUN
hjic-918	243	7	based	base	VERB
hjic-918	243	8	on	on	ADP
hjic-918	243	9	the	the	DET
hjic-918	243	10	computed	compute	VERB
hjic-918	243	11	and	and	CCONJ
hjic-918	243	12	scaled	scale	VERB
hjic-918	243	13	probabilities	probability	NOUN
hjic-918	243	14	.	.	PUNCT
hjic-918	244	1	this	this	PRON
hjic-918	244	2	means	mean	VERB
hjic-918	244	3	that	that	SCONJ
hjic-918	244	4	a	a	DET
hjic-918	244	5	set	set	NOUN
hjic-918	244	6	of	of	ADP
hjic-918	244	7	new	new	ADJ
hjic-918	244	8	x+k	x+k	PROPN
hjic-918	244	9	,	,	PUNCT
hjic-918	244	10	i	i	PRON
hjic-918	244	11	particles	particle	NOUN
hjic-918	244	12	is	be	AUX
hjic-918	244	13	generated	generate	VERB
hjic-918	244	14	based	base	VERB
hjic-918	244	15	on	on	ADP
hjic-918	244	16	the	the	DET
hjic-918	244	17	relative	relative	ADJ
hjic-918	244	18	probabilities	probability	NOUN
hjic-918	244	19	qi	qi	X
hjic-918	244	20	.	.	PUNCT
hjic-918	245	1	this	this	PRON
hjic-918	245	2	is	be	AUX
hjic-918	245	3	the	the	DET
hjic-918	245	4	a	a	DET
hjic-918	245	5	posteriori	posteriori	NOUN
hjic-918	245	6	estimation	estimation	NOUN
hjic-918	245	7	of	of	ADP
hjic-918	245	8	the	the	DET
hjic-918	245	9	particle	particle	NOUN
hjic-918	245	10	filter	filter	NOUN
hjic-918	245	11	.	.	PUNCT
hjic-918	246	1	the	the	DET
hjic-918	246	2	resampling	resampling	NOUN
hjic-918	246	3	is	be	AUX
hjic-918	246	4	an	an	DET
hjic-918	246	5	important	important	ADJ
hjic-918	246	6	step	step	NOUN
hjic-918	246	7	with	with	ADP
hjic-918	246	8	regard	regard	NOUN
hjic-918	246	9	to	to	ADP
hjic-918	246	10	the	the	DET
hjic-918	246	11	implementation	implementation	NOUN
hjic-918	246	12	due	due	ADP
hjic-918	246	13	to	to	ADP
hjic-918	246	14	the	the	DET
hjic-918	246	15	required	require	VERB
hjic-918	246	16	computational	computational	ADJ
hjic-918	246	17	capacity	capacity	NOUN
hjic-918	246	18	which	which	PRON
hjic-918	246	19	needs	need	VERB
hjic-918	246	20	to	to	PART
hjic-918	246	21	be	be	AUX
hjic-918	246	22	considered	consider	VERB
hjic-918	246	23	carefully	carefully	ADV
hjic-918	246	24	.	.	PUNCT
hjic-918	247	1	the	the	DET
hjic-918	247	2	distribution	distribution	NOUN
hjic-918	247	3	of	of	ADP
hjic-918	247	4	the	the	DET
hjic-918	247	5	computed	computed	ADJ
hjic-918	247	6	a	a	DET
hjic-918	247	7	posteriori	posteriori	NOUN
hjic-918	247	8	x+k	x+k	NUM
hjic-918	247	9	,	,	PUNCT
hjic-918	247	10	i	i	PRON
hjic-918	247	11	particles	particle	NOUN
hjic-918	247	12	is	be	AUX
hjic-918	247	13	in	in	ADP
hjic-918	247	14	accordance	accordance	NOUN
hjic-918	247	15	with	with	ADP
hjic-918	247	16	the	the	DET
hjic-918	247	17	probability	probability	NOUN
hjic-918	247	18	density	density	NOUN
hjic-918	247	19	function	function	NOUN
hjic-918	247	20	pk	pk	NOUN
hjic-918	247	21	(	(	PUNCT
hjic-918	247	22	xk|yk	xk|yk	NOUN
hjic-918	247	23	)	)	PUNCT
hjic-918	247	24	.	.	PUNCT
hjic-918	248	1	based	base	VERB
hjic-918	248	2	on	on	ADP
hjic-918	248	3	this	this	PRON
hjic-918	248	4	,	,	PUNCT
hjic-918	248	5	any	any	DET
hjic-918	248	6	kind	kind	NOUN
hjic-918	248	7	of	of	ADP
hjic-918	248	8	statistical	statistical	ADJ
hjic-918	248	9	evaluation	evaluation	NOUN
hjic-918	248	10	can	can	AUX
hjic-918	248	11	be	be	AUX
hjic-918	248	12	carried	carry	VERB
hjic-918	248	13	out	out	ADP
hjic-918	248	14	,	,	PUNCT
hjic-918	248	15	for	for	ADP
hjic-918	248	16	example	example	NOUN
hjic-918	248	17	,	,	PUNCT
hjic-918	248	18	of	of	ADP
hjic-918	248	19	the	the	DET
hjic-918	248	20	expected	expect	VERB
hjic-918	248	21	value	value	NOUN
hjic-918	248	22	,	,	PUNCT
hjic-918	248	23	which	which	PRON
hjic-918	248	24	can	can	AUX
hjic-918	248	25	be	be	AUX
hjic-918	248	26	considered	consider	VERB
hjic-918	248	27	as	as	ADP
hjic-918	248	28	the	the	DET
hjic-918	248	29	statistical	statistical	ADJ
hjic-918	248	30	estimation	estimation	NOUN
hjic-918	248	31	of	of	ADP
hjic-918	248	32	the	the	DET
hjic-918	248	33	actual	actual	ADJ
hjic-918	248	34	state	state	NOUN
hjic-918	248	35	vector	vector	NOUN
hjic-918	248	36	:	:	PUNCT
hjic-918	248	37	e	e	NOUN
hjic-918	248	38	(	(	PUNCT
hjic-918	248	39	xk|yk	xk|yk	NOUN
hjic-918	248	40	)	)	PUNCT
hjic-918	249	1	≈	≈	PROPN
hjic-918	249	2	1	1	NUM
hjic-918	249	3	n	n	NUM
hjic-918	249	4	n∑	n∑	NOUN
hjic-918	249	5	i=1	i=1	PROPN
hjic-918	249	6	x+k	x+k	PROPN
hjic-918	249	7	,	,	PUNCT
hjic-918	249	8	i	i	PRON
hjic-918	249	9	(	(	PUNCT
hjic-918	249	10	20	20	NUM
hjic-918	249	11	)	)	PUNCT
hjic-918	249	12	a	a	DET
hjic-918	249	13	number	number	NOUN
hjic-918	249	14	of	of	ADP
hjic-918	249	15	ways	way	NOUN
hjic-918	249	16	,	,	PUNCT
hjic-918	249	17	the	the	DET
hjic-918	249	18	resampling	resample	VERB
hjic-918	249	19	algorithm	algorithm	NOUN
hjic-918	249	20	in	in	ADP
hjic-918	249	21	particular	particular	ADJ
hjic-918	249	22	,	,	PUNCT
hjic-918	249	23	are	be	AUX
hjic-918	249	24	available	available	ADJ
hjic-918	249	25	to	to	PART
hjic-918	249	26	design	design	VERB
hjic-918	249	27	and	and	CCONJ
hjic-918	249	28	implement	implement	VERB
hjic-918	249	29	the	the	DET
hjic-918	249	30	steps	step	NOUN
hjic-918	249	31	of	of	ADP
hjic-918	249	32	the	the	DET
hjic-918	249	33	filter	filter	NOUN
hjic-918	249	34	.	.	PUNCT
hjic-918	250	1	the	the	DET
hjic-918	250	2	number	number	NOUN
hjic-918	250	3	of	of	ADP
hjic-918	250	4	particles	particle	NOUN
hjic-918	250	5	required	require	VERB
hjic-918	250	6	to	to	PART
hjic-918	250	7	achieve	achieve	VERB
hjic-918	250	8	a	a	DET
hjic-918	250	9	given	give	VERB
hjic-918	250	10	estimation	estimation	NOUN
hjic-918	250	11	accuracy	accuracy	NOUN
hjic-918	250	12	increases	increase	NOUN
hjic-918	250	13	in	in	ADP
hjic-918	250	14	direct	direct	ADJ
hjic-918	250	15	correlation	correlation	NOUN
hjic-918	250	16	with	with	ADP
hjic-918	250	17	the	the	DET
hjic-918	250	18	dimension	dimension	NOUN
hjic-918	250	19	d	d	PROPN
hjic-918	250	20	of	of	ADP
hjic-918	250	21	the	the	DET
hjic-918	250	22	state	state	NOUN
hjic-918	250	23	vector	vector	NOUN
hjic-918	250	24	,	,	PUNCT
hjic-918	250	25	this	this	PRON
hjic-918	250	26	is	be	AUX
hjic-918	250	27	linear	linear	ADJ
hjic-918	250	28	for	for	ADP
hjic-918	250	29	d	d	PROPN
hjic-918	250	30	of	of	ADP
hjic-918	250	31	a	a	DET
hjic-918	250	32	particle	particle	NOUN
hjic-918	250	33	filter	filter	NOUN
hjic-918	250	34	using	use	VERB
hjic-918	250	35	a	a	DET
hjic-918	250	36	complex	complex	ADJ
hjic-918	250	37	resampling	resample	VERB
hjic-918	250	38	algorithm	algorithm	NOUN
hjic-918	250	39	,	,	PUNCT
hjic-918	250	40	but	but	CCONJ
hjic-918	250	41	exponential	exponential	NOUN
hjic-918	250	42	for	for	ADP
hjic-918	250	43	a	a	DET
hjic-918	250	44	plain	plain	ADJ
hjic-918	250	45	resampling	resample	VERB
hjic-918	250	46	algorithm	algorithm	NOUN
hjic-918	250	47	[	[	X
hjic-918	250	48	10	10	NUM
hjic-918	250	49	]	]	PUNCT
hjic-918	250	50	,	,	PUNCT
hjic-918	250	51	while	while	SCONJ
hjic-918	250	52	the	the	DET
hjic-918	250	53	real	real	ADJ
hjic-918	250	54	-	-	PUNCT
hjic-918	250	55	time	time	NOUN
hjic-918	250	56	computational	computational	ADJ
hjic-918	250	57	complexity	complexity	NOUN
hjic-918	250	58	is	be	AUX
hjic-918	250	59	directly	directly	ADV
hjic-918	250	60	proportional	proportional	ADJ
hjic-918	250	61	to	to	ADP
hjic-918	250	62	the	the	DET
hjic-918	250	63	number	number	NOUN
hjic-918	250	64	of	of	ADP
hjic-918	250	65	particles	particle	NOUN
hjic-918	250	66	.	.	PUNCT
hjic-918	251	1	4	4	X
hjic-918	251	2	.	.	X
hjic-918	251	3	conclusion	conclusion	NOUN
hjic-918	251	4	despite	despite	SCONJ
hjic-918	251	5	the	the	DET
hjic-918	251	6	fact	fact	NOUN
hjic-918	251	7	that	that	SCONJ
hjic-918	251	8	satellite	satellite	NOUN
hjic-918	251	9	-	-	PUNCT
hjic-918	251	10	based	base	VERB
hjic-918	251	11	systems	system	NOUN
hjic-918	251	12	are	be	AUX
hjic-918	251	13	far	far	ADV
hjic-918	251	14	from	from	ADP
hjic-918	251	15	perfect	perfect	ADJ
hjic-918	251	16	,	,	PUNCT
hjic-918	251	17	they	they	PRON
hjic-918	251	18	are	be	AUX
hjic-918	251	19	and	and	CCONJ
hjic-918	251	20	most	most	ADV
hjic-918	251	21	likely	likely	ADV
hjic-918	251	22	will	will	AUX
hjic-918	251	23	continue	continue	VERB
hjic-918	251	24	to	to	PART
hjic-918	251	25	be	be	AUX
hjic-918	251	26	the	the	DET
hjic-918	251	27	single	single	ADJ
hjic-918	251	28	most	most	ADV
hjic-918	251	29	important	important	ADJ
hjic-918	251	30	information	information	NOUN
hjic-918	251	31	source	source	NOUN
hjic-918	251	32	of	of	ADP
hjic-918	251	33	any	any	DET
hjic-918	251	34	localization	localization	NOUN
hjic-918	251	35	algorithm	algorithm	NOUN
hjic-918	251	36	combined	combine	VERB
hjic-918	251	37	with	with	ADP
hjic-918	251	38	digital	digital	ADJ
hjic-918	251	39	maps	map	NOUN
hjic-918	251	40	.	.	PUNCT
hjic-918	252	1	the	the	DET
hjic-918	252	2	role	role	NOUN
hjic-918	252	3	of	of	ADP
hjic-918	252	4	other	other	ADJ
hjic-918	252	5	information	information	NOUN
hjic-918	252	6	sources	source	NOUN
hjic-918	252	7	,	,	PUNCT
hjic-918	252	8	on	on	ADP
hjic-918	252	9	the	the	DET
hjic-918	252	10	one	one	NUM
hjic-918	252	11	hand	hand	NOUN
hjic-918	252	12	,	,	PUNCT
hjic-918	252	13	is	be	AUX
hjic-918	252	14	complementary	complementary	ADJ
hjic-918	252	15	in	in	ADP
hjic-918	252	16	areas	area	NOUN
hjic-918	252	17	where	where	SCONJ
hjic-918	252	18	gnss	gnss	NOUN
hjic-918	252	19	has	have	VERB
hjic-918	252	20	its	its	PRON
hjic-918	252	21	weaknesses	weakness	NOUN
hjic-918	252	22	,	,	PUNCT
hjic-918	252	23	but	but	CCONJ
hjic-918	252	24	on	on	ADP
hjic-918	252	25	the	the	DET
hjic-918	252	26	other	other	ADJ
hjic-918	252	27	hand	hand	NOUN
hjic-918	252	28	they	they	PRON
hjic-918	252	29	contribute	contribute	VERB
hjic-918	252	30	to	to	ADP
hjic-918	252	31	an	an	DET
hjic-918	252	32	increase	increase	NOUN
hjic-918	252	33	in	in	ADP
hjic-918	252	34	accuracy	accuracy	NOUN
hjic-918	252	35	at	at	ADP
hjic-918	252	36	the	the	DET
hjic-918	252	37	expense	expense	NOUN
hjic-918	252	38	of	of	ADP
hjic-918	252	39	computational	computational	ADJ
hjic-918	252	40	complexity	complexity	NOUN
hjic-918	252	41	.	.	PUNCT
hjic-918	253	1	in	in	ADP
hjic-918	253	2	a	a	DET
hjic-918	253	3	practical	practical	ADJ
hjic-918	253	4	real	real	ADJ
hjic-918	253	5	-	-	PUNCT
hjic-918	253	6	time	time	NOUN
hjic-918	253	7	application	application	NOUN
hjic-918	253	8	,	,	PUNCT
hjic-918	253	9	the	the	DET
hjic-918	253	10	extra	extra	ADJ
hjic-918	253	11	computational	computational	ADJ
hjic-918	253	12	capacity	capacity	NOUN
hjic-918	253	13	and	and	CCONJ
hjic-918	253	14	related	related	ADJ
hjic-918	253	15	costs	cost	NOUN
hjic-918	253	16	are	be	AUX
hjic-918	253	17	not	not	PART
hjic-918	253	18	necessarily	necessarily	ADV
hjic-918	253	19	proportional	proportional	ADJ
hjic-918	253	20	to	to	ADP
hjic-918	253	21	each	each	DET
hjic-918	253	22	other	other	ADJ
hjic-918	253	23	.	.	PUNCT
hjic-918	254	1	this	this	PRON
hjic-918	254	2	seems	seem	VERB
hjic-918	254	3	to	to	PART
hjic-918	254	4	be	be	AUX
hjic-918	254	5	the	the	DET
hjic-918	254	6	main	main	ADJ
hjic-918	254	7	drawback	drawback	NOUN
hjic-918	254	8	of	of	ADP
hjic-918	254	9	using	use	VERB
hjic-918	254	10	nonlinear	nonlinear	ADJ
hjic-918	254	11	filtering	filtering	ADJ
hjic-918	254	12	methods	method	NOUN
hjic-918	254	13	,	,	PUNCT
hjic-918	254	14	while	while	SCONJ
hjic-918	254	15	on	on	ADP
hjic-918	254	16	the	the	DET
hjic-918	254	17	other	other	ADJ
hjic-918	254	18	hand	hand	NOUN
hjic-918	254	19	autonomous	autonomous	ADJ
hjic-918	254	20	vehicles	vehicle	NOUN
hjic-918	254	21	are	be	AUX
hjic-918	254	22	expected	expect	VERB
hjic-918	254	23	,	,	PUNCT
hjic-918	254	24	in	in	ADP
hjic-918	254	25	the	the	DET
hjic-918	254	26	long	long	ADJ
hjic-918	254	27	term	term	NOUN
hjic-918	254	28	,	,	PUNCT
hjic-918	254	29	to	to	PART
hjic-918	254	30	fall	fall	VERB
hjic-918	254	31	into	into	ADP
hjic-918	254	32	the	the	DET
hjic-918	254	33	category	category	NOUN
hjic-918	254	34	of	of	ADP
hjic-918	254	35	high	high	ADJ
hjic-918	254	36	-	-	PUNCT
hjic-918	254	37	volume	volume	NOUN
hjic-918	254	38	low	low	ADJ
hjic-918	254	39	-	-	PUNCT
hjic-918	254	40	cost	cost	NOUN
hjic-918	254	41	products	product	NOUN
hjic-918	254	42	.	.	PUNCT
hjic-918	255	1	hybrid	hybrid	ADJ
hjic-918	255	2	approaches	approach	NOUN
hjic-918	255	3	can	can	AUX
hjic-918	255	4	be	be	AUX
hjic-918	255	5	considered	consider	VERB
hjic-918	255	6	due	due	ADJ
hjic-918	255	7	to	to	ADP
hjic-918	255	8	the	the	DET
hjic-918	255	9	fact	fact	NOUN
hjic-918	255	10	that	that	SCONJ
hjic-918	255	11	the	the	DET
hjic-918	255	12	equations	equation	NOUN
hjic-918	255	13	for	for	ADP
hjic-918	255	14	localization	localization	NOUN
hjic-918	255	15	systems	system	NOUN
hjic-918	255	16	are	be	AUX
hjic-918	255	17	only	only	ADV
hjic-918	255	18	partially	partially	ADV
hjic-918	255	19	nonlinear	nonlinear	ADJ
hjic-918	255	20	or	or	CCONJ
hjic-918	255	21	some	some	PRON
hjic-918	255	22	of	of	ADP
hjic-918	255	23	the	the	DET
hjic-918	255	24	subsystems	subsystem	NOUN
hjic-918	255	25	can	can	AUX
hjic-918	255	26	provide	provide	VERB
hjic-918	255	27	sufficiently	sufficiently	ADV
hjic-918	255	28	accurate	accurate	ADJ
hjic-918	255	29	results	result	NOUN
hjic-918	255	30	using	use	VERB
hjic-918	255	31	a	a	DET
hjic-918	255	32	linear	linear	ADJ
hjic-918	255	33	approach	approach	NOUN
hjic-918	255	34	.	.	PUNCT
hjic-918	256	1	the	the	DET
hjic-918	256	2	filtering	filter	VERB
hjic-918	256	3	problem	problem	NOUN
hjic-918	256	4	can	can	AUX
hjic-918	256	5	then	then	ADV
hjic-918	256	6	be	be	AUX
hjic-918	256	7	divided	divide	VERB
hjic-918	256	8	into	into	ADP
hjic-918	256	9	a	a	DET
hjic-918	256	10	linear	linear	NOUN
hjic-918	256	11	and	and	CCONJ
hjic-918	256	12	a	a	DET
hjic-918	256	13	nonlinear	nonlinear	ADJ
hjic-918	256	14	part	part	NOUN
hjic-918	256	15	,	,	PUNCT
hjic-918	256	16	where	where	SCONJ
hjic-918	256	17	the	the	DET
hjic-918	256	18	former	former	ADJ
hjic-918	256	19	,	,	PUNCT
hjic-918	256	20	assuming	assume	VERB
hjic-918	256	21	gaussian	gaussian	ADJ
hjic-918	256	22	distributed	distribute	VERB
hjic-918	256	23	noise	noise	NOUN
hjic-918	256	24	,	,	PUNCT
hjic-918	256	25	may	may	AUX
hjic-918	256	26	be	be	AUX
hjic-918	256	27	solved	solve	VERB
hjic-918	256	28	by	by	ADP
hjic-918	256	29	using	use	VERB
hjic-918	256	30	a	a	DET
hjic-918	256	31	simple	simple	ADJ
hjic-918	256	32	kalman	kalman	NOUN
hjic-918	256	33	filter	filter	NOUN
hjic-918	256	34	and	and	CCONJ
hjic-918	256	35	reducing	reduce	VERB
hjic-918	256	36	the	the	DET
hjic-918	256	37	computational	computational	ADJ
hjic-918	256	38	complexity	complexity	NOUN
hjic-918	256	39	and	and	CCONJ
hjic-918	256	40	,	,	PUNCT
hjic-918	256	41	therefore	therefore	ADV
hjic-918	256	42	,	,	PUNCT
hjic-918	256	43	the	the	DET
hjic-918	256	44	cost	cost	NOUN
hjic-918	256	45	of	of	ADP
hjic-918	256	46	the	the	DET
hjic-918	256	47	system	system	NOUN
hjic-918	256	48	.	.	PUNCT
hjic-918	257	1	the	the	DET
hjic-918	257	2	proportion	proportion	NOUN
hjic-918	257	3	of	of	ADP
hjic-918	257	4	linear	linear	ADJ
hjic-918	257	5	filtering	filtering	NOUN
hjic-918	257	6	to	to	ADP
hjic-918	257	7	nonlinear	nonlinear	ADJ
hjic-918	257	8	filtering	filtering	NOUN
hjic-918	257	9	within	within	ADP
hjic-918	257	10	the	the	DET
hjic-918	257	11	full	full	ADJ
hjic-918	257	12	system	system	NOUN
hjic-918	257	13	is	be	AUX
hjic-918	257	14	determined	determine	VERB
hjic-918	257	15	by	by	ADP
hjic-918	257	16	the	the	DET
hjic-918	257	17	complexity	complexity	NOUN
hjic-918	257	18	of	of	ADP
hjic-918	257	19	the	the	DET
hjic-918	257	20	system	system	NOUN
hjic-918	257	21	model	model	NOUN
hjic-918	257	22	chosen	choose	VERB
hjic-918	257	23	as	as	ADP
hjic-918	257	24	the	the	DET
hjic-918	257	25	type	type	NOUN
hjic-918	257	26	of	of	ADP
hjic-918	257	27	filtering	filtering	NOUN
hjic-918	257	28	is	be	AUX
hjic-918	257	29	defined	define	VERB
hjic-918	257	30	by	by	ADP
hjic-918	257	31	the	the	DET
hjic-918	257	32	model	model	NOUN
hjic-918	257	33	,	,	PUNCT
hjic-918	257	34	therefore	therefore	ADV
hjic-918	257	35	,	,	PUNCT
hjic-918	257	36	modeling	modeling	NOUN
hjic-918	257	37	and	and	CCONJ
hjic-918	257	38	filtering	filtering	NOUN
hjic-918	257	39	can	can	AUX
hjic-918	257	40	not	not	PART
hjic-918	257	41	be	be	AUX
hjic-918	257	42	separate	separate	ADJ
hjic-918	257	43	elements	element	NOUN
hjic-918	257	44	in	in	ADP
hjic-918	257	45	the	the	DET
hjic-918	257	46	design	design	NOUN
hjic-918	257	47	process	process	NOUN
hjic-918	257	48	.	.	PUNCT
hjic-918	258	1	acknowledgements	acknowledgement	NOUN
hjic-918	258	2	the	the	DET
hjic-918	258	3	research	research	NOUN
hjic-918	258	4	was	be	AUX
hjic-918	258	5	supported	support	VERB
hjic-918	258	6	by	by	ADP
hjic-918	258	7	efop-3.6.2	efop-3.6.2	PROPN
hjic-918	258	8	-	-	SYM
hjic-918	258	9	16	16	NUM
hjic-918	258	10	-	-	PUNCT
hjic-918	258	11	201700002	201700002	NUM
hjic-918	258	12	programme	programme	NOUN
hjic-918	258	13	of	of	ADP
hjic-918	258	14	the	the	DET
hjic-918	258	15	hungarian	hungarian	ADJ
hjic-918	258	16	national	national	ADJ
hjic-918	258	17	government	government	NOUN
hjic-918	258	18	.	.	PUNCT
hjic-918	259	1	references	reference	NOUN
hjic-918	259	2	[	[	X
hjic-918	259	3	1	1	NUM
hjic-918	259	4	]	]	PUNCT
hjic-918	259	5	eskandarian	eskandarian	ADJ
hjic-918	259	6	,	,	PUNCT
hjic-918	259	7	a.	a.	NOUN
hjic-918	259	8	:	:	PUNCT
hjic-918	259	9	handbook	handbook	NOUN
hjic-918	259	10	of	of	ADP
hjic-918	259	11	intelligent	intelligent	ADJ
hjic-918	259	12	vehicles	vehicle	NOUN
hjic-918	259	13	,	,	PUNCT
hjic-918	259	14	springer	springer	NOUN
hjic-918	259	15	verlag	verlag	PROPN
hjic-918	259	16	,	,	PUNCT
hjic-918	259	17	london	london	PROPN
hjic-918	259	18	,	,	PUNCT
hjic-918	259	19	2012	2012	NUM
hjic-918	259	20	,	,	PUNCT
hjic-918	259	21	chapter	chapter	NOUN
hjic-918	259	22	50	50	NUM
hjic-918	259	23	,	,	PUNCT
hjic-918	260	1	p.	p.	NOUN
hjic-918	260	2	1278	1278	NUM
hjic-918	260	3	doi	doi	NOUN
hjic-918	260	4	:	:	PUNCT
hjic-918	260	5	10.1007/978	10.1007/978	NUM
hjic-918	260	6	-	-	SYM
hjic-918	260	7	0	0	NUM
hjic-918	260	8	-	-	PUNCT
hjic-918	260	9	85729	85729	NUM
hjic-918	260	10	-	-	PUNCT
hjic-918	260	11	085	085	NUM
hjic-918	260	12	-	-	SYM
hjic-918	260	13	4	4	NUM
hjic-918	261	1	[	[	SYM
hjic-918	261	2	2	2	NUM
hjic-918	261	3	]	]	SYM
hjic-918	261	4	skog	skog	NOUN
hjic-918	261	5	,	,	PUNCT
hjic-918	261	6	i.	i.	PROPN
hjic-918	261	7	;	;	PUNCT
hjic-918	261	8	handel	handel	NOUN
hjic-918	261	9	,	,	PUNCT
hjic-918	261	10	p.	p.	NOUN
hjic-918	261	11	:	:	PUNCT
hjic-918	261	12	in	in	ADP
hjic-918	261	13	-	-	PUNCT
hjic-918	261	14	car	car	NOUN
hjic-918	261	15	positioning	positioning	NOUN
hjic-918	261	16	and	and	CCONJ
hjic-918	261	17	navigation	navigation	NOUN
hjic-918	261	18	technologies	technology	NOUN
hjic-918	261	19	–	–	PUNCT
hjic-918	261	20	a	a	DET
hjic-918	261	21	survey	survey	NOUN
hjic-918	261	22	.	.	PUNCT
hjic-918	262	1	ieee	ieee	PROPN
hjic-918	262	2	trans	trans	PROPN
hjic-918	262	3	.	.	PUNCT
hjic-918	263	1	intell	intell	PROPN
hjic-918	263	2	.	.	PUNCT
hjic-918	264	1	transp	transp	PROPN
hjic-918	264	2	.	.	PUNCT
hjic-918	265	1	syst	syst	PROPN
hjic-918	265	2	.	.	PUNCT
hjic-918	266	1	2009	2009	NUM
hjic-918	266	2	,	,	PUNCT
hjic-918	266	3	10(1	10(1	NUM
hjic-918	266	4	)	)	PUNCT
hjic-918	266	5	,	,	PUNCT
hjic-918	266	6	4–21	4–21	PROPN
hjic-918	266	7	doi	doi	NOUN
hjic-918	266	8	:	:	PUNCT
hjic-918	266	9	10.1109	10.1109	NUM
hjic-918	266	10	/	/	SYM
hjic-918	266	11	tits.2008.2011712	tits.2008.2011712	NOUN
hjic-918	266	12	[	[	X
hjic-918	266	13	3	3	NUM
hjic-918	266	14	]	]	PUNCT
hjic-918	266	15	riekert	riekert	NOUN
hjic-918	266	16	,	,	PUNCT
hjic-918	266	17	p.	p.	NOUN
hjic-918	266	18	;	;	PUNCT
hjic-918	266	19	schunck	schunck	ADV
hjic-918	266	20	,	,	PUNCT
hjic-918	266	21	t.	t.	PROPN
hjic-918	266	22	e.	e.	PROPN
hjic-918	266	23	:	:	PUNCT
hjic-918	266	24	zur	zur	PROPN
hjic-918	266	25	fahrmechanik	fahrmechanik	X
hjic-918	266	26	des	des	PROPN
hjic-918	266	27	gummibereiften	gummibereiften	PROPN
hjic-918	266	28	kraftfahrzeugs	kraftfahrzeugs	PROPN
hjic-918	266	29	.	.	PUNCT
hjic-918	267	1	ing	ing	ADJ
hjic-918	267	2	.	.	PUNCT
hjic-918	268	1	arch	arch	PROPN
hjic-918	268	2	.	.	PUNCT
hjic-918	269	1	1940	1940	NUM
hjic-918	269	2	,	,	PUNCT
hjic-918	269	3	11	11	NUM
hjic-918	269	4	,	,	PUNCT
hjic-918	269	5	210–224	210–224	NUM
hjic-918	269	6	doi	doi	NOUN
hjic-918	269	7	:	:	PUNCT
hjic-918	269	8	10.1007	10.1007	NUM
hjic-918	269	9	/	/	SYM
hjic-918	269	10	bf02086921	bf02086921	NOUN
hjic-918	270	1	[	[	X
hjic-918	270	2	4	4	NUM
hjic-918	270	3	]	]	X
hjic-918	270	4	pacejka	pacejka	NOUN
hjic-918	270	5	,	,	PUNCT
hjic-918	270	6	h.	h.	PROPN
hjic-918	270	7	b.	b.	PROPN
hjic-918	270	8	:	:	PUNCT
hjic-918	271	1	tire	tire	NOUN
hjic-918	271	2	and	and	CCONJ
hjic-918	271	3	vehicle	vehicle	NOUN
hjic-918	271	4	dynamics	dynamic	NOUN
hjic-918	271	5	,	,	PUNCT
hjic-918	271	6	butterworth	butterworth	PROPN
hjic-918	271	7	-	-	PUNCT
hjic-918	271	8	heinemann	heinemann	PROPN
hjic-918	271	9	,	,	PUNCT
hjic-918	271	10	oxford	oxford	NOUN
hjic-918	271	11	,	,	PUNCT
hjic-918	271	12	2012	2012	NUM
hjic-918	271	13	,	,	PUNCT
hjic-918	271	14	3rd	3rd	NOUN
hjic-918	271	15	edition	edition	NOUN
hjic-918	271	16	doi	doi	PROPN
hjic-918	271	17	:	:	PUNCT
hjic-918	271	18	10.1016	10.1016	NUM
hjic-918	271	19	/	/	SYM
hjic-918	271	20	c2010	c2010	NOUN
hjic-918	271	21	-	-	PUNCT
hjic-918	271	22	0	0	NUM
hjic-918	271	23	-	-	PUNCT
hjic-918	271	24	68548	68548	NUM
hjic-918	271	25	-	-	SYM
hjic-918	271	26	8	8	NUM
hjic-918	271	27	[	[	SYM
hjic-918	271	28	5	5	NUM
hjic-918	271	29	]	]	X
hjic-918	271	30	kalman	kalman	PROPN
hjic-918	271	31	,	,	PUNCT
hjic-918	271	32	r.	r.	PROPN
hjic-918	271	33	e.	e.	PROPN
hjic-918	271	34	:	:	PUNCT
hjic-918	271	35	a	a	DET
hjic-918	271	36	new	new	ADJ
hjic-918	271	37	approach	approach	NOUN
hjic-918	271	38	to	to	ADP
hjic-918	271	39	linear	linear	ADJ
hjic-918	271	40	filtering	filtering	NOUN
hjic-918	271	41	and	and	CCONJ
hjic-918	271	42	prediction	prediction	NOUN
hjic-918	271	43	problems	problem	NOUN
hjic-918	271	44	.	.	PUNCT
hjic-918	272	1	journal	journal	NOUN
hjic-918	272	2	of	of	ADP
hjic-918	272	3	basic	basic	ADJ
hjic-918	272	4	engineering	engineering	NOUN
hjic-918	272	5	,	,	PUNCT
hjic-918	272	6	1960	1960	NUM
hjic-918	272	7	,	,	PUNCT
hjic-918	272	8	82(1	82(1	NOUN
hjic-918	272	9	)	)	PUNCT
hjic-918	272	10	,	,	PUNCT
hjic-918	272	11	35–45	35–45	NUM
hjic-918	272	12	doi	doi	NOUN
hjic-918	272	13	:	:	PUNCT
hjic-918	272	14	10.1115/1.3662552	10.1115/1.3662552	NUM
hjic-918	272	15	[	[	X
hjic-918	272	16	6	6	NUM
hjic-918	272	17	]	]	X
hjic-918	272	18	gordon	gordon	PROPN
hjic-918	272	19	,	,	PUNCT
hjic-918	272	20	n.	n.	PROPN
hjic-918	272	21	j.	j.	PROPN
hjic-918	272	22	;	;	PUNCT
hjic-918	272	23	salmond	salmond	PROPN
hjic-918	272	24	,	,	PUNCT
hjic-918	272	25	d.	d.	PROPN
hjic-918	272	26	j.	j.	PROPN
hjic-918	272	27	;	;	PUNCT
hjic-918	272	28	smith	smith	PROPN
hjic-918	272	29	,	,	PUNCT
hjic-918	272	30	a.	a.	PROPN
hjic-918	272	31	f.	f.	PROPN
hjic-918	272	32	m.	m.	PROPN
hjic-918	272	33	:	:	PUNCT
hjic-918	272	34	novel	novel	ADJ
hjic-918	272	35	approach	approach	NOUN
hjic-918	272	36	to	to	ADP
hjic-918	272	37	nonlinear	nonlinear	ADJ
hjic-918	272	38	/	/	SYM
hjic-918	272	39	non	non	ADJ
hjic-918	272	40	-	-	ADJ
hjic-918	272	41	gaussian	gaussian	ADJ
hjic-918	272	42	bayesian	bayesian	NOUN
hjic-918	272	43	state	state	NOUN
hjic-918	272	44	estimation	estimation	NOUN
hjic-918	272	45	.	.	PUNCT
hjic-918	273	1	ieee	ieee	NOUN
hjic-918	273	2	proceedings	proceeding	NOUN
hjic-918	273	3	,	,	PUNCT
hjic-918	273	4	140(2	140(2	NUM
hjic-918	273	5	):	):	PUNCT
hjic-918	273	6	107–113	107–113	NUM
hjic-918	273	7	doi	doi	NOUN
hjic-918	273	8	:	:	PUNCT
hjic-918	273	9	10.1049	10.1049	NUM
hjic-918	273	10	/	/	SYM
hjic-918	273	11	ip	ip	NOUN
hjic-918	273	12	-	-	ADJ
hjic-918	273	13	f-2.1993.0015	f-2.1993.0015	PROPN
hjic-918	273	14	[	[	X
hjic-918	273	15	7	7	NUM
hjic-918	273	16	]	]	X
hjic-918	273	17	simon	simon	PROPN
hjic-918	273	18	,	,	PUNCT
hjic-918	273	19	d.	d.	PROPN
hjic-918	273	20	:	:	PUNCT
hjic-918	273	21	optimal	optimal	ADJ
hjic-918	273	22	state	state	NOUN
hjic-918	273	23	estimation	estimation	NOUN
hjic-918	273	24	:	:	PUNCT
hjic-918	273	25	kalman	kalman	NOUN
hjic-918	273	26	,	,	PUNCT
hjic-918	273	27	h	h	NOUN
hjic-918	273	28	infinity	infinity	NOUN
hjic-918	273	29	,	,	PUNCT
hjic-918	273	30	and	and	CCONJ
hjic-918	273	31	nonlinear	nonlinear	ADJ
hjic-918	273	32	approaches	approach	NOUN
hjic-918	273	33	,	,	PUNCT
hjic-918	273	34	wileyinterscience	wileyinterscience	NOUN
hjic-918	273	35	,	,	PUNCT
hjic-918	273	36	2006	2006	NUM
hjic-918	273	37	doi	doi	NOUN
hjic-918	273	38	:	:	PUNCT
hjic-918	273	39	10.1002/0470045345	10.1002/0470045345	NUM
hjic-918	274	1	[	[	SYM
hjic-918	274	2	8	8	NUM
hjic-918	274	3	]	]	X
hjic-918	274	4	karlsson	karlsson	PROPN
hjic-918	274	5	,	,	PUNCT
hjic-918	274	6	r.	r.	PROPN
hjic-918	274	7	;	;	PUNCT
hjic-918	274	8	gustafsson	gustafsson	PROPN
hjic-918	274	9	,	,	PUNCT
hjic-918	274	10	f.	f.	PROPN
hjic-918	274	11	:	:	PUNCT
hjic-918	274	12	the	the	DET
hjic-918	274	13	future	future	NOUN
hjic-918	274	14	of	of	ADP
hjic-918	274	15	automotive	automotive	ADJ
hjic-918	274	16	localization	localization	NOUN
hjic-918	274	17	algorithms	algorithm	NOUN
hjic-918	274	18	:	:	PUNCT
hjic-918	274	19	available	available	ADJ
hjic-918	274	20	,	,	PUNCT
hjic-918	274	21	reliable	reliable	ADJ
hjic-918	274	22	,	,	PUNCT
hjic-918	274	23	and	and	CCONJ
hjic-918	274	24	scalable	scalable	ADJ
hjic-918	274	25	localization	localization	NOUN
hjic-918	274	26	:	:	PUNCT
hjic-918	274	27	anywhere	anywhere	ADV
hjic-918	274	28	and	and	CCONJ
hjic-918	274	29	anytime	anytime	ADV
hjic-918	274	30	.	.	PUNCT
hjic-918	275	1	ieee	ieee	NOUN
hjic-918	275	2	signal	signal	PROPN
hjic-918	275	3	processing	processing	NOUN
hjic-918	275	4	magazine	magazine	NOUN
hjic-918	275	5	,	,	PUNCT
hjic-918	275	6	2017	2017	NUM
hjic-918	275	7	,	,	PUNCT
hjic-918	275	8	34(2	34(2	NUM
hjic-918	275	9	)	)	PUNCT
hjic-918	275	10	,	,	PUNCT
hjic-918	275	11	60–69	60–69	NUM
hjic-918	275	12	doi	doi	NOUN
hjic-918	275	13	:	:	PUNCT
hjic-918	275	14	10.1109	10.1109	NUM
hjic-918	275	15	/	/	SYM
hjic-918	275	16	msp.2016.2637418	msp.2016.2637418	NOUN
hjic-918	275	17	[	[	X
hjic-918	275	18	9	9	NUM
hjic-918	275	19	]	]	X
hjic-918	275	20	daum	daum	PROPN
hjic-918	275	21	,	,	PUNCT
hjic-918	275	22	f.	f.	PROPN
hjic-918	275	23	:	:	PUNCT
hjic-918	275	24	nonlinear	nonlinear	ADJ
hjic-918	275	25	filters	filter	NOUN
hjic-918	275	26	:	:	PUNCT
hjic-918	275	27	beyond	beyond	ADP
hjic-918	275	28	the	the	DET
hjic-918	275	29	kalman	kalman	PROPN
hjic-918	275	30	filter	filter	PROPN
hjic-918	275	31	.	.	PUNCT
hjic-918	276	1	ieee	ieee	PROPN
hjic-918	276	2	aerospace	aerospace	PROPN
hjic-918	276	3	and	and	CCONJ
hjic-918	276	4	electronic	electronic	ADJ
hjic-918	276	5	systems	system	NOUN
hjic-918	276	6	magazine	magazine	NOUN
hjic-918	276	7	,	,	PUNCT
hjic-918	276	8	2005	2005	NUM
hjic-918	276	9	,	,	PUNCT
hjic-918	276	10	20(8	20(8	NOUN
hjic-918	276	11	)	)	PUNCT
hjic-918	276	12	,	,	PUNCT
hjic-918	276	13	57–69	57–69	NUM
hjic-918	276	14	doi	doi	NOUN
hjic-918	276	15	:	:	PUNCT
hjic-918	276	16	10.1109	10.1109	NUM
hjic-918	276	17	/	/	SYM
hjic-918	276	18	maes.2005.1499276	maes.2005.1499276	NOUN
hjic-918	276	19	[	[	X
hjic-918	276	20	10	10	NUM
hjic-918	276	21	]	]	X
hjic-918	276	22	daum	daum	PROPN
hjic-918	276	23	,	,	PUNCT
hjic-918	276	24	f.	f.	PROPN
hjic-918	276	25	e.	e.	PROPN
hjic-918	276	26	;	;	PUNCT
hjic-918	276	27	huang	huang	PROPN
hjic-918	276	28	,	,	PUNCT
hjic-918	276	29	j.	j.	PROPN
hjic-918	276	30	:	:	PUNCT
hjic-918	276	31	the	the	DET
hjic-918	276	32	curse	curse	NOUN
hjic-918	276	33	of	of	ADP
hjic-918	276	34	dimensionality	dimensionality	NOUN
hjic-918	276	35	and	and	CCONJ
hjic-918	276	36	particle	particle	NOUN
hjic-918	276	37	filters	filter	NOUN
hjic-918	276	38	.	.	PUNCT
hjic-918	277	1	proceedings	proceeding	NOUN
hjic-918	277	2	of	of	ADP
hjic-918	277	3	ieee	ieee	NOUN
hjic-918	277	4	conference	conference	NOUN
hjic-918	277	5	on	on	ADP
hjic-918	277	6	aerospace	aerospace	NOUN
hjic-918	277	7	,	,	PUNCT
hjic-918	277	8	big	big	ADJ
hjic-918	277	9	sky	sky	NOUN
hjic-918	277	10	,	,	PUNCT
hjic-918	277	11	mt	mt	PROPN
hjic-918	277	12	,	,	PUNCT
hjic-918	277	13	usa	usa	PROPN
hjic-918	277	14	,	,	PUNCT
hjic-918	277	15	2003	2003	NUM
hjic-918	277	16	,	,	PUNCT
hjic-918	277	17	pp	pp	ADJ
hjic-918	277	18	.	.	PUNCT
hjic-918	278	1	4	4	NUM
hjic-918	278	2	-	-	SYM
hjic-918	278	3	1979	1979	NUM
hjic-918	278	4	–	–	PUNCT
hjic-918	278	5	4	4	NUM
hjic-918	278	6	-	-	SYM
hjic-918	278	7	1993	1993	NUM
hjic-918	278	8	.	.	PUNCT
hjic-918	279	1	doi	doi	NOUN
hjic-918	279	2	:	:	PUNCT
hjic-918	279	3	10.1109	10.1109	NUM
hjic-918	279	4	/	/	SYM
hjic-918	279	5	aero.2003.1235126	aero.2003.1235126	NOUN
hjic-918	279	6	48(1	48(1	NOUN
hjic-918	279	7	)	)	PUNCT
hjic-918	279	8	pp	pp	ADV
hjic-918	279	9	.	.	PUNCT
hjic-918	280	1	43–49	43–49	NUM
hjic-918	280	2	(	(	PUNCT
hjic-918	280	3	2020	2020	NUM
hjic-918	280	4	)	)	PUNCT
hjic-918	280	5	https://doi.org/10.1007/978-0-85729-085-4	https://doi.org/10.1007/978-0-85729-085-4	VERB
hjic-918	280	6	https://doi.org/10.1109/tits.2008.2011712	https://doi.org/10.1109/tits.2008.2011712	PROPN
hjic-918	280	7	https://doi.org/10.1109/tits.2008.2011712	https://doi.org/10.1109/tits.2008.2011712	PROPN
hjic-918	280	8	https://doi.org/10.1007/bf02086921	https://doi.org/10.1007/bf02086921	PRON
hjic-918	280	9	https://doi.org/10.1016/c2010-0-68548-8	https://doi.org/10.1016/c2010-0-68548-8	PROPN
hjic-918	280	10	https://doi.org/10.1115/1.3662552	https://doi.org/10.1115/1.3662552	PROPN
hjic-918	280	11	https://doi.org/10.1049/ip-f-2.1993.0015	https://doi.org/10.1049/ip-f-2.1993.0015	NUM
hjic-918	280	12	https://doi.org/10.1002/0470045345	https://doi.org/10.1002/0470045345	PUNCT
hjic-918	280	13	https://doi.org/10.1109/msp.2016.2637418	https://doi.org/10.1109/msp.2016.2637418	NOUN
hjic-918	280	14	https://doi.org/10.1109/maes.2005.1499276	https://doi.org/10.1109/maes.2005.1499276	PROPN
hjic-918	280	15	https://doi.org/10.1109/maes.2005.1499276	https://doi.org/10.1109/maes.2005.1499276	PROPN
hjic-918	280	16	https://doi.org/10.1109/aero.2003.1235126	https://doi.org/10.1109/aero.2003.1235126	PROPN
hjic-918	280	17	introduction	introduction	NOUN
hjic-918	280	18	information	information	NOUN
hjic-918	280	19	sources	source	VERB
hjic-918	280	20	global	global	ADJ
hjic-918	280	21	navigation	navigation	PROPN
hjic-918	280	22	satellite	satellite	PROPN
hjic-918	280	23	systems	systems	PROPN
hjic-918	280	24	vehicle	vehicle	NOUN
hjic-918	280	25	model	model	NOUN
hjic-918	280	26	traditional	traditional	ADJ
hjic-918	280	27	vehicle	vehicle	NOUN
hjic-918	280	28	sensors	sensor	NOUN
hjic-918	280	29	and	and	CCONJ
hjic-918	280	30	inertial	inertial	ADJ
hjic-918	280	31	measurement	measurement	NOUN
hjic-918	280	32	unit	unit	NOUN
hjic-918	280	33	(	(	PUNCT
hjic-918	280	34	imu	imu	NOUN
hjic-918	280	35	)	)	PUNCT
hjic-918	280	36	optical	optical	ADJ
hjic-918	280	37	as	as	ADV
hjic-918	280	38	well	well	ADV
hjic-918	280	39	as	as	ADP
hjic-918	280	40	soundand	soundand	NOUN
hjic-918	280	41	radio	radio	NOUN
hjic-918	280	42	-	-	PUNCT
hjic-918	280	43	based	base	VERB
hjic-918	280	44	sensors	sensor	NOUN
hjic-918	280	45	databases	database	NOUN
hjic-918	280	46	and	and	CCONJ
hjic-918	280	47	maps	map	VERB
hjic-918	280	48	dedicated	dedicate	VERB
hjic-918	280	49	short	short	ADJ
hjic-918	280	50	-	-	PUNCT
hjic-918	280	51	range	range	NOUN
hjic-918	280	52	communications	communication	NOUN
hjic-918	280	53	fusion	fusion	NOUN
hjic-918	280	54	algorithms	algorithm	VERB
hjic-918	280	55	simple	simple	ADJ
hjic-918	280	56	algorithms	algorithm	NOUN
hjic-918	280	57	:	:	PUNCT
hjic-918	280	58	dead	dead	ADJ
hjic-918	280	59	reckoning	reckoning	NOUN
hjic-918	280	60	,	,	PUNCT
hjic-918	280	61	inertial	inertial	ADJ
hjic-918	280	62	navigation	navigation	NOUN
hjic-918	280	63	and	and	CCONJ
hjic-918	280	64	map	map	VERB
hjic-918	280	65	matching	match	VERB
hjic-918	280	66	linear	linear	ADJ
hjic-918	280	67	filtering	filtering	NOUN
hjic-918	280	68	:	:	PUNCT
hjic-918	280	69	the	the	DET
hjic-918	280	70	kalman	kalman	PROPN
hjic-918	280	71	filter	filter	PROPN
hjic-918	280	72	nonlinear	nonlinear	ADJ
hjic-918	280	73	filtering	filtering	NOUN
hjic-918	280	74	:	:	PUNCT
hjic-918	280	75	the	the	DET
hjic-918	280	76	particle	particle	NOUN
hjic-918	280	77	filter	filter	NOUN
hjic-918	280	78	conclusion	conclusion	NOUN