id	sid	tid	token	lemma	pos
hjic-927	1	1	hungarian	hungarian	ADJ
hjic-927	1	2	journal	journal	NOUN
hjic-927	1	3	of	of	ADP
hjic-927	1	4	industry	industry	NOUN
hjic-927	1	5	and	and	CCONJ
hjic-927	1	6	chemistry	chemistry	NOUN
hjic-927	1	7	vol	vol	NOUN
hjic-927	1	8	.	.	PUNCT
hjic-927	2	1	48(1	48(1	NOUN
hjic-927	2	2	)	)	PUNCT
hjic-927	2	3	pp	pp	ADV
hjic-927	2	4	.	.	PUNCT
hjic-927	3	1	109–115	109–115	NUM
hjic-927	3	2	(	(	PUNCT
hjic-927	3	3	2020	2020	NUM
hjic-927	3	4	)	)	PUNCT
hjic-927	3	5	hjic.mk.uni-pannon.hu	hjic.mk.uni-pannon.hu	NOUN
hjic-927	3	6	doi	doi	NOUN
hjic-927	3	7	:	:	PUNCT
hjic-927	3	8	10.33927	10.33927	NUM
hjic-927	3	9	/	/	SYM
hjic-927	3	10	hjic-2020	hjic-2020	NOUN
hjic-927	3	11	-	-	PUNCT
hjic-927	3	12	16	16	NUM
hjic-927	3	13	localization	localization	NOUN
hjic-927	3	14	accuracy	accuracy	NOUN
hjic-927	3	15	improvement	improvement	NOUN
hjic-927	3	16	of	of	ADP
hjic-927	3	17	autonomous	autonomous	ADJ
hjic-927	3	18	vehicles	vehicle	NOUN
hjic-927	3	19	using	use	VERB
hjic-927	3	20	sensor	sensor	NOUN
hjic-927	3	21	fusion	fusion	NOUN
hjic-927	3	22	and	and	CCONJ
hjic-927	3	23	extended	extended	ADJ
hjic-927	3	24	kalman	kalman	NOUN
hjic-927	3	25	filter	filter	NOUN
hjic-927	3	26	istván	istván	PROPN
hjic-927	3	27	szalay∗1	szalay∗1	PROPN
hjic-927	3	28	,	,	PUNCT
hjic-927	3	29	krisztián	krisztián	PROPN
hjic-927	3	30	enisz1	enisz1	PROPN
hjic-927	3	31	,	,	PUNCT
hjic-927	3	32	hunor	hunor	PROPN
hjic-927	3	33	medve1	medve1	PROPN
hjic-927	3	34	,	,	PUNCT
hjic-927	3	35	and	and	CCONJ
hjic-927	3	36	dénes	déne	NOUN
hjic-927	3	37	fodor1	fodor1	VERB
hjic-927	4	1	1research	1research	NUM
hjic-927	4	2	institute	institute	PROPN
hjic-927	4	3	of	of	ADP
hjic-927	4	4	automotive	automotive	ADJ
hjic-927	4	5	mechatronics	mechatronic	NOUN
hjic-927	4	6	and	and	CCONJ
hjic-927	4	7	automation	automation	NOUN
hjic-927	4	8	,	,	PUNCT
hjic-927	4	9	university	university	NOUN
hjic-927	4	10	of	of	ADP
hjic-927	4	11	pannonia	pannonia	PROPN
hjic-927	4	12	,	,	PUNCT
hjic-927	4	13	egyetem	egyetem	NOUN
hjic-927	4	14	u.	u.	PROPN
hjic-927	4	15	10	10	NUM
hjic-927	4	16	,	,	PUNCT
hjic-927	4	17	veszprém	veszprém	NOUN
hjic-927	4	18	,	,	PUNCT
hjic-927	4	19	8200	8200	NUM
hjic-927	4	20	,	,	PUNCT
hjic-927	4	21	hungary	hungary	PROPN
hjic-927	4	22	advanced	advanced	ADJ
hjic-927	4	23	driver	driver	NOUN
hjic-927	4	24	assistance	assistance	NOUN
hjic-927	4	25	systems	system	NOUN
hjic-927	4	26	and	and	CCONJ
hjic-927	4	27	autonomous	autonomous	ADJ
hjic-927	4	28	vehicles	vehicle	NOUN
hjic-927	4	29	rely	rely	VERB
hjic-927	4	30	heavily	heavily	ADV
hjic-927	4	31	on	on	ADP
hjic-927	4	32	position	position	NOUN
hjic-927	4	33	information	information	NOUN
hjic-927	4	34	,	,	PUNCT
hjic-927	4	35	therefore	therefore	ADV
hjic-927	4	36	,	,	PUNCT
hjic-927	4	37	enhancing	enhance	VERB
hjic-927	4	38	localization	localization	NOUN
hjic-927	4	39	algorithms	algorithm	NOUN
hjic-927	4	40	is	be	AUX
hjic-927	4	41	an	an	DET
hjic-927	4	42	actively	actively	ADV
hjic-927	4	43	researched	research	VERB
hjic-927	4	44	field	field	NOUN
hjic-927	4	45	.	.	PUNCT
hjic-927	5	1	novel	novel	ADJ
hjic-927	5	2	algorithms	algorithm	NOUN
hjic-927	5	3	fuse	fuse	VERB
hjic-927	5	4	the	the	DET
hjic-927	5	5	signals	signal	NOUN
hjic-927	5	6	of	of	ADP
hjic-927	5	7	common	common	ADJ
hjic-927	5	8	vehicle	vehicle	NOUN
hjic-927	5	9	sensors	sensor	NOUN
hjic-927	5	10	,	,	PUNCT
hjic-927	5	11	the	the	DET
hjic-927	5	12	inertial	inertial	ADJ
hjic-927	5	13	measurement	measurement	NOUN
hjic-927	5	14	unit	unit	NOUN
hjic-927	5	15	and	and	CCONJ
hjic-927	5	16	global	global	ADJ
hjic-927	5	17	positioning	positioning	NOUN
hjic-927	5	18	system	system	NOUN
hjic-927	5	19	.	.	PUNCT
hjic-927	6	1	this	this	DET
hjic-927	6	2	paper	paper	NOUN
hjic-927	6	3	presents	present	VERB
hjic-927	6	4	a	a	DET
hjic-927	6	5	localization	localization	NOUN
hjic-927	6	6	algorithm	algorithm	NOUN
hjic-927	6	7	for	for	ADP
hjic-927	6	8	vehicle	vehicle	NOUN
hjic-927	6	9	position	position	NOUN
hjic-927	6	10	estimation	estimation	NOUN
hjic-927	6	11	that	that	PRON
hjic-927	6	12	integrates	integrate	VERB
hjic-927	6	13	vehicle	vehicle	NOUN
hjic-927	6	14	sensors	sensor	NOUN
hjic-927	6	15	(	(	PUNCT
hjic-927	6	16	steering	steer	VERB
hjic-927	6	17	angle	angle	NOUN
hjic-927	6	18	encoder	encoder	NOUN
hjic-927	6	19	,	,	PUNCT
hjic-927	6	20	wheel	wheel	VERB
hjic-927	6	21	speed	speed	NOUN
hjic-927	6	22	sensors	sensor	NOUN
hjic-927	6	23	and	and	CCONJ
hjic-927	6	24	a	a	DET
hjic-927	6	25	yaw	yaw	NOUN
hjic-927	6	26	-	-	PUNCT
hjic-927	6	27	rate	rate	NOUN
hjic-927	6	28	sensor	sensor	NOUN
hjic-927	6	29	)	)	PUNCT
hjic-927	6	30	and	and	CCONJ
hjic-927	6	31	gps	gps	PROPN
hjic-927	6	32	signals	signal	NOUN
hjic-927	6	33	.	.	PUNCT
hjic-927	7	1	the	the	DET
hjic-927	7	2	estimation	estimation	NOUN
hjic-927	7	3	algorithm	algorithm	NOUN
hjic-927	7	4	uses	use	VERB
hjic-927	7	5	an	an	DET
hjic-927	7	6	extended	extended	ADJ
hjic-927	7	7	kalman	kalman	NOUN
hjic-927	7	8	filter	filter	NOUN
hjic-927	7	9	designed	design	VERB
hjic-927	7	10	for	for	ADP
hjic-927	7	11	a	a	DET
hjic-927	7	12	simplified	simplified	ADJ
hjic-927	7	13	version	version	NOUN
hjic-927	7	14	of	of	ADP
hjic-927	7	15	the	the	DET
hjic-927	7	16	single	single	ADJ
hjic-927	7	17	track	track	NOUN
hjic-927	7	18	model	model	NOUN
hjic-927	7	19	.	.	PUNCT
hjic-927	8	1	the	the	DET
hjic-927	8	2	vehicle	vehicle	NOUN
hjic-927	8	3	dynamics	dynamic	NOUN
hjic-927	8	4	-	-	PUNCT
hjic-927	8	5	based	base	VERB
hjic-927	8	6	model	model	NOUN
hjic-927	8	7	only	only	ADV
hjic-927	8	8	includes	include	VERB
hjic-927	8	9	calculation	calculation	NOUN
hjic-927	8	10	of	of	ADP
hjic-927	8	11	the	the	DET
hjic-927	8	12	lateral	lateral	ADJ
hjic-927	8	13	force	force	NOUN
hjic-927	8	14	and	and	CCONJ
hjic-927	8	15	planar	planar	ADJ
hjic-927	8	16	motion	motion	NOUN
hjic-927	8	17	of	of	ADP
hjic-927	8	18	the	the	DET
hjic-927	8	19	vehicle	vehicle	NOUN
hjic-927	8	20	resulting	result	VERB
hjic-927	8	21	in	in	ADP
hjic-927	8	22	the	the	DET
hjic-927	8	23	minimal	minimal	ADJ
hjic-927	8	24	state	state	NOUN
hjic-927	8	25	-	-	PUNCT
hjic-927	8	26	space	space	NOUN
hjic-927	8	27	model	model	NOUN
hjic-927	8	28	and	and	CCONJ
hjic-927	8	29	filter	filter	NOUN
hjic-927	8	30	algorithm	algorithm	NOUN
hjic-927	8	31	.	.	PUNCT
hjic-927	9	1	a	a	DET
hjic-927	9	2	tesis	tesis	NOUN
hjic-927	9	3	vedyna	vedyna	NOUN
hjic-927	9	4	vehicle	vehicle	NOUN
hjic-927	9	5	dynamics	dynamic	NOUN
hjic-927	9	6	and	and	CCONJ
hjic-927	9	7	mathworks	mathworks	PROPN
hjic-927	9	8	simulink	simulink	PROPN
hjic-927	9	9	-	-	PUNCT
hjic-927	9	10	based	base	VERB
hjic-927	9	11	simulation	simulation	NOUN
hjic-927	9	12	environment	environment	NOUN
hjic-927	9	13	was	be	AUX
hjic-927	9	14	used	use	VERB
hjic-927	9	15	in	in	ADP
hjic-927	9	16	the	the	DET
hjic-927	9	17	development	development	NOUN
hjic-927	9	18	and	and	CCONJ
hjic-927	9	19	validation	validation	NOUN
hjic-927	9	20	process	process	NOUN
hjic-927	9	21	.	.	PUNCT
hjic-927	10	1	the	the	DET
hjic-927	10	2	presented	present	VERB
hjic-927	10	3	results	result	NOUN
hjic-927	10	4	include	include	VERB
hjic-927	10	5	different	different	ADJ
hjic-927	10	6	lowand	lowand	ADJ
hjic-927	10	7	high	high	ADJ
hjic-927	10	8	-	-	PUNCT
hjic-927	10	9	speed	speed	NOUN
hjic-927	10	10	maneuvers	maneuver	NOUN
hjic-927	10	11	as	as	ADV
hjic-927	10	12	well	well	ADV
hjic-927	10	13	as	as	ADP
hjic-927	10	14	filter	filter	NOUN
hjic-927	10	15	estimates	estimate	NOUN
hjic-927	10	16	of	of	ADP
hjic-927	10	17	the	the	DET
hjic-927	10	18	position	position	NOUN
hjic-927	10	19	and	and	CCONJ
hjic-927	10	20	heading	heading	NOUN
hjic-927	10	21	of	of	ADP
hjic-927	10	22	the	the	DET
hjic-927	10	23	vehicle	vehicle	NOUN
hjic-927	10	24	.	.	PUNCT
hjic-927	11	1	keywords	keyword	NOUN
hjic-927	11	2	:	:	PUNCT
hjic-927	11	3	vehicle	vehicle	NOUN
hjic-927	11	4	localization	localization	NOUN
hjic-927	11	5	,	,	PUNCT
hjic-927	11	6	extended	extend	VERB
hjic-927	11	7	kalman	kalman	NOUN
hjic-927	11	8	filter	filter	NOUN
hjic-927	11	9	,	,	PUNCT
hjic-927	11	10	sensor	sensor	NOUN
hjic-927	11	11	fusion	fusion	NOUN
hjic-927	11	12	,	,	PUNCT
hjic-927	11	13	dead	dead	ADJ
hjic-927	11	14	reckoning	reckon	VERB
hjic-927	11	15	1	1	NUM
hjic-927	11	16	.	.	PUNCT
hjic-927	12	1	introduction	introduction	NOUN
hjic-927	12	2	vehicle	vehicle	NOUN
hjic-927	12	3	navigation	navigation	NOUN
hjic-927	12	4	systems	system	NOUN
hjic-927	12	5	are	be	AUX
hjic-927	12	6	important	important	ADJ
hjic-927	12	7	components	component	NOUN
hjic-927	12	8	of	of	ADP
hjic-927	12	9	autonomous	autonomous	ADJ
hjic-927	12	10	driving	drive	VERB
hjic-927	12	11	solutions	solution	NOUN
hjic-927	12	12	.	.	PUNCT
hjic-927	13	1	these	these	DET
hjic-927	13	2	systems	system	NOUN
hjic-927	13	3	acquire	acquire	VERB
hjic-927	13	4	the	the	DET
hjic-927	13	5	position	position	NOUN
hjic-927	13	6	,	,	PUNCT
hjic-927	13	7	velocity	velocity	NOUN
hjic-927	13	8	and	and	CCONJ
hjic-927	13	9	heading	heading	NOUN
hjic-927	13	10	of	of	ADP
hjic-927	13	11	the	the	DET
hjic-927	13	12	vehicle	vehicle	NOUN
hjic-927	13	13	by	by	ADP
hjic-927	13	14	using	use	VERB
hjic-927	13	15	onboard	onboard	ADP
hjic-927	13	16	or	or	CCONJ
hjic-927	13	17	externally	externally	ADV
hjic-927	13	18	installed	instal	VERB
hjic-927	13	19	sensors	sensor	NOUN
hjic-927	13	20	such	such	ADJ
hjic-927	13	21	as	as	ADP
hjic-927	13	22	wheel	wheel	NOUN
hjic-927	13	23	speed	speed	NOUN
hjic-927	13	24	sensors	sensor	NOUN
hjic-927	13	25	,	,	PUNCT
hjic-927	13	26	gyroscopes	gyroscope	NOUN
hjic-927	13	27	,	,	PUNCT
hjic-927	13	28	accelerometers	accelerometer	NOUN
hjic-927	13	29	,	,	PUNCT
hjic-927	13	30	inertial	inertial	ADJ
hjic-927	13	31	navigation	navigation	NOUN
hjic-927	13	32	systems	system	NOUN
hjic-927	13	33	(	(	PUNCT
hjic-927	13	34	ins	in	NOUN
hjic-927	13	35	)	)	PUNCT
hjic-927	13	36	,	,	PUNCT
hjic-927	13	37	compasses	compass	NOUN
hjic-927	13	38	,	,	PUNCT
hjic-927	13	39	radio	radio	NOUN
hjic-927	13	40	frequency	frequency	NOUN
hjic-927	13	41	receivers	receiver	NOUN
hjic-927	13	42	,	,	PUNCT
hjic-927	13	43	etc	etc	X
hjic-927	13	44	.	.	X
hjic-927	14	1	[	[	X
hjic-927	14	2	1	1	NUM
hjic-927	14	3	]	]	PUNCT
hjic-927	14	4	.	.	PUNCT
hjic-927	15	1	the	the	DET
hjic-927	15	2	two	two	NUM
hjic-927	15	3	most	most	ADV
hjic-927	15	4	common	common	ADJ
hjic-927	15	5	vehicle	vehicle	NOUN
hjic-927	15	6	localization	localization	NOUN
hjic-927	15	7	techniques	technique	NOUN
hjic-927	15	8	are	be	AUX
hjic-927	15	9	dead	dead	ADJ
hjic-927	15	10	reckoning	reckon	VERB
hjic-927	15	11	and	and	CCONJ
hjic-927	15	12	the	the	DET
hjic-927	15	13	use	use	NOUN
hjic-927	15	14	of	of	ADP
hjic-927	15	15	a	a	DET
hjic-927	15	16	global	global	ADJ
hjic-927	15	17	navigation	navigation	NOUN
hjic-927	15	18	satellite	satellite	NOUN
hjic-927	15	19	system	system	NOUN
hjic-927	15	20	(	(	PUNCT
hjic-927	15	21	gnss	gnss	NOUN
hjic-927	15	22	)	)	PUNCT
hjic-927	15	23	,	,	PUNCT
hjic-927	15	24	like	like	ADP
hjic-927	15	25	the	the	DET
hjic-927	15	26	global	global	ADJ
hjic-927	15	27	positioning	positioning	NOUN
hjic-927	15	28	system	system	NOUN
hjic-927	15	29	(	(	PUNCT
hjic-927	15	30	gps	gps	PROPN
hjic-927	15	31	)	)	PUNCT
hjic-927	15	32	.	.	PUNCT
hjic-927	16	1	in	in	ADP
hjic-927	16	2	dead	dead	ADJ
hjic-927	16	3	reckoning	reckoning	NOUN
hjic-927	16	4	,	,	PUNCT
hjic-927	16	5	distance	distance	NOUN
hjic-927	16	6	and	and	CCONJ
hjic-927	16	7	heading	head	VERB
hjic-927	16	8	sensors	sensor	NOUN
hjic-927	16	9	are	be	AUX
hjic-927	16	10	used	use	VERB
hjic-927	16	11	to	to	PART
hjic-927	16	12	measure	measure	VERB
hjic-927	16	13	the	the	DET
hjic-927	16	14	vehicle	vehicle	NOUN
hjic-927	16	15	displacement	displacement	NOUN
hjic-927	16	16	vector	vector	NOUN
hjic-927	16	17	which	which	PRON
hjic-927	16	18	is	be	AUX
hjic-927	16	19	then	then	ADV
hjic-927	16	20	integrated	integrate	VERB
hjic-927	16	21	recursively	recursively	ADV
hjic-927	16	22	to	to	PART
hjic-927	16	23	determine	determine	VERB
hjic-927	16	24	the	the	DET
hjic-927	16	25	current	current	ADJ
hjic-927	16	26	position	position	NOUN
hjic-927	16	27	of	of	ADP
hjic-927	16	28	the	the	DET
hjic-927	16	29	vehicle	vehicle	NOUN
hjic-927	16	30	.	.	PUNCT
hjic-927	17	1	measurement	measurement	NOUN
hjic-927	17	2	errors	error	NOUN
hjic-927	17	3	are	be	AUX
hjic-927	17	4	accumulated	accumulate	VERB
hjic-927	17	5	by	by	ADP
hjic-927	17	6	this	this	DET
hjic-927	17	7	integration	integration	NOUN
hjic-927	17	8	,	,	PUNCT
hjic-927	17	9	therefore	therefore	ADV
hjic-927	17	10	,	,	PUNCT
hjic-927	17	11	the	the	DET
hjic-927	17	12	accuracy	accuracy	NOUN
hjic-927	17	13	of	of	ADP
hjic-927	17	14	the	the	DET
hjic-927	17	15	position	position	NOUN
hjic-927	17	16	estimation	estimation	NOUN
hjic-927	17	17	is	be	AUX
hjic-927	17	18	constantly	constantly	ADV
hjic-927	17	19	decreasing	decrease	VERB
hjic-927	17	20	.	.	PUNCT
hjic-927	18	1	on	on	ADP
hjic-927	18	2	the	the	DET
hjic-927	18	3	other	other	ADJ
hjic-927	18	4	hand	hand	NOUN
hjic-927	18	5	,	,	PUNCT
hjic-927	18	6	gps	gps	PROPN
hjic-927	18	7	provides	provide	VERB
hjic-927	18	8	absolute	absolute	ADJ
hjic-927	18	9	vehicle	vehicle	NOUN
hjic-927	18	10	positions	position	NOUN
hjic-927	18	11	without	without	ADP
hjic-927	18	12	the	the	DET
hjic-927	18	13	accumulation	accumulation	NOUN
hjic-927	18	14	of	of	ADP
hjic-927	18	15	errors	error	NOUN
hjic-927	18	16	associated	associate	VERB
hjic-927	18	17	with	with	ADP
hjic-927	18	18	dead	dead	ADJ
hjic-927	18	19	reckoning	reckon	VERB
hjic-927	18	20	through	through	ADP
hjic-927	18	21	the	the	DET
hjic-927	18	22	use	use	NOUN
hjic-927	18	23	of	of	ADP
hjic-927	18	24	satellites	satellite	NOUN
hjic-927	18	25	as	as	ADP
hjic-927	18	26	the	the	DET
hjic-927	18	27	reference	reference	NOUN
hjic-927	18	28	points	point	VERB
hjic-927	18	29	.	.	PUNCT
hjic-927	19	1	localization	localization	NOUN
hjic-927	19	2	methods	method	NOUN
hjic-927	19	3	typically	typically	ADV
hjic-927	19	4	integrate	integrate	VERB
hjic-927	19	5	gps	gps	PROPN
hjic-927	19	6	with	with	ADP
hjic-927	19	7	other	other	ADJ
hjic-927	19	8	sensors	sensor	NOUN
hjic-927	19	9	since	since	SCONJ
hjic-927	19	10	gps	gps	NOUN
hjic-927	19	11	suffers	suffer	VERB
hjic-927	19	12	from	from	ADP
hjic-927	19	13	outages	outage	NOUN
hjic-927	19	14	and	and	CCONJ
hjic-927	19	15	errors	error	NOUN
hjic-927	19	16	.	.	PUNCT
hjic-927	20	1	many	many	ADJ
hjic-927	20	2	papers	paper	NOUN
hjic-927	20	3	have	have	AUX
hjic-927	20	4	integrated	integrate	VERB
hjic-927	20	5	gps	gps	NOUN
hjic-927	20	6	with	with	ADP
hjic-927	20	7	ins	in	NOUN
hjic-927	20	8	[	[	X
hjic-927	20	9	2–5	2–5	X
hjic-927	20	10	]	]	PUNCT
hjic-927	20	11	.	.	PUNCT
hjic-927	21	1	others	other	NOUN
hjic-927	21	2	have	have	VERB
hjic-927	21	3	integrated	integrate	VERB
hjic-927	21	4	gps	gps	NOUN
hjic-927	21	5	with	with	ADP
hjic-927	21	6	the	the	DET
hjic-927	21	7	inertial	inertial	ADJ
hjic-927	21	8	measurement	measurement	NOUN
hjic-927	21	9	unit	unit	NOUN
hjic-927	21	10	(	(	PUNCT
hjic-927	21	11	imu	imu	NOUN
hjic-927	21	12	)	)	PUNCT
hjic-927	22	1	[	[	X
hjic-927	22	2	6,7	6,7	NUM
hjic-927	22	3	]	]	PUNCT
hjic-927	22	4	.	.	PUNCT
hjic-927	23	1	this	this	DET
hjic-927	23	2	paper	paper	NOUN
hjic-927	23	3	integrates	integrate	NOUN
hjic-927	23	4	gps	gps	PROPN
hjic-927	23	5	with	with	ADP
hjic-927	23	6	vehicle	vehicle	NOUN
hjic-927	23	7	sensors	sensor	NOUN
hjic-927	23	8	,	,	PUNCT
hjic-927	23	9	similarly	similarly	ADV
hjic-927	23	10	to	to	ADP
hjic-927	23	11	refs	ref	NOUN
hjic-927	23	12	.	.	PUNCT
hjic-927	24	1	[	[	X
hjic-927	24	2	8–10	8–10	NOUN
hjic-927	24	3	]	]	PUNCT
hjic-927	24	4	.	.	PUNCT
hjic-927	25	1	the	the	DET
hjic-927	25	2	continuous	continuous	ADJ
hjic-927	25	3	avail∗correspondence	avail∗correspondence	NOUN
hjic-927	25	4	:	:	PUNCT
hjic-927	25	5	szalay.istvan@mk.uni-pannon.hu	szalay.istvan@mk.uni-pannon.hu	NOUN
hjic-927	25	6	ability	ability	NOUN
hjic-927	25	7	of	of	ADP
hjic-927	25	8	signals	signal	NOUN
hjic-927	25	9	from	from	ADP
hjic-927	25	10	vehicle	vehicle	NOUN
hjic-927	25	11	sensors	sensor	NOUN
hjic-927	25	12	required	require	VERB
hjic-927	25	13	by	by	ADP
hjic-927	25	14	dead	dead	ADJ
hjic-927	25	15	reckoning	reckon	VERB
hjic-927	25	16	as	as	ADV
hjic-927	25	17	well	well	ADV
hjic-927	25	18	as	as	ADP
hjic-927	25	19	the	the	DET
hjic-927	25	20	absolute	absolute	ADJ
hjic-927	25	21	positioning	positioning	NOUN
hjic-927	25	22	accuracy	accuracy	NOUN
hjic-927	25	23	of	of	ADP
hjic-927	25	24	gps	gps	PROPN
hjic-927	25	25	render	render	VERB
hjic-927	25	26	them	they	PRON
hjic-927	25	27	combinable	combinable	ADJ
hjic-927	25	28	to	to	PART
hjic-927	25	29	achieve	achieve	VERB
hjic-927	25	30	better	well	ADJ
hjic-927	25	31	performance	performance	NOUN
hjic-927	25	32	[	[	X
hjic-927	25	33	8	8	NUM
hjic-927	25	34	,	,	PUNCT
hjic-927	25	35	9	9	NUM
hjic-927	25	36	]	]	PUNCT
hjic-927	25	37	.	.	PUNCT
hjic-927	26	1	in	in	ADP
hjic-927	26	2	this	this	DET
hjic-927	26	3	paper	paper	NOUN
hjic-927	26	4	,	,	PUNCT
hjic-927	26	5	a	a	DET
hjic-927	26	6	vehicle	vehicle	NOUN
hjic-927	26	7	localization	localization	NOUN
hjic-927	26	8	algorithm	algorithm	NOUN
hjic-927	26	9	is	be	AUX
hjic-927	26	10	presented	present	VERB
hjic-927	26	11	that	that	PRON
hjic-927	26	12	uses	use	VERB
hjic-927	26	13	an	an	DET
hjic-927	26	14	extended	extended	ADJ
hjic-927	26	15	kalman	kalman	NOUN
hjic-927	26	16	filter	filter	NOUN
hjic-927	26	17	(	(	PUNCT
hjic-927	26	18	ekf	ekf	PROPN
hjic-927	26	19	)	)	PUNCT
hjic-927	26	20	to	to	PART
hjic-927	26	21	integrate	integrate	VERB
hjic-927	26	22	dead	dead	ADJ
hjic-927	26	23	reckoning	reckon	VERB
hjic-927	26	24	with	with	ADP
hjic-927	26	25	gps	gps	PROPN
hjic-927	26	26	.	.	PUNCT
hjic-927	27	1	dead	dead	ADJ
hjic-927	27	2	reckoning	reckoning	NOUN
hjic-927	27	3	is	be	AUX
hjic-927	27	4	based	base	VERB
hjic-927	27	5	on	on	ADP
hjic-927	27	6	a	a	DET
hjic-927	27	7	simplified	simplified	ADJ
hjic-927	27	8	version	version	NOUN
hjic-927	27	9	of	of	ADP
hjic-927	27	10	the	the	DET
hjic-927	27	11	single	single	ADJ
hjic-927	27	12	track	track	NOUN
hjic-927	27	13	model	model	NOUN
hjic-927	27	14	(	(	PUNCT
hjic-927	27	15	stm	stm	PROPN
hjic-927	27	16	)	)	PUNCT
hjic-927	27	17	and	and	CCONJ
hjic-927	27	18	uses	use	VERB
hjic-927	27	19	a	a	DET
hjic-927	27	20	steering	steering	NOUN
hjic-927	27	21	angle	angle	NOUN
hjic-927	27	22	encoder	encoder	NOUN
hjic-927	27	23	,	,	PUNCT
hjic-927	27	24	wheel	wheel	VERB
hjic-927	27	25	speed	speed	NOUN
hjic-927	27	26	sensors	sensor	NOUN
hjic-927	27	27	and	and	CCONJ
hjic-927	27	28	yaw	yaw	NOUN
hjic-927	27	29	rate	rate	NOUN
hjic-927	27	30	measurements	measurement	NOUN
hjic-927	27	31	.	.	PUNCT
hjic-927	28	1	2	2	X
hjic-927	28	2	.	.	X
hjic-927	28	3	modeling	model	VERB
hjic-927	28	4	strategy	strategy	NOUN
hjic-927	28	5	the	the	DET
hjic-927	28	6	aim	aim	NOUN
hjic-927	28	7	of	of	ADP
hjic-927	28	8	the	the	DET
hjic-927	28	9	localization	localization	NOUN
hjic-927	28	10	algorithm	algorithm	NOUN
hjic-927	28	11	is	be	AUX
hjic-927	28	12	to	to	PART
hjic-927	28	13	estimate	estimate	VERB
hjic-927	28	14	the	the	DET
hjic-927	28	15	current	current	ADJ
hjic-927	28	16	position	position	NOUN
hjic-927	28	17	(	(	PUNCT
hjic-927	28	18	x	x	NOUN
hjic-927	28	19	and	and	CCONJ
hjic-927	28	20	y	y	PROPN
hjic-927	28	21	coordinates	coordinate	NOUN
hjic-927	28	22	)	)	PUNCT
hjic-927	28	23	and	and	CCONJ
hjic-927	28	24	heading	head	VERB
hjic-927	28	25	(	(	PUNCT
hjic-927	28	26	yaw	yaw	NOUN
hjic-927	28	27	angle	angle	PROPN
hjic-927	28	28	ψ	ψ	NOUN
hjic-927	28	29	)	)	PUNCT
hjic-927	28	30	of	of	ADP
hjic-927	28	31	the	the	DET
hjic-927	28	32	vehicle	vehicle	NOUN
hjic-927	28	33	by	by	ADP
hjic-927	28	34	fusing	fuse	VERB
hjic-927	28	35	gps	gps	NOUN
hjic-927	28	36	measurements	measurement	NOUN
hjic-927	28	37	with	with	ADP
hjic-927	28	38	dead	dead	ADJ
hjic-927	28	39	reckoning	reckoning	NOUN
hjic-927	28	40	based	base	VERB
hjic-927	28	41	on	on	ADP
hjic-927	28	42	vehicle	vehicle	NOUN
hjic-927	28	43	sensor	sensor	NOUN
hjic-927	28	44	signals	signal	NOUN
hjic-927	28	45	.	.	PUNCT
hjic-927	29	1	gps	gps	PROPN
hjic-927	29	2	measurements	measurement	NOUN
hjic-927	29	3	provide	provide	VERB
hjic-927	29	4	the	the	DET
hjic-927	29	5	noisy	noisy	ADJ
hjic-927	29	6	xgps	xgps	PROPN
hjic-927	29	7	and	and	CCONJ
hjic-927	29	8	ygps	ygps	PROPN
hjic-927	29	9	coordinates	coordinate	NOUN
hjic-927	29	10	.	.	PUNCT
hjic-927	30	1	vehicle	vehicle	NOUN
hjic-927	30	2	sensors	sensor	NOUN
hjic-927	30	3	provide	provide	VERB
hjic-927	30	4	the	the	DET
hjic-927	30	5	steering	steering	NOUN
hjic-927	30	6	angle	angle	NOUN
hjic-927	30	7	δ	δ	PROPN
hjic-927	30	8	,	,	PUNCT
hjic-927	30	9	the	the	DET
hjic-927	30	10	four	four	NUM
hjic-927	30	11	wheel	wheel	NOUN
hjic-927	30	12	speed	speed	NOUN
hjic-927	30	13	signals	signal	NOUN
hjic-927	30	14	ωi	ωi	X
hjic-927	30	15	and	and	CCONJ
hjic-927	30	16	the	the	DET
hjic-927	30	17	yaw	yaw	NOUN
hjic-927	30	18	rate	rate	NOUN
hjic-927	30	19	ψ̇.	ψ̇.	NUM
hjic-927	30	20	these	these	DET
hjic-927	30	21	measurements	measurement	NOUN
hjic-927	30	22	are	be	AUX
hjic-927	30	23	available	available	ADJ
hjic-927	30	24	in	in	ADP
hjic-927	30	25	most	most	ADJ
hjic-927	30	26	commercial	commercial	ADJ
hjic-927	30	27	vehicles	vehicle	NOUN
hjic-927	30	28	.	.	PUNCT
hjic-927	31	1	the	the	DET
hjic-927	31	2	lateral	lateral	ADJ
hjic-927	31	3	acceleration	acceleration	NOUN
hjic-927	31	4	sensors	sensor	NOUN
hjic-927	31	5	were	be	AUX
hjic-927	31	6	not	not	PART
hjic-927	31	7	used	use	VERB
hjic-927	31	8	because	because	SCONJ
hjic-927	31	9	the	the	DET
hjic-927	31	10	acceleration	acceleration	NOUN
hjic-927	31	11	signal	signal	NOUN
hjic-927	31	12	is	be	AUX
hjic-927	31	13	usually	usually	ADV
hjic-927	31	14	less	less	ADV
hjic-927	31	15	reliable	reliable	ADJ
hjic-927	31	16	and	and	CCONJ
hjic-927	31	17	noisier	noisy	ADJ
hjic-927	31	18	than	than	ADP
hjic-927	31	19	the	the	DET
hjic-927	31	20	other	other	ADJ
hjic-927	31	21	vehicle	vehicle	NOUN
hjic-927	31	22	signals	signal	NOUN
hjic-927	31	23	.	.	PUNCT
hjic-927	32	1	the	the	DET
hjic-927	32	2	localization	localization	NOUN
hjic-927	32	3	algorithm	algorithm	NOUN
hjic-927	32	4	fuses	fuse	VERB
hjic-927	32	5	these	these	DET
hjic-927	32	6	signals	signal	NOUN
hjic-927	32	7	using	use	VERB
hjic-927	32	8	an	an	DET
hjic-927	32	9	extended	extended	ADJ
hjic-927	32	10	kalman	kalman	NOUN
hjic-927	32	11	filter	filter	NOUN
hjic-927	32	12	which	which	PRON
hjic-927	32	13	requires	require	VERB
hjic-927	32	14	an	an	DET
hjic-927	32	15	appropriate	appropriate	ADJ
hjic-927	32	16	system	system	NOUN
hjic-927	32	17	model	model	NOUN
hjic-927	32	18	.	.	PUNCT
hjic-927	33	1	the	the	DET
hjic-927	33	2	system	system	NOUN
hjic-927	33	3	model	model	NOUN
hjic-927	33	4	connects	connect	VERB
hjic-927	33	5	the	the	DET
hjic-927	33	6	available	available	ADJ
hjic-927	33	7	and	and	CCONJ
hjic-927	33	8	estimated	estimated	ADJ
hjic-927	33	9	signals	signal	NOUN
hjic-927	33	10	with	with	ADP
hjic-927	33	11	inputs	input	NOUN
hjic-927	33	12	,	,	PUNCT
hjic-927	33	13	states	state	NOUN
hjic-927	33	14	and	and	CCONJ
hjic-927	33	15	outputs	output	NOUN
hjic-927	33	16	of	of	ADP
hjic-927	33	17	the	the	DET
hjic-927	33	18	system	system	NOUN
hjic-927	33	19	.	.	PUNCT
hjic-927	34	1	the	the	DET
hjic-927	34	2	simplest	simple	ADJ
hjic-927	34	3	and	and	CCONJ
hjic-927	34	4	most	most	ADV
hjic-927	34	5	practical	practical	ADJ
hjic-927	34	6	solution	solution	NOUN
hjic-927	34	7	is	be	AUX
hjic-927	34	8	to	to	ADP
hjic-927	34	9	https://doi.org/10.33927/hjic-2020-16	https://doi.org/10.33927/hjic-2020-16	PROPN
hjic-927	34	10	mailto:szalay.istvan@mk.uni-pannon.hu	mailto:szalay.istvan@mk.uni-pannon.hu	PROPN
hjic-927	34	11	110	110	NUM
hjic-927	34	12	szalay	szalay	NOUN
hjic-927	34	13	,	,	PUNCT
hjic-927	34	14	enisz	enisz	ADJ
hjic-927	34	15	,	,	PUNCT
hjic-927	34	16	medve	medve	ADJ
hjic-927	34	17	,	,	PUNCT
hjic-927	34	18	and	and	CCONJ
hjic-927	34	19	fodor	fodor	PROPN
hjic-927	34	20	xe	xe	PROPN
hjic-927	34	21	ye	ye	PROPN
hjic-927	34	22	~r0	~r0	PUNCT
hjic-927	34	23	∆~r1	∆~r1	NOUN
hjic-927	34	24	∆~r2	∆~r2	NOUN
hjic-927	34	25	t0ts	t0ts	AUX
hjic-927	35	1	x0	x0	PROPN
hjic-927	35	2	u0	u0	PROPN
hjic-927	35	3	noise	noise	PROPN
hjic-927	35	4	f	f	PROPN
hjic-927	35	5	(	(	PUNCT
hjic-927	35	6	x0	x0	PROPN
hjic-927	35	7	,	,	PUNCT
hjic-927	35	8	u0	u0	ADJ
hjic-927	35	9	,	,	PUNCT
hjic-927	35	10	p0	p0	NOUN
hjic-927	35	11	)	)	PUNCT
hjic-927	35	12	=	=	PUNCT
hjic-927	36	1	y1	y1	NOUN
hjic-927	36	2	=	=	PUNCT
hjic-927	36	3	h	h	NOUN
hjic-927	36	4	(	(	PUNCT
hjic-927	36	5	x1	x1	PROPN
hjic-927	36	6	,	,	PUNCT
hjic-927	36	7	u1,m1	u1,m1	PROPN
hjic-927	36	8	)	)	PUNCT
hjic-927	37	1	1ts	1ts	ADJ
hjic-927	37	2	x1	x1	PROPN
hjic-927	37	3	u1	u1	NOUN
hjic-927	37	4	noise	noise	NOUN
hjic-927	37	5	f	f	PROPN
hjic-927	37	6	(	(	PUNCT
hjic-927	37	7	x1	x1	PROPN
hjic-927	37	8	,	,	PUNCT
hjic-927	37	9	u1	u1	NOUN
hjic-927	37	10	,	,	PUNCT
hjic-927	37	11	p1	p1	NOUN
hjic-927	37	12	)	)	PUNCT
hjic-927	37	13	=	=	PUNCT
hjic-927	38	1	y2	y2	NOUN
hjic-927	38	2	=	=	SYM
hjic-927	39	1	h	h	NOUN
hjic-927	39	2	(	(	PUNCT
hjic-927	39	3	x2	x2	PROPN
hjic-927	39	4	,	,	PUNCT
hjic-927	39	5	u2,m2	u2,m2	PROPN
hjic-927	39	6	)	)	PUNCT
hjic-927	39	7	2ts	2ts	NOUN
hjic-927	40	1	x2	x2	PROPN
hjic-927	40	2	u2	u2	PROPN
hjic-927	40	3	noise	noise	NOUN
hjic-927	40	4	figure	figure	NOUN
hjic-927	40	5	1	1	NUM
hjic-927	40	6	:	:	PUNCT
hjic-927	40	7	dead	dead	ADJ
hjic-927	40	8	reckoning	reckoning	NOUN
hjic-927	40	9	steps	step	NOUN
hjic-927	40	10	and	and	CCONJ
hjic-927	40	11	propagation	propagation	NOUN
hjic-927	40	12	of	of	ADP
hjic-927	40	13	the	the	DET
hjic-927	40	14	system	system	NOUN
hjic-927	40	15	state	state	NOUN
hjic-927	40	16	formulate	formulate	VERB
hjic-927	40	17	the	the	DET
hjic-927	40	18	system	system	NOUN
hjic-927	40	19	model	model	NOUN
hjic-927	40	20	in	in	ADP
hjic-927	40	21	a	a	DET
hjic-927	40	22	way	way	NOUN
hjic-927	40	23	that	that	PRON
hjic-927	40	24	produces	produce	VERB
hjic-927	40	25	the	the	DET
hjic-927	40	26	true	true	ADJ
hjic-927	40	27	-	-	PUNCT
hjic-927	40	28	position	position	NOUN
hjic-927	40	29	and	and	CCONJ
hjic-927	40	30	heading	head	VERB
hjic-927	40	31	state	state	NOUN
hjic-927	40	32	variables	variable	NOUN
hjic-927	40	33	,	,	PUNCT
hjic-927	40	34	the	the	DET
hjic-927	40	35	input	input	NOUN
hjic-927	40	36	variables	variable	NOUN
hjic-927	40	37	of	of	ADP
hjic-927	40	38	vehicle	vehicle	NOUN
hjic-927	40	39	sensor	sensor	NOUN
hjic-927	40	40	signals	signal	NOUN
hjic-927	40	41	and	and	CCONJ
hjic-927	40	42	the	the	DET
hjic-927	40	43	outputs	output	NOUN
hjic-927	40	44	of	of	ADP
hjic-927	40	45	gps	gps	NOUN
hjic-927	40	46	signals	signal	NOUN
hjic-927	40	47	.	.	PUNCT
hjic-927	41	1	3	3	X
hjic-927	41	2	.	.	X
hjic-927	41	3	dead	dead	ADJ
hjic-927	41	4	reckoning	reckon	VERB
hjic-927	41	5	algorithm	algorithm	NOUN
hjic-927	41	6	dead	dead	ADJ
hjic-927	41	7	reckoning	reckon	VERB
hjic-927	41	8	or	or	CCONJ
hjic-927	41	9	path	path	NOUN
hjic-927	41	10	integration	integration	NOUN
hjic-927	41	11	is	be	AUX
hjic-927	41	12	the	the	DET
hjic-927	41	13	process	process	NOUN
hjic-927	41	14	of	of	ADP
hjic-927	41	15	estimating	estimate	VERB
hjic-927	41	16	the	the	DET
hjic-927	41	17	current	current	ADJ
hjic-927	41	18	position	position	NOUN
hjic-927	41	19	of	of	ADP
hjic-927	41	20	a	a	DET
hjic-927	41	21	vehicle	vehicle	NOUN
hjic-927	41	22	by	by	ADP
hjic-927	41	23	using	use	VERB
hjic-927	41	24	a	a	DET
hjic-927	41	25	previously	previously	ADV
hjic-927	41	26	determined	determine	VERB
hjic-927	41	27	position	position	NOUN
hjic-927	41	28	,	,	PUNCT
hjic-927	41	29	and	and	CCONJ
hjic-927	41	30	projecting	project	VERB
hjic-927	41	31	that	that	DET
hjic-927	41	32	position	position	NOUN
hjic-927	41	33	based	base	VERB
hjic-927	41	34	upon	upon	SCONJ
hjic-927	41	35	known	know	VERB
hjic-927	41	36	or	or	CCONJ
hjic-927	41	37	estimated	estimate	VERB
hjic-927	41	38	speeds	speed	NOUN
hjic-927	41	39	over	over	ADP
hjic-927	41	40	a	a	DET
hjic-927	41	41	time	time	NOUN
hjic-927	41	42	period	period	NOUN
hjic-927	41	43	and	and	CCONJ
hjic-927	41	44	course	course	NOUN
hjic-927	41	45	that	that	PRON
hjic-927	41	46	has	have	AUX
hjic-927	41	47	elapsed	elapse	VERB
hjic-927	41	48	.	.	PUNCT
hjic-927	42	1	dead	dead	ADJ
hjic-927	42	2	reckoning	reckon	VERB
hjic-927	42	3	is	be	AUX
hjic-927	42	4	subject	subject	ADJ
hjic-927	42	5	to	to	ADP
hjic-927	42	6	cumulative	cumulative	ADJ
hjic-927	42	7	errors	error	NOUN
hjic-927	42	8	.	.	PUNCT
hjic-927	43	1	in	in	ADP
hjic-927	43	2	continuous	continuous	ADJ
hjic-927	43	3	time	time	NOUN
hjic-927	43	4	,	,	PUNCT
hjic-927	43	5	dead	dead	ADJ
hjic-927	43	6	reckoning	reckon	VERB
hjic-927	43	7	results	result	NOUN
hjic-927	43	8	in	in	ADP
hjic-927	43	9	the	the	DET
hjic-927	43	10	integration	integration	NOUN
hjic-927	43	11	of	of	ADP
hjic-927	43	12	the	the	DET
hjic-927	43	13	velocity	velocity	NOUN
hjic-927	43	14	vector	vector	NOUN
hjic-927	43	15	or	or	CCONJ
hjic-927	43	16	double	double	ADJ
hjic-927	43	17	integration	integration	NOUN
hjic-927	43	18	of	of	ADP
hjic-927	43	19	the	the	DET
hjic-927	43	20	acceleration	acceleration	NOUN
hjic-927	43	21	vector	vector	NOUN
hjic-927	43	22	with	with	ADP
hjic-927	43	23	respect	respect	NOUN
hjic-927	43	24	to	to	ADP
hjic-927	43	25	time	time	NOUN
hjic-927	43	26	.	.	PUNCT
hjic-927	44	1	in	in	ADP
hjic-927	44	2	discrete	discrete	ADJ
hjic-927	44	3	time	time	NOUN
hjic-927	44	4	of	of	ADP
hjic-927	44	5	sample	sample	NOUN
hjic-927	44	6	time	time	NOUN
hjic-927	44	7	ts	ts	ADP
hjic-927	44	8	,	,	PUNCT
hjic-927	44	9	the	the	DET
hjic-927	44	10	equivalent	equivalent	NOUN
hjic-927	44	11	of	of	ADP
hjic-927	44	12	integration	integration	NOUN
hjic-927	44	13	can	can	AUX
hjic-927	44	14	be	be	AUX
hjic-927	44	15	written	write	VERB
hjic-927	44	16	as	as	ADP
hjic-927	44	17	the	the	DET
hjic-927	44	18	following	following	NOUN
hjic-927	44	19	in	in	ADP
hjic-927	44	20	vector	vector	NOUN
hjic-927	44	21	-	-	PUNCT
hjic-927	44	22	sum	sum	NOUN
hjic-927	44	23	form	form	NOUN
hjic-927	44	24	:	:	PUNCT
hjic-927	44	25	~rk	~rk	PUNCT
hjic-927	44	26	=	=	NOUN
hjic-927	44	27	~rk−1	~rk−1	X
hjic-927	44	28	+	+	CCONJ
hjic-927	44	29	∆~rk	∆~rk	PROPN
hjic-927	44	30	=	=	SYM
hjic-927	44	31	~r0	~r0	PUNCT
hjic-927	45	1	+	+	CCONJ
hjic-927	45	2	k∑	k∑	ADJ
hjic-927	45	3	i=1	i=1	PRON
hjic-927	45	4	∆~ri	∆~ri	PROPN
hjic-927	45	5	(	(	PUNCT
hjic-927	45	6	1	1	X
hjic-927	45	7	)	)	PUNCT
hjic-927	45	8	the	the	DET
hjic-927	45	9	equivalent	equivalent	ADJ
hjic-927	45	10	coordinate	coordinate	NOUN
hjic-927	45	11	form	form	NOUN
hjic-927	45	12	of	of	ADP
hjic-927	45	13	eq	eq	NOUN
hjic-927	45	14	.	.	PROPN
hjic-927	45	15	1	1	NUM
hjic-927	45	16	for	for	ADP
hjic-927	45	17	a	a	DET
hjic-927	45	18	vehicle	vehicle	NOUN
hjic-927	45	19	in	in	ADP
hjic-927	45	20	planar	planar	ADJ
hjic-927	45	21	motion	motion	NOUN
hjic-927	45	22	is	be	AUX
hjic-927	45	23	[	[	PUNCT
hjic-927	45	24	xk	xk	X
hjic-927	45	25	yk	yk	PROPN
hjic-927	45	26	]	]	PUNCT
hjic-927	46	1	=	=	PUNCT
hjic-927	46	2	[	[	PUNCT
hjic-927	46	3	xk−1	xk−1	PROPN
hjic-927	46	4	yk−1	yk−1	PROPN
hjic-927	46	5	]	]	PUNCT
hjic-927	47	1	+	+	CCONJ
hjic-927	47	2	[	[	PUNCT
hjic-927	47	3	∆xk	∆xk	NOUN
hjic-927	47	4	∆yk	∆yk	X
hjic-927	47	5	]	]	PUNCT
hjic-927	47	6	=	=	PUNCT
hjic-927	48	1	[	[	PUNCT
hjic-927	48	2	x0	x0	PROPN
hjic-927	48	3	y0	y0	PROPN
hjic-927	48	4	]	]	PUNCT
hjic-927	48	5	+	+	CCONJ
hjic-927	48	6	k∑	k∑	ADJ
hjic-927	48	7	i=1	i=1	X
hjic-927	48	8	[	[	PUNCT
hjic-927	48	9	∆xi	∆xi	PROPN
hjic-927	48	10	∆yi	∆yi	PROPN
hjic-927	48	11	]	]	PUNCT
hjic-927	48	12	(	(	PUNCT
hjic-927	48	13	2	2	X
hjic-927	48	14	)	)	PUNCT
hjic-927	48	15	in	in	ADP
hjic-927	48	16	the	the	DET
hjic-927	48	17	vector	vector	NOUN
hjic-927	48	18	form	form	NOUN
hjic-927	48	19	,	,	PUNCT
hjic-927	48	20	~rk	~rk	PROPN
hjic-927	48	21	denotes	denote	VERB
hjic-927	48	22	the	the	DET
hjic-927	48	23	position	position	NOUN
hjic-927	48	24	of	of	ADP
hjic-927	48	25	the	the	DET
hjic-927	48	26	vehicle	vehicle	NOUN
hjic-927	48	27	’s	’s	PART
hjic-927	48	28	center	center	NOUN
hjic-927	48	29	of	of	ADP
hjic-927	48	30	gravity	gravity	NOUN
hjic-927	48	31	(	(	PUNCT
hjic-927	48	32	cog	cog	PROPN
hjic-927	48	33	)	)	PUNCT
hjic-927	48	34	at	at	ADP
hjic-927	48	35	tk	tk	PROPN
hjic-927	48	36	=	=	PROPN
hjic-927	48	37	kts	kts	PROPN
hjic-927	48	38	and	and	CCONJ
hjic-927	48	39	∆~rk	∆~rk	PROPN
hjic-927	48	40	stands	stand	VERB
hjic-927	48	41	for	for	ADP
hjic-927	48	42	the	the	DET
hjic-927	48	43	displacement	displacement	NOUN
hjic-927	48	44	between	between	ADP
hjic-927	48	45	tk−1	tk−1	PROPN
hjic-927	48	46	=	=	SYM
hjic-927	48	47	(	(	PUNCT
hjic-927	48	48	k	k	NOUN
hjic-927	48	49	−	−	PROPN
hjic-927	49	1	1)ts	1)ts	PROPN
hjic-927	49	2	and	and	CCONJ
hjic-927	49	3	tk	tk	PROPN
hjic-927	49	4	=	=	PROPN
hjic-927	49	5	kts	kts	PROPN
hjic-927	49	6	.	.	PUNCT
hjic-927	50	1	the	the	DET
hjic-927	50	2	initial	initial	ADJ
hjic-927	50	3	position	position	NOUN
hjic-927	50	4	in	in	ADP
hjic-927	50	5	vector	vector	NOUN
hjic-927	50	6	form	form	NOUN
hjic-927	50	7	is	be	AUX
hjic-927	50	8	~r0	~r0	PUNCT
hjic-927	50	9	and	and	CCONJ
hjic-927	50	10	in	in	ADP
hjic-927	50	11	coordinate	coordinate	NOUN
hjic-927	50	12	form	form	NOUN
hjic-927	50	13	is	be	AUX
hjic-927	50	14	[	[	X
hjic-927	50	15	x0	x0	PROPN
hjic-927	50	16	,	,	PUNCT
hjic-927	50	17	y0	y0	PROPN
hjic-927	50	18	]	]	X
hjic-927	50	19	t	t	PROPN
hjic-927	50	20	(	(	PUNCT
hjic-927	50	21	see	see	VERB
hjic-927	50	22	fig	fig	NOUN
hjic-927	50	23	.	.	PUNCT
hjic-927	51	1	1	1	NUM
hjic-927	51	2	)	)	PUNCT
hjic-927	51	3	.	.	PUNCT
hjic-927	52	1	dead	dead	ADJ
hjic-927	52	2	reckoning	reckoning	NOUN
hjic-927	52	3	is	be	AUX
hjic-927	52	4	performed	perform	VERB
hjic-927	52	5	in	in	ADP
hjic-927	52	6	the	the	DET
hjic-927	52	7	earth	earth	NOUN
hjic-927	52	8	-	-	PUNCT
hjic-927	52	9	fixed	fix	VERB
hjic-927	52	10	coordinate	coordinate	NOUN
hjic-927	52	11	system	system	NOUN
hjic-927	52	12	xe	xe	PROPN
hjic-927	52	13	−	−	PROPN
hjic-927	52	14	ye	ye	PRON
hjic-927	52	15	.	.	PUNCT
hjic-927	53	1	using	use	VERB
hjic-927	53	2	the	the	DET
hjic-927	53	3	vehicle	vehicle	NOUN
hjic-927	53	4	sensors	sensor	NOUN
hjic-927	53	5	,	,	PUNCT
hjic-927	53	6	displacements	displacement	NOUN
hjic-927	53	7	in	in	ADP
hjic-927	53	8	the	the	DET
hjic-927	53	9	vehicle	vehicle	NOUN
hjic-927	53	10	axis	axis	NOUN
hjic-927	53	11	system	system	NOUN
hjic-927	53	12	xv	xv	PROPN
hjic-927	54	1	−	−	PROPN
hjic-927	54	2	yv	yv	PROPN
hjic-927	54	3	can	can	AUX
hjic-927	54	4	be	be	AUX
hjic-927	54	5	calculated	calculate	VERB
hjic-927	54	6	.	.	PUNCT
hjic-927	55	1	to	to	PART
hjic-927	55	2	rotate	rotate	VERB
hjic-927	55	3	the	the	DET
hjic-927	55	4	displacement	displacement	NOUN
hjic-927	55	5	into	into	ADP
hjic-927	55	6	the	the	DET
hjic-927	55	7	earthfixed	earthfixed	ADJ
hjic-927	55	8	coordinate	coordinate	NOUN
hjic-927	55	9	system	system	NOUN
hjic-927	55	10	,	,	PUNCT
hjic-927	55	11	changes	change	NOUN
hjic-927	55	12	in	in	ADP
hjic-927	55	13	the	the	DET
hjic-927	55	14	heading	heading	NOUN
hjic-927	55	15	or	or	CCONJ
hjic-927	55	16	yaw	yaw	NOUN
hjic-927	55	17	angle	angle	NOUN
hjic-927	55	18	ψ	ψ	PROPN
hjic-927	55	19	of	of	ADP
hjic-927	55	20	the	the	DET
hjic-927	55	21	vehicle	vehicle	NOUN
hjic-927	55	22	have	have	VERB
hjic-927	55	23	to	to	PART
hjic-927	55	24	be	be	AUX
hjic-927	55	25	tracked	track	VERB
hjic-927	55	26	.	.	PUNCT
hjic-927	56	1	the	the	DET
hjic-927	56	2	yaw	yaw	PROPN
hjic-927	56	3	angle	angle	NOUN
hjic-927	56	4	can	can	AUX
hjic-927	56	5	be	be	AUX
hjic-927	56	6	estimated	estimate	VERB
hjic-927	56	7	by	by	ADP
hjic-927	56	8	integrating	integrate	VERB
hjic-927	56	9	the	the	DET
hjic-927	56	10	yaw	yaw	NOUN
hjic-927	56	11	-	-	PUNCT
hjic-927	56	12	rate	rate	NOUN
hjic-927	56	13	signal	signal	NOUN
hjic-927	56	14	ψ̇	ψ̇	PROPN
hjic-927	56	15	as	as	ADP
hjic-927	56	16	ψk	ψk	NOUN
hjic-927	56	17	=	=	VERB
hjic-927	57	1	ψk−1	ψk−1	PROPN
hjic-927	57	2	+	+	CCONJ
hjic-927	57	3	ψ̇kts	ψ̇kts	NOUN
hjic-927	57	4	=	=	SYM
hjic-927	57	5	ψ0	ψ0	PROPN
hjic-927	57	6	+	+	CCONJ
hjic-927	57	7	k−1∑	k−1∑	PROPN
hjic-927	57	8	i=1	i=1	PROPN
hjic-927	57	9	ψ̇its	ψ̇its	PROPN
hjic-927	57	10	(	(	PUNCT
hjic-927	57	11	3	3	X
hjic-927	57	12	)	)	PUNCT
hjic-927	57	13	the	the	DET
hjic-927	57	14	displacements	displacement	NOUN
hjic-927	57	15	∆xv	∆xv	PROPN
hjic-927	57	16	,	,	PUNCT
hjic-927	57	17	k	k	PROPN
hjic-927	57	18	and	and	CCONJ
hjic-927	57	19	∆yv	∆yv	PROPN
hjic-927	57	20	,	,	PUNCT
hjic-927	57	21	k	k	PROPN
hjic-927	57	22	have	have	VERB
hjic-927	57	23	to	to	PART
hjic-927	57	24	be	be	AUX
hjic-927	57	25	calculated	calculate	VERB
hjic-927	57	26	in	in	ADP
hjic-927	57	27	the	the	DET
hjic-927	57	28	vehicle	vehicle	NOUN
hjic-927	57	29	axis	axis	NOUN
hjic-927	57	30	system	system	NOUN
hjic-927	57	31	xv	xv	PROPN
hjic-927	57	32	−	−	PROPN
hjic-927	57	33	yv	yv	PROPN
hjic-927	57	34	.	.	PUNCT
hjic-927	58	1	the	the	DET
hjic-927	58	2	displacements	displacement	NOUN
hjic-927	58	3	from	from	ADP
hjic-927	58	4	the	the	DET
hjic-927	58	5	vehicle	vehicle	NOUN
hjic-927	58	6	axis	axis	NOUN
hjic-927	58	7	system	system	NOUN
hjic-927	58	8	to	to	ADP
hjic-927	58	9	the	the	DET
hjic-927	58	10	earth	earth	NOUN
hjic-927	58	11	-	-	PUNCT
hjic-927	58	12	fixed	fix	VERB
hjic-927	58	13	coordinate	coordinate	NOUN
hjic-927	58	14	system	system	NOUN
hjic-927	58	15	are	be	AUX
hjic-927	58	16	transformed	transform	VERB
hjic-927	58	17	using	use	VERB
hjic-927	58	18	a	a	DET
hjic-927	58	19	two	two	NUM
hjic-927	58	20	-	-	PUNCT
hjic-927	58	21	dimensional	dimensional	ADJ
hjic-927	58	22	rotation	rotation	NOUN
hjic-927	58	23	matrix	matrix	NOUN
hjic-927	58	24	r(ψk−1	r(ψk−1	NOUN
hjic-927	58	25	)	)	PUNCT
hjic-927	58	26	that	that	PRON
hjic-927	58	27	rotates	rotate	VERB
hjic-927	58	28	around	around	ADP
hjic-927	58	29	the	the	DET
hjic-927	58	30	vertical	vertical	ADJ
hjic-927	58	31	axis	axis	NOUN
hjic-927	58	32	ze	ze	PROPN
hjic-927	58	33	by	by	ADP
hjic-927	58	34	ψk−1	ψk−1	PROPN
hjic-927	58	35	.	.	PUNCT
hjic-927	59	1	[	[	PUNCT
hjic-927	59	2	∆xk	∆xk	NOUN
hjic-927	59	3	∆yk	∆yk	X
hjic-927	59	4	]	]	PUNCT
hjic-927	60	1	=	=	PUNCT
hjic-927	60	2	[	[	PUNCT
hjic-927	60	3	cosψk−1	cosψk−1	NOUN
hjic-927	60	4	−	−	PROPN
hjic-927	60	5	sinψk−1	sinψk−1	NUM
hjic-927	60	6	sinψk−1	sinψk−1	NUM
hjic-927	60	7	cosψk−1	cosψk−1	NOUN
hjic-927	60	8	]	]	PUNCT
hjic-927	60	9	︸	︸	X
hjic-927	60	10	︷︷	︷︷	PROPN
hjic-927	60	11	︸	︸	X
hjic-927	60	12	r(ψk−1	r(ψk−1	PROPN
hjic-927	60	13	)	)	PUNCT
hjic-927	60	14	[	[	PUNCT
hjic-927	60	15	∆xv	∆xv	PROPN
hjic-927	60	16	,	,	PUNCT
hjic-927	60	17	k	k	PROPN
hjic-927	60	18	∆yv	∆yv	PROPN
hjic-927	60	19	,	,	PUNCT
hjic-927	60	20	k	k	X
hjic-927	60	21	]	]	X
hjic-927	60	22	(	(	PUNCT
hjic-927	60	23	4	4	X
hjic-927	60	24	)	)	PUNCT
hjic-927	60	25	the	the	DET
hjic-927	60	26	simplest	simple	ADJ
hjic-927	60	27	estimation	estimation	NOUN
hjic-927	60	28	of	of	ADP
hjic-927	60	29	the	the	DET
hjic-927	60	30	longitudinal	longitudinal	ADJ
hjic-927	60	31	displacement	displacement	NOUN
hjic-927	60	32	∆xv	∆xv	PROPN
hjic-927	60	33	,	,	PUNCT
hjic-927	60	34	k	k	PROPN
hjic-927	60	35	involves	involve	VERB
hjic-927	60	36	the	the	DET
hjic-927	60	37	estimation	estimation	NOUN
hjic-927	60	38	of	of	ADP
hjic-927	60	39	the	the	DET
hjic-927	60	40	longitudinal	longitudinal	ADJ
hjic-927	60	41	speed	speed	NOUN
hjic-927	60	42	vk	vk	NOUN
hjic-927	60	43	as	as	ADP
hjic-927	60	44	the	the	DET
hjic-927	60	45	average	average	NOUN
hjic-927	60	46	of	of	ADP
hjic-927	60	47	the	the	DET
hjic-927	60	48	wheel	wheel	NOUN
hjic-927	60	49	speed	speed	NOUN
hjic-927	60	50	signals	signal	NOUN
hjic-927	60	51	divided	divide	VERB
hjic-927	60	52	by	by	ADP
hjic-927	60	53	the	the	DET
hjic-927	60	54	effective	effective	ADJ
hjic-927	60	55	radius	radius	NOUN
hjic-927	60	56	of	of	ADP
hjic-927	60	57	the	the	DET
hjic-927	60	58	tires	tire	NOUN
hjic-927	60	59	r	r	NOUN
hjic-927	60	60	:	:	PUNCT
hjic-927	60	61	∆xv	∆xv	NOUN
hjic-927	60	62	,	,	PUNCT
hjic-927	60	63	k	k	X
hjic-927	60	64	=	=	PUNCT
hjic-927	60	65	vk−1ts	vk−1ts	PROPN
hjic-927	60	66	,	,	PUNCT
hjic-927	60	67	where	where	SCONJ
hjic-927	60	68	vk−1	vk−1	NOUN
hjic-927	60	69	=	=	PUNCT
hjic-927	60	70	r	r	NOUN
hjic-927	60	71	4	4	NUM
hjic-927	60	72	4∑	4∑	NOUN
hjic-927	60	73	i=1	i=1	PRON
hjic-927	60	74	ωk−1,i	ωk−1,i	ADV
hjic-927	60	75	(	(	PUNCT
hjic-927	60	76	5	5	NUM
hjic-927	60	77	)	)	PUNCT
hjic-927	60	78	the	the	DET
hjic-927	60	79	lateral	lateral	ADJ
hjic-927	60	80	displacement	displacement	NOUN
hjic-927	60	81	∆yv	∆yv	PRON
hjic-927	60	82	is	be	AUX
hjic-927	60	83	estimated	estimate	VERB
hjic-927	60	84	by	by	ADP
hjic-927	60	85	the	the	DET
hjic-927	60	86	second	second	ADJ
hjic-927	60	87	integral	integral	NOUN
hjic-927	60	88	of	of	ADP
hjic-927	60	89	the	the	DET
hjic-927	60	90	lateral	lateral	ADJ
hjic-927	60	91	acceleration	acceleration	NOUN
hjic-927	60	92	,	,	PUNCT
hjic-927	60	93	assuming	assume	VERB
hjic-927	60	94	an	an	DET
hjic-927	60	95	initial	initial	ADJ
hjic-927	60	96	lateral	lateral	ADJ
hjic-927	60	97	velocity	velocity	NOUN
hjic-927	60	98	of	of	ADP
hjic-927	60	99	zero	zero	NUM
hjic-927	60	100	:	:	PUNCT
hjic-927	60	101	∆yv	∆yv	NUM
hjic-927	60	102	,	,	PUNCT
hjic-927	60	103	k	k	X
hjic-927	60	104	=	=	SYM
hjic-927	60	105	1	1	NUM
hjic-927	60	106	2	2	NUM
hjic-927	60	107	ay	ay	NOUN
hjic-927	60	108	,	,	PUNCT
hjic-927	60	109	k−1	k−1	PROPN
hjic-927	60	110	t	t	PROPN
hjic-927	60	111	2	2	NUM
hjic-927	60	112	s	s	NOUN
hjic-927	60	113	.	.	PUNCT
hjic-927	61	1	(	(	PUNCT
hjic-927	61	2	6	6	NUM
hjic-927	61	3	)	)	PUNCT
hjic-927	61	4	the	the	DET
hjic-927	61	5	lateral	lateral	ADJ
hjic-927	61	6	acceleration	acceleration	NOUN
hjic-927	61	7	ay	ay	NOUN
hjic-927	61	8	can	can	AUX
hjic-927	61	9	be	be	AUX
hjic-927	61	10	in	in	ADP
hjic-927	61	11	the	the	DET
hjic-927	61	12	form	form	NOUN
hjic-927	61	13	of	of	ADP
hjic-927	61	14	a	a	DET
hjic-927	61	15	sensor	sensor	NOUN
hjic-927	61	16	signal	signal	NOUN
hjic-927	61	17	from	from	ADP
hjic-927	61	18	an	an	DET
hjic-927	61	19	accelerometer	accelerometer	NOUN
hjic-927	61	20	or	or	CCONJ
hjic-927	61	21	calculated	calculate	VERB
hjic-927	61	22	based	base	VERB
hjic-927	61	23	hungarian	hungarian	ADJ
hjic-927	61	24	journal	journal	NOUN
hjic-927	61	25	of	of	ADP
hjic-927	61	26	industry	industry	NOUN
hjic-927	61	27	and	and	CCONJ
hjic-927	61	28	chemistry	chemistry	NOUN
hjic-927	61	29	localization	localization	NOUN
hjic-927	61	30	accuracy	accuracy	NOUN
hjic-927	61	31	improvement	improvement	NOUN
hjic-927	61	32	of	of	ADP
hjic-927	61	33	autonomous	autonomous	ADJ
hjic-927	61	34	vehicles	vehicle	NOUN
hjic-927	61	35	111	111	NUM
hjic-927	61	36	s	s	PART
hjic-927	61	37	~r	~r	PUNCT
hjic-927	61	38	=	=	SYM
hjic-927	62	1	[	[	PUNCT
hjic-927	62	2	x	x	X
hjic-927	62	3	y	y	PROPN
hjic-927	62	4	]	]	PUNCT
hjic-927	62	5	xe	xe	PROPN
hjic-927	62	6	ye	ye	INTJ
hjic-927	62	7	xv	xv	PROPN
hjic-927	63	1	+	+	X
hjic-927	63	2	ψ	ψ	PROPN
hjic-927	63	3	xw	xw	PROPN
hjic-927	63	4	xv	xv	PROPN
hjic-927	63	5	yv	yv	PROPN
hjic-927	63	6	l1	l1	PROPN
hjic-927	63	7	l2	l2	PROPN
hjic-927	63	8	~v1	~v1	PUNCT
hjic-927	63	9	~v	~v	NUM
hjic-927	63	10	~v2	~v2	X
hjic-927	63	11	~ay	~ay	X
hjic-927	63	12	o	o	NOUN
hjic-927	63	13	~fy1	~fy1	PUNCT
hjic-927	63	14	~fy2	~fy2	ADJ
hjic-927	63	15	+	+	PUNCT
hjic-927	63	16	ψ̇	ψ̇	NOUN
hjic-927	63	17	−	−	NOUN
hjic-927	63	18	α2	α2	ADJ
hjic-927	63	19	−	−	PROPN
hjic-927	63	20	β	β	NOUN
hjic-927	63	21	−	−	PROPN
hjic-927	63	22	α1	α1	PROPN
hjic-927	63	23	+	+	CCONJ
hjic-927	63	24	δ	δ	NOUN
hjic-927	63	25	ze	ze	PROPN
hjic-927	63	26	color	color	NOUN
hjic-927	63	27	coding	coding	NOUN
hjic-927	63	28	:	:	PUNCT
hjic-927	63	29	velocities	velocity	NOUN
hjic-927	63	30	:	:	PUNCT
hjic-927	63	31	~v	~v	NUM
hjic-927	63	32	,	,	PUNCT
hjic-927	63	33	~v1	~v1	NUM
hjic-927	63	34	,	,	PUNCT
hjic-927	63	35	~v2	~v2	X
hjic-927	63	36	forces	force	NOUN
hjic-927	63	37	:	:	PUNCT
hjic-927	63	38	~fy1	~fy1	NUM
hjic-927	63	39	,	,	PUNCT
hjic-927	63	40	~fy2	~fy2	ADJ
hjic-927	63	41	lateral	lateral	ADJ
hjic-927	63	42	acceleration	acceleration	NOUN
hjic-927	63	43	:	:	PUNCT
hjic-927	63	44	~ay	~ay	X
hjic-927	63	45	yaw	yaw	NOUN
hjic-927	63	46	rate	rate	NOUN
hjic-927	63	47	:	:	PUNCT
hjic-927	63	48	ψ̇	ψ̇	NOUN
hjic-927	63	49	figure	figure	NOUN
hjic-927	63	50	2	2	NUM
hjic-927	63	51	:	:	PUNCT
hjic-927	63	52	the	the	DET
hjic-927	63	53	physical	physical	ADJ
hjic-927	63	54	quantities	quantity	NOUN
hjic-927	63	55	of	of	ADP
hjic-927	63	56	the	the	DET
hjic-927	63	57	single	single	ADJ
hjic-927	63	58	track	track	NOUN
hjic-927	63	59	vehicle	vehicle	NOUN
hjic-927	63	60	model	model	NOUN
hjic-927	63	61	following	follow	VERB
hjic-927	63	62	[	[	X
hjic-927	63	63	11	11	NUM
hjic-927	63	64	]	]	PUNCT
hjic-927	63	65	on	on	ADP
hjic-927	63	66	the	the	DET
hjic-927	63	67	vehicle	vehicle	NOUN
hjic-927	63	68	dynamics	dynamic	NOUN
hjic-927	63	69	model	model	NOUN
hjic-927	63	70	and	and	CCONJ
hjic-927	63	71	other	other	ADJ
hjic-927	63	72	vehicle	vehicle	NOUN
hjic-927	63	73	sensor	sensor	NOUN
hjic-927	63	74	signals	signal	NOUN
hjic-927	63	75	.	.	PUNCT
hjic-927	64	1	usually	usually	ADV
hjic-927	64	2	,	,	PUNCT
hjic-927	64	3	the	the	DET
hjic-927	64	4	accelerometer	accelerometer	NOUN
hjic-927	64	5	signals	signal	NOUN
hjic-927	64	6	are	be	AUX
hjic-927	64	7	less	less	ADV
hjic-927	64	8	reliable	reliable	ADJ
hjic-927	64	9	and	and	CCONJ
hjic-927	64	10	noisier	noisy	ADJ
hjic-927	64	11	than	than	ADP
hjic-927	64	12	those	those	PRON
hjic-927	64	13	of	of	ADP
hjic-927	64	14	the	the	DET
hjic-927	64	15	steering	steering	NOUN
hjic-927	64	16	angle	angle	NOUN
hjic-927	64	17	,	,	PUNCT
hjic-927	64	18	velocity	velocity	NOUN
hjic-927	64	19	and	and	CCONJ
hjic-927	64	20	yaw	yaw	NOUN
hjic-927	64	21	-	-	PUNCT
hjic-927	64	22	rate	rate	NOUN
hjic-927	64	23	sensors	sensor	NOUN
hjic-927	64	24	,	,	PUNCT
hjic-927	64	25	therefore	therefore	ADV
hjic-927	64	26	,	,	PUNCT
hjic-927	64	27	ay	ay	PROPN
hjic-927	64	28	was	be	AUX
hjic-927	64	29	calculated	calculate	VERB
hjic-927	64	30	based	base	VERB
hjic-927	64	31	on	on	ADP
hjic-927	64	32	a	a	DET
hjic-927	64	33	vehicle	vehicle	NOUN
hjic-927	64	34	model	model	NOUN
hjic-927	64	35	and	and	CCONJ
hjic-927	64	36	signals	signal	NOUN
hjic-927	64	37	from	from	ADP
hjic-927	64	38	vehicle	vehicle	NOUN
hjic-927	64	39	sensors	sensor	NOUN
hjic-927	64	40	,	,	PUNCT
hjic-927	64	41	in	in	ADP
hjic-927	64	42	a	a	DET
hjic-927	64	43	similar	similar	ADJ
hjic-927	64	44	way	way	NOUN
hjic-927	64	45	to	to	PART
hjic-927	64	46	ref	ref	VERB
hjic-927	64	47	.	.	PUNCT
hjic-927	65	1	[	[	X
hjic-927	65	2	9	9	NUM
hjic-927	65	3	]	]	SYM
hjic-927	65	4	.	.	PUNCT
hjic-927	66	1	4	4	X
hjic-927	66	2	.	.	X
hjic-927	66	3	lateral	lateral	ADJ
hjic-927	66	4	vehicle	vehicle	NOUN
hjic-927	66	5	dynamics	dynamic	NOUN
hjic-927	66	6	as	as	ADP
hjic-927	66	7	a	a	DET
hjic-927	66	8	basis	basis	NOUN
hjic-927	66	9	for	for	ADP
hjic-927	66	10	modeling	model	VERB
hjic-927	66	11	the	the	DET
hjic-927	66	12	lateral	lateral	ADJ
hjic-927	66	13	vehicle	vehicle	NOUN
hjic-927	66	14	dynamics	dynamic	NOUN
hjic-927	66	15	,	,	PUNCT
hjic-927	66	16	the	the	DET
hjic-927	66	17	well	well	ADV
hjic-927	66	18	-	-	PUNCT
hjic-927	66	19	known	know	VERB
hjic-927	66	20	single	single	ADJ
hjic-927	66	21	track	track	NOUN
hjic-927	66	22	vehicle	vehicle	NOUN
hjic-927	66	23	model	model	NOUN
hjic-927	66	24	defined	define	VERB
hjic-927	66	25	by	by	ADP
hjic-927	66	26	riekert	riekert	NOUN
hjic-927	66	27	and	and	CCONJ
hjic-927	66	28	schunck	schunck	ADJ
hjic-927	67	1	[	[	X
hjic-927	67	2	12	12	NUM
hjic-927	67	3	]	]	PUNCT
hjic-927	67	4	was	be	AUX
hjic-927	67	5	used	use	VERB
hjic-927	67	6	.	.	PUNCT
hjic-927	68	1	fig	fig	NOUN
hjic-927	68	2	.	.	PUNCT
hjic-927	69	1	2	2	NUM
hjic-927	69	2	shows	show	VERB
hjic-927	69	3	the	the	DET
hjic-927	69	4	physical	physical	ADJ
hjic-927	69	5	quantities	quantity	NOUN
hjic-927	69	6	related	relate	VERB
hjic-927	69	7	to	to	ADP
hjic-927	69	8	the	the	DET
hjic-927	69	9	single	single	ADJ
hjic-927	69	10	track	track	NOUN
hjic-927	69	11	vehicle	vehicle	NOUN
hjic-927	69	12	model	model	NOUN
hjic-927	69	13	.	.	PUNCT
hjic-927	70	1	this	this	DET
hjic-927	70	2	paper	paper	NOUN
hjic-927	70	3	uses	use	VERB
hjic-927	70	4	the	the	DET
hjic-927	70	5	sign	sign	NOUN
hjic-927	70	6	conventions	convention	NOUN
hjic-927	70	7	defined	define	VERB
hjic-927	70	8	in	in	ADP
hjic-927	70	9	ref	ref	NOUN
hjic-927	70	10	.	.	PUNCT
hjic-927	71	1	[	[	X
hjic-927	71	2	11	11	NUM
hjic-927	71	3	]	]	PUNCT
hjic-927	71	4	.	.	PUNCT
hjic-927	72	1	the	the	DET
hjic-927	72	2	classical	classical	ADJ
hjic-927	72	3	single	single	ADJ
hjic-927	72	4	track	track	NOUN
hjic-927	72	5	vehicle	vehicle	NOUN
hjic-927	72	6	model	model	NOUN
hjic-927	72	7	includes	include	VERB
hjic-927	72	8	several	several	ADJ
hjic-927	72	9	important	important	ADJ
hjic-927	72	10	simplifications	simplification	NOUN
hjic-927	72	11	.	.	PUNCT
hjic-927	73	1	it	it	PRON
hjic-927	73	2	only	only	ADV
hjic-927	73	3	describes	describe	VERB
hjic-927	73	4	lateral	lateral	ADJ
hjic-927	73	5	motion	motion	NOUN
hjic-927	73	6	and	and	CCONJ
hjic-927	73	7	rotation	rotation	NOUN
hjic-927	73	8	around	around	ADP
hjic-927	73	9	the	the	DET
hjic-927	73	10	vertical	vertical	ADJ
hjic-927	73	11	axis	axis	NOUN
hjic-927	73	12	,	,	PUNCT
hjic-927	73	13	while	while	SCONJ
hjic-927	73	14	neglects	neglect	VERB
hjic-927	73	15	vertical	vertical	ADJ
hjic-927	73	16	dynamics	dynamic	NOUN
hjic-927	73	17	as	as	ADV
hjic-927	73	18	well	well	ADV
hjic-927	73	19	as	as	ADP
hjic-927	73	20	rolling	roll	VERB
hjic-927	73	21	and	and	CCONJ
hjic-927	73	22	pitching	pitching	NOUN
hjic-927	73	23	.	.	PUNCT
hjic-927	74	1	furthermore	furthermore	ADV
hjic-927	74	2	,	,	PUNCT
hjic-927	74	3	the	the	DET
hjic-927	74	4	equations	equation	NOUN
hjic-927	74	5	of	of	ADP
hjic-927	74	6	motion	motion	NOUN
hjic-927	74	7	of	of	ADP
hjic-927	74	8	the	the	DET
hjic-927	74	9	single	single	ADJ
hjic-927	74	10	track	track	NOUN
hjic-927	74	11	vehicle	vehicle	NOUN
hjic-927	74	12	model	model	NOUN
hjic-927	74	13	are	be	AUX
hjic-927	74	14	linearized	linearize	VERB
hjic-927	74	15	.	.	PUNCT
hjic-927	75	1	to	to	PART
hjic-927	75	2	define	define	VERB
hjic-927	75	3	the	the	DET
hjic-927	75	4	lateral	lateral	ADJ
hjic-927	75	5	acceleration	acceleration	NOUN
hjic-927	75	6	as	as	ADP
hjic-927	75	7	a	a	DET
hjic-927	75	8	function	function	NOUN
hjic-927	75	9	of	of	ADP
hjic-927	75	10	the	the	DET
hjic-927	75	11	steering	steering	NOUN
hjic-927	75	12	angle	angle	NOUN
hjic-927	75	13	δ	δ	PROPN
hjic-927	75	14	,	,	PUNCT
hjic-927	75	15	longitudinal	longitudinal	ADJ
hjic-927	75	16	velocity	velocity	NOUN
hjic-927	75	17	v	v	NOUN
hjic-927	75	18	and	and	CCONJ
hjic-927	75	19	yaw	yaw	NOUN
hjic-927	75	20	rate	rate	NOUN
hjic-927	75	21	ψ̇	ψ̇	PROPN
hjic-927	75	22	,	,	PUNCT
hjic-927	75	23	the	the	DET
hjic-927	75	24	lateral	lateral	ADJ
hjic-927	75	25	force	force	NOUN
hjic-927	75	26	equation	equation	NOUN
hjic-927	75	27	of	of	ADP
hjic-927	75	28	the	the	DET
hjic-927	75	29	model	model	NOUN
hjic-927	75	30	can	can	AUX
hjic-927	75	31	be	be	AUX
hjic-927	75	32	used	use	VERB
hjic-927	75	33	:	:	PUNCT
hjic-927	75	34	may	may	AUX
hjic-927	75	35	=	=	SYM
hjic-927	75	36	fy1(α1	fy1(α1	X
hjic-927	75	37	)	)	PUNCT
hjic-927	75	38	+	+	NUM
hjic-927	75	39	fy2(α1	fy2(α1	NOUN
hjic-927	75	40	)	)	PUNCT
hjic-927	75	41	(	(	PUNCT
hjic-927	75	42	7	7	X
hjic-927	75	43	)	)	PUNCT
hjic-927	75	44	the	the	DET
hjic-927	75	45	linearized	linearize	VERB
hjic-927	75	46	tire	tire	NOUN
hjic-927	75	47	forces	force	NOUN
hjic-927	75	48	as	as	ADP
hjic-927	75	49	the	the	DET
hjic-927	75	50	products	product	NOUN
hjic-927	75	51	of	of	ADP
hjic-927	75	52	the	the	DET
hjic-927	75	53	cornering	corner	VERB
hjic-927	75	54	stiffnesses	stiffness	NOUN
hjic-927	75	55	(	(	PUNCT
hjic-927	75	56	c1	c1	PROPN
hjic-927	75	57	and	and	CCONJ
hjic-927	75	58	c2	c2	PROPN
hjic-927	75	59	)	)	PUNCT
hjic-927	75	60	and	and	CCONJ
hjic-927	75	61	tire	tire	NOUN
hjic-927	75	62	slip	slip	NOUN
hjic-927	75	63	angles	angle	NOUN
hjic-927	75	64	(	(	PUNCT
hjic-927	75	65	α1	α1	PROPN
hjic-927	75	66	and	and	CCONJ
hjic-927	75	67	α2	α2	ADJ
hjic-927	75	68	)	)	PUNCT
hjic-927	75	69	are	be	AUX
hjic-927	75	70	calculated	calculate	VERB
hjic-927	75	71	as	as	SCONJ
hjic-927	75	72	follows	follow	VERB
hjic-927	75	73	:	:	PUNCT
hjic-927	75	74	fy1(α1	fy1(α1	X
hjic-927	75	75	)	)	PUNCT
hjic-927	76	1	=	=	SYM
hjic-927	76	2	−c1α1	−c1α1	PROPN
hjic-927	76	3	and	and	CCONJ
hjic-927	76	4	fy2(α2	fy2(α2	NOUN
hjic-927	76	5	)	)	PUNCT
hjic-927	77	1	=	=	SYM
hjic-927	77	2	−c2α2	−c2α2	PROPN
hjic-927	77	3	.	.	PUNCT
hjic-927	78	1	(	(	PUNCT
hjic-927	78	2	8)	8)	NUM
hjic-927	78	3	tire	tire	NOUN
hjic-927	78	4	slip	slip	NOUN
hjic-927	78	5	angles	angle	NOUN
hjic-927	78	6	(	(	PUNCT
hjic-927	78	7	α1	α1	PROPN
hjic-927	78	8	and	and	CCONJ
hjic-927	78	9	α2	α2	ADJ
hjic-927	78	10	)	)	PUNCT
hjic-927	78	11	are	be	AUX
hjic-927	78	12	defined	define	VERB
hjic-927	78	13	by	by	ADP
hjic-927	78	14	the	the	DET
hjic-927	78	15	velocity	velocity	NOUN
hjic-927	78	16	triangles	triangle	NOUN
hjic-927	78	17	of	of	ADP
hjic-927	78	18	the	the	DET
hjic-927	78	19	two	two	NUM
hjic-927	78	20	axles	axle	NOUN
hjic-927	78	21	in	in	ADP
hjic-927	78	22	the	the	DET
hjic-927	78	23	following	follow	VERB
hjic-927	78	24	nonlinear	nonlinear	ADJ
hjic-927	78	25	forms	form	NOUN
hjic-927	78	26	(	(	PUNCT
hjic-927	78	27	see	see	VERB
hjic-927	78	28	fig	fig	NOUN
hjic-927	78	29	.	.	PUNCT
hjic-927	79	1	3	3	NUM
hjic-927	79	2	):	):	PUNCT
hjic-927	79	3	tan	tan	PROPN
hjic-927	79	4	(	(	PUNCT
hjic-927	79	5	α1	α1	PROPN
hjic-927	79	6	+	+	CCONJ
hjic-927	79	7	δ	δ	NOUN
hjic-927	79	8	)	)	PUNCT
hjic-927	79	9	=	=	SYM
hjic-927	79	10	v	v	NUM
hjic-927	79	11	sinβ	sinβ	NOUN
hjic-927	80	1	+	+	CCONJ
hjic-927	80	2	ψ̇l1	ψ̇l1	PROPN
hjic-927	80	3	v	v	ADJ
hjic-927	80	4	cosβ	cosβ	NOUN
hjic-927	80	5	(	(	PUNCT
hjic-927	80	6	9	9	NUM
hjic-927	80	7	)	)	PUNCT
hjic-927	80	8	tanα2	tanα2	NOUN
hjic-927	81	1	=	=	SYM
hjic-927	81	2	v	v	NUM
hjic-927	81	3	sinβ	sinβ	NOUN
hjic-927	81	4	−	−	PROPN
hjic-927	81	5	ψ̇l2	ψ̇l2	PROPN
hjic-927	81	6	v	v	PROPN
hjic-927	81	7	cosβ	cosβ	NOUN
hjic-927	81	8	(	(	PUNCT
hjic-927	81	9	10	10	NUM
hjic-927	81	10	)	)	PUNCT
hjic-927	81	11	eq	eq	NOUN
hjic-927	81	12	.	.	NOUN
hjic-927	81	13	9	9	NUM
hjic-927	81	14	corresponds	correspond	NOUN
hjic-927	81	15	to	to	ADP
hjic-927	81	16	the	the	DET
hjic-927	81	17	yellow	yellow	ADJ
hjic-927	81	18	part	part	NOUN
hjic-927	81	19	of	of	ADP
hjic-927	81	20	the	the	DET
hjic-927	81	21	velocity	velocity	NOUN
hjic-927	81	22	triangle	triangle	NOUN
hjic-927	81	23	corresponding	correspond	VERB
hjic-927	81	24	to	to	ADP
hjic-927	81	25	the	the	DET
hjic-927	81	26	front	front	ADJ
hjic-927	81	27	axle	axle	NOUN
hjic-927	81	28	and	and	CCONJ
hjic-927	81	29	eq	eq	NOUN
hjic-927	81	30	.	.	PROPN
hjic-927	81	31	10	10	NUM
hjic-927	81	32	to	to	ADP
hjic-927	81	33	the	the	DET
hjic-927	81	34	rear	rear	ADJ
hjic-927	81	35	axle	axle	NOUN
hjic-927	81	36	.	.	PUNCT
hjic-927	82	1	the	the	DET
hjic-927	82	2	tire	tire	NOUN
hjic-927	82	3	slip	slip	NOUN
hjic-927	82	4	angle	angle	NOUN
hjic-927	82	5	equations	equation	NOUN
hjic-927	82	6	are	be	AUX
hjic-927	82	7	linearized	linearize	VERB
hjic-927	82	8	and	and	CCONJ
hjic-927	82	9	the	the	DET
hjic-927	82	10	sideslip	sideslip	NOUN
hjic-927	82	11	angle	angle	NOUN
hjic-927	82	12	β	β	PROPN
hjic-927	82	13	omitted	omit	VERB
hjic-927	82	14	:	:	PUNCT
hjic-927	82	15	α1	α1	PROPN
hjic-927	82	16	≈	≈	PROPN
hjic-927	82	17	β	β	PROPN
hjic-927	83	1	+	+	X
hjic-927	83	2	ψ̇l1	ψ̇l1	PROPN
hjic-927	83	3	v	v	ADJ
hjic-927	83	4	−	−	PROPN
hjic-927	83	5	δ	δ	PROPN
hjic-927	83	6	≈	≈	PROPN
hjic-927	83	7	ψ̇l1	ψ̇l1	PROPN
hjic-927	83	8	v	v	ADP
hjic-927	83	9	−	−	PROPN
hjic-927	83	10	δ	δ	PROPN
hjic-927	83	11	(	(	PUNCT
hjic-927	83	12	11	11	NUM
hjic-927	83	13	)	)	PUNCT
hjic-927	83	14	α2	α2	PROPN
hjic-927	84	1	≈	≈	PROPN
hjic-927	84	2	β	β	NOUN
hjic-927	84	3	−	−	NOUN
hjic-927	84	4	ψ̇l2	ψ̇l2	NOUN
hjic-927	84	5	v	v	ADP
hjic-927	84	6	≈	≈	PROPN
hjic-927	84	7	−	−	PROPN
hjic-927	84	8	ψ̇l2	ψ̇l2	NOUN
hjic-927	84	9	v	v	ADP
hjic-927	84	10	(	(	PUNCT
hjic-927	84	11	12	12	NUM
hjic-927	84	12	)	)	PUNCT
hjic-927	84	13	the	the	DET
hjic-927	84	14	lateral	lateral	ADJ
hjic-927	84	15	acceleration	acceleration	NOUN
hjic-927	84	16	ay	ay	NOUN
hjic-927	84	17	depends	depend	VERB
hjic-927	84	18	on	on	ADP
hjic-927	84	19	the	the	DET
hjic-927	84	20	values	value	NOUN
hjic-927	84	21	of	of	ADP
hjic-927	84	22	the	the	DET
hjic-927	84	23	vehicle	vehicle	NOUN
hjic-927	84	24	sensors	sensor	NOUN
hjic-927	84	25	according	accord	VERB
hjic-927	84	26	to	to	ADP
hjic-927	84	27	ay	ay	PROPN
hjic-927	84	28	≈	≈	PROPN
hjic-927	84	29	−	−	PROPN
hjic-927	84	30	c1	c1	PROPN
hjic-927	84	31	m	m	PROPN
hjic-927	85	1	(	(	PUNCT
hjic-927	85	2	ψ̇l1	ψ̇l1	PROPN
hjic-927	85	3	v	v	ADP
hjic-927	85	4	−	−	PROPN
hjic-927	85	5	δ	δ	PROPN
hjic-927	85	6	)	)	PUNCT
hjic-927	86	1	+	+	CCONJ
hjic-927	87	1	c2	c2	PROPN
hjic-927	87	2	m	m	PROPN
hjic-927	87	3	ψ̇l2	ψ̇l2	PROPN
hjic-927	87	4	v	v	ADP
hjic-927	87	5	(	(	PUNCT
hjic-927	87	6	13	13	NUM
hjic-927	87	7	)	)	PUNCT
hjic-927	87	8	front	front	ADJ
hjic-927	87	9	axle	axle	NOUN
hjic-927	87	10	xw	xw	PROPN
hjic-927	87	11	xv	xv	PROPN
hjic-927	87	12	~v1	~v1	PUNCT
hjic-927	87	13	~v	~v	PUNCT
hjic-927	87	14	~̇ψ×~l1	~̇ψ×~l1	PUNCT
hjic-927	87	15	+	+	NUM
hjic-927	87	16	δ	δ	PROPN
hjic-927	87	17	−	−	NOUN
hjic-927	87	18	β	β	NOUN
hjic-927	87	19	−	−	PROPN
hjic-927	87	20	α1	α1	PROPN
hjic-927	87	21	+	+	CCONJ
hjic-927	87	22	δ	δ	PROPN
hjic-927	87	23	+	+	CCONJ
hjic-927	87	24	α1	α1	PROPN
hjic-927	87	25	rear	rear	ADJ
hjic-927	87	26	axle	axle	NOUN
hjic-927	87	27	xv	xv	X
hjic-927	87	28	~v	~v	PUNCT
hjic-927	87	29	~v2	~v2	X
hjic-927	87	30	~̇ψ×~l2	~̇ψ×~l2	ADP
hjic-927	87	31	−	−	NOUN
hjic-927	87	32	β	β	X
hjic-927	87	33	−	−	ADV
hjic-927	87	34	α2	α2	ADJ
hjic-927	87	35	figure	figure	NOUN
hjic-927	87	36	3	3	NUM
hjic-927	87	37	:	:	PUNCT
hjic-927	87	38	velocity	velocity	NOUN
hjic-927	87	39	triangles	triangle	NOUN
hjic-927	87	40	in	in	ADP
hjic-927	87	41	the	the	DET
hjic-927	87	42	single	single	ADJ
hjic-927	87	43	track	track	NOUN
hjic-927	87	44	vehicle	vehicle	NOUN
hjic-927	87	45	model	model	NOUN
hjic-927	87	46	48(1	48(1	PROPN
hjic-927	87	47	)	)	PUNCT
hjic-927	87	48	pp	pp	ADV
hjic-927	87	49	.	.	PUNCT
hjic-927	88	1	109–115	109–115	NUM
hjic-927	88	2	(	(	PUNCT
hjic-927	88	3	2020	2020	NUM
hjic-927	88	4	)	)	PUNCT
hjic-927	88	5	112	112	NUM
hjic-927	88	6	szalay	szalay	NOUN
hjic-927	88	7	,	,	PUNCT
hjic-927	88	8	enisz	enisz	ADJ
hjic-927	88	9	,	,	PUNCT
hjic-927	88	10	medve	medve	ADJ
hjic-927	88	11	,	,	PUNCT
hjic-927	88	12	and	and	CCONJ
hjic-927	88	13	fodor	fodor	PROPN
hjic-927	88	14	in	in	ADP
hjic-927	88	15	this	this	DET
hjic-927	88	16	way	way	NOUN
hjic-927	88	17	,	,	PUNCT
hjic-927	88	18	the	the	DET
hjic-927	88	19	lateral	lateral	ADJ
hjic-927	88	20	acceleration	acceleration	NOUN
hjic-927	88	21	depends	depend	VERB
hjic-927	88	22	on	on	ADP
hjic-927	88	23	the	the	DET
hjic-927	88	24	usually	usually	ADV
hjic-927	88	25	available	available	ADJ
hjic-927	88	26	cornering	cornering	NOUN
hjic-927	88	27	stiffnesses	stiffness	NOUN
hjic-927	88	28	(	(	PUNCT
hjic-927	88	29	c1	c1	PROPN
hjic-927	88	30	and	and	CCONJ
hjic-927	88	31	c2	c2	PROPN
hjic-927	88	32	)	)	PUNCT
hjic-927	88	33	,	,	PUNCT
hjic-927	88	34	the	the	DET
hjic-927	88	35	mass	mass	NOUN
hjic-927	88	36	and	and	CCONJ
hjic-927	88	37	length	length	NOUN
hjic-927	88	38	of	of	ADP
hjic-927	88	39	the	the	DET
hjic-927	88	40	vehicle	vehicle	NOUN
hjic-927	88	41	(	(	PUNCT
hjic-927	88	42	m	m	PROPN
hjic-927	88	43	,	,	PUNCT
hjic-927	88	44	l1	l1	PROPN
hjic-927	88	45	and	and	CCONJ
hjic-927	88	46	l2	l2	NOUN
hjic-927	88	47	)	)	PUNCT
hjic-927	88	48	,	,	PUNCT
hjic-927	88	49	and	and	CCONJ
hjic-927	88	50	the	the	DET
hjic-927	88	51	signals	signal	NOUN
hjic-927	88	52	of	of	ADP
hjic-927	88	53	the	the	DET
hjic-927	88	54	vehicle	vehicle	NOUN
hjic-927	88	55	sensors	sensor	NOUN
hjic-927	88	56	.	.	PUNCT
hjic-927	89	1	if	if	SCONJ
hjic-927	89	2	available	available	ADJ
hjic-927	89	3	,	,	PUNCT
hjic-927	89	4	the	the	DET
hjic-927	89	5	lateral	lateral	ADJ
hjic-927	89	6	acceleration	acceleration	NOUN
hjic-927	89	7	signal	signal	NOUN
hjic-927	89	8	from	from	ADP
hjic-927	89	9	an	an	DET
hjic-927	89	10	accelerometer	accelerometer	NOUN
hjic-927	89	11	can	can	AUX
hjic-927	89	12	be	be	AUX
hjic-927	89	13	incorporated	incorporate	VERB
hjic-927	89	14	into	into	ADP
hjic-927	89	15	the	the	DET
hjic-927	89	16	sensor	sensor	NOUN
hjic-927	89	17	fusion	fusion	NOUN
hjic-927	89	18	algorithm	algorithm	NOUN
hjic-927	89	19	.	.	PUNCT
hjic-927	90	1	5	5	X
hjic-927	90	2	.	.	NUM
hjic-927	90	3	extended	extend	VERB
hjic-927	90	4	kalman	kalman	NOUN
hjic-927	90	5	filter	filter	NOUN
hjic-927	90	6	design	design	VERB
hjic-927	90	7	the	the	DET
hjic-927	90	8	application	application	NOUN
hjic-927	90	9	of	of	ADP
hjic-927	90	10	an	an	DET
hjic-927	90	11	extended	extended	ADJ
hjic-927	90	12	kalman	kalman	NOUN
hjic-927	90	13	filter	filter	NOUN
hjic-927	90	14	requires	require	VERB
hjic-927	90	15	a	a	DET
hjic-927	90	16	stochastic	stochastic	ADJ
hjic-927	90	17	mathematical	mathematical	ADJ
hjic-927	90	18	model	model	NOUN
hjic-927	90	19	of	of	ADP
hjic-927	90	20	the	the	DET
hjic-927	90	21	system	system	NOUN
hjic-927	90	22	in	in	ADP
hjic-927	90	23	a	a	DET
hjic-927	90	24	statespace	statespace	NOUN
hjic-927	90	25	representation	representation	NOUN
hjic-927	90	26	including	include	VERB
hjic-927	90	27	the	the	DET
hjic-927	90	28	statistical	statistical	ADJ
hjic-927	90	29	properties	property	NOUN
hjic-927	90	30	of	of	ADP
hjic-927	90	31	the	the	DET
hjic-927	90	32	process	process	NOUN
hjic-927	90	33	and	and	CCONJ
hjic-927	90	34	measurement	measurement	NOUN
hjic-927	90	35	noises	noise	VERB
hjic-927	91	1	[	[	X
hjic-927	91	2	13	13	NUM
hjic-927	91	3	,	,	PUNCT
hjic-927	91	4	14	14	NUM
hjic-927	91	5	]	]	PUNCT
hjic-927	91	6	.	.	PUNCT
hjic-927	92	1	5.1	5.1	NUM
hjic-927	92	2	state	state	NOUN
hjic-927	92	3	-	-	PUNCT
hjic-927	92	4	space	space	NOUN
hjic-927	92	5	model	model	NOUN
hjic-927	92	6	the	the	DET
hjic-927	92	7	state	state	NOUN
hjic-927	92	8	-	-	PUNCT
hjic-927	92	9	space	space	NOUN
hjic-927	92	10	representation	representation	NOUN
hjic-927	92	11	includes	include	VERB
hjic-927	92	12	both	both	CCONJ
hjic-927	92	13	the	the	DET
hjic-927	92	14	state	state	NOUN
hjic-927	92	15	and	and	CCONJ
hjic-927	92	16	measurement	measurement	NOUN
hjic-927	92	17	equations	equation	NOUN
hjic-927	92	18	in	in	ADP
hjic-927	92	19	vector	vector	NOUN
hjic-927	92	20	form	form	NOUN
hjic-927	92	21	by	by	ADP
hjic-927	92	22	introducing	introduce	VERB
hjic-927	92	23	the	the	DET
hjic-927	92	24	functions	function	NOUN
hjic-927	92	25	f	f	PROPN
hjic-927	92	26	and	and	CCONJ
hjic-927	92	27	h	h	NOUN
hjic-927	92	28	,	,	PUNCT
hjic-927	92	29	the	the	DET
hjic-927	92	30	known	know	VERB
hjic-927	92	31	input	input	NOUN
hjic-927	92	32	vector	vector	PROPN
hjic-927	92	33	u	u	PROPN
hjic-927	92	34	,	,	PUNCT
hjic-927	92	35	processnoise	processnoise	PROPN
hjic-927	92	36	vector	vector	NOUN
hjic-927	92	37	p	p	NOUN
hjic-927	92	38	and	and	CCONJ
hjic-927	92	39	measurement	measurement	NOUN
hjic-927	92	40	-	-	PUNCT
hjic-927	92	41	noise	noise	NOUN
hjic-927	92	42	vector	vector	NOUN
hjic-927	92	43	m	m	PROPN
hjic-927	92	44	:	:	PUNCT
hjic-927	92	45	xk	xk	PROPN
hjic-927	92	46	=	=	PUNCT
hjic-927	92	47	f	f	PROPN
hjic-927	92	48	(	(	PUNCT
hjic-927	92	49	xk−1	xk−1	PROPN
hjic-927	92	50	,	,	PUNCT
hjic-927	92	51	uk−1	uk−1	PROPN
hjic-927	92	52	,	,	PUNCT
hjic-927	92	53	pk−1	pk−1	PROPN
hjic-927	92	54	)	)	PUNCT
hjic-927	92	55	(	(	PUNCT
hjic-927	92	56	14	14	NUM
hjic-927	92	57	)	)	PUNCT
hjic-927	92	58	yk	yk	NOUN
hjic-927	92	59	=	=	SYM
hjic-927	92	60	h	h	PROPN
hjic-927	92	61	(	(	PUNCT
hjic-927	92	62	xk	xk	PROPN
hjic-927	92	63	,	,	PUNCT
hjic-927	92	64	mk	mk	PROPN
hjic-927	92	65	)	)	PUNCT
hjic-927	92	66	(	(	PUNCT
hjic-927	92	67	15	15	X
hjic-927	92	68	)	)	PUNCT
hjic-927	92	69	the	the	DET
hjic-927	92	70	system	system	NOUN
hjic-927	92	71	is	be	AUX
hjic-927	92	72	time	time	NOUN
hjic-927	92	73	invariant	invariant	ADJ
hjic-927	92	74	,	,	PUNCT
hjic-927	92	75	therefore	therefore	ADV
hjic-927	92	76	,	,	PUNCT
hjic-927	92	77	f	f	PROPN
hjic-927	92	78	and	and	CCONJ
hjic-927	92	79	h	h	NOUN
hjic-927	92	80	are	be	AUX
hjic-927	92	81	not	not	PART
hjic-927	92	82	indexed	index	VERB
hjic-927	92	83	.	.	PUNCT
hjic-927	93	1	the	the	DET
hjic-927	93	2	discrete	discrete	ADJ
hjic-927	93	3	-	-	PUNCT
hjic-927	93	4	time	time	NOUN
hjic-927	93	5	indexing	indexing	NOUN
hjic-927	93	6	of	of	ADP
hjic-927	93	7	the	the	DET
hjic-927	93	8	difference	difference	NOUN
hjic-927	93	9	equations	equation	NOUN
hjic-927	93	10	is	be	AUX
hjic-927	93	11	illustrated	illustrate	VERB
hjic-927	93	12	in	in	ADP
hjic-927	93	13	fig	fig	NOUN
hjic-927	93	14	.	.	PUNCT
hjic-927	94	1	1	1	X
hjic-927	94	2	.	.	X
hjic-927	94	3	to	to	PART
hjic-927	94	4	estimate	estimate	VERB
hjic-927	94	5	the	the	DET
hjic-927	94	6	vehicle	vehicle	NOUN
hjic-927	94	7	’s	’s	PART
hjic-927	94	8	position	position	NOUN
hjic-927	94	9	,	,	PUNCT
hjic-927	94	10	the	the	DET
hjic-927	94	11	dead	dead	ADJ
hjic-927	94	12	reckoning	reckon	VERB
hjic-927	94	13	eqs	eqs	PROPN
hjic-927	94	14	.	.	PROPN
hjic-927	94	15	2–6	2–6	NUM
hjic-927	94	16	are	be	AUX
hjic-927	94	17	used	use	VERB
hjic-927	94	18	augmented	augment	VERB
hjic-927	94	19	to	to	PART
hjic-927	94	20	include	include	VERB
hjic-927	94	21	the	the	DET
hjic-927	94	22	lateral	lateral	ADJ
hjic-927	94	23	acceleration	acceleration	NOUN
hjic-927	94	24	(	(	PUNCT
hjic-927	94	25	eq	eq	NOUN
hjic-927	94	26	.	.	PROPN
hjic-927	94	27	13	13	NUM
hjic-927	94	28	)	)	PUNCT
hjic-927	94	29	as	as	ADP
hjic-927	94	30	a	a	DET
hjic-927	94	31	computed	computed	ADJ
hjic-927	94	32	value	value	NOUN
hjic-927	94	33	.	.	PUNCT
hjic-927	95	1	the	the	DET
hjic-927	95	2	resulting	result	VERB
hjic-927	95	3	state	state	NOUN
hjic-927	95	4	equation	equation	NOUN
hjic-927	95	5	of	of	ADP
hjic-927	95	6	the	the	DET
hjic-927	95	7	discrete	discrete	ADJ
hjic-927	95	8	-	-	PUNCT
hjic-927	95	9	time	time	NOUN
hjic-927	95	10	state	state	NOUN
hjic-927	95	11	-	-	PUNCT
hjic-927	95	12	space	space	NOUN
hjic-927	95	13	model	model	NOUN
hjic-927	95	14	is	be	AUX
hjic-927	95	15	eq	eq	ADJ
hjic-927	95	16	.	.	PROPN
hjic-927	95	17	18	18	NUM
hjic-927	95	18	.	.	PUNCT
hjic-927	96	1	by	by	ADP
hjic-927	96	2	examining	examine	VERB
hjic-927	96	3	eq	eq	ADP
hjic-927	96	4	.	.	PROPN
hjic-927	96	5	18	18	NUM
hjic-927	96	6	,	,	PUNCT
hjic-927	96	7	it	it	PRON
hjic-927	96	8	can	can	AUX
hjic-927	96	9	be	be	AUX
hjic-927	96	10	concluded	conclude	VERB
hjic-927	96	11	that	that	SCONJ
hjic-927	96	12	the	the	DET
hjic-927	96	13	system	system	NOUN
hjic-927	96	14	is	be	AUX
hjic-927	96	15	nonlinear	nonlinear	ADJ
hjic-927	96	16	and	and	CCONJ
hjic-927	96	17	,	,	PUNCT
hjic-927	96	18	therefore	therefore	ADV
hjic-927	96	19	,	,	PUNCT
hjic-927	96	20	a	a	DET
hjic-927	96	21	linear	linear	ADJ
hjic-927	96	22	kalman	kalman	NOUN
hjic-927	96	23	filter	filter	NOUN
hjic-927	96	24	is	be	AUX
hjic-927	96	25	unsuitable	unsuitable	ADJ
hjic-927	96	26	.	.	PUNCT
hjic-927	97	1	in	in	ADP
hjic-927	97	2	this	this	DET
hjic-927	97	3	paper	paper	NOUN
hjic-927	97	4	,	,	PUNCT
hjic-927	97	5	an	an	DET
hjic-927	97	6	extended	extended	ADJ
hjic-927	97	7	kalman	kalman	NOUN
hjic-927	97	8	filter	filter	NOUN
hjic-927	97	9	is	be	AUX
hjic-927	97	10	used	use	VERB
hjic-927	97	11	.	.	PUNCT
hjic-927	98	1	the	the	DET
hjic-927	98	2	output	output	NOUN
hjic-927	98	3	vector	vector	NOUN
hjic-927	98	4	y	y	PROPN
hjic-927	98	5	of	of	ADP
hjic-927	98	6	the	the	DET
hjic-927	98	7	system	system	NOUN
hjic-927	98	8	includes	include	VERB
hjic-927	98	9	the	the	DET
hjic-927	98	10	gps	gps	NOUN
hjic-927	98	11	measurements	measurement	NOUN
hjic-927	98	12	that	that	PRON
hjic-927	98	13	consist	consist	VERB
hjic-927	98	14	of	of	ADP
hjic-927	98	15	the	the	DET
hjic-927	98	16	true	true	ADJ
hjic-927	98	17	position	position	NOUN
hjic-927	98	18	and	and	CCONJ
hjic-927	98	19	measurement	measurement	NOUN
hjic-927	98	20	noise	noise	NOUN
hjic-927	98	21	m	m	AUX
hjic-927	98	22	defined	define	VERB
hjic-927	98	23	by	by	ADP
hjic-927	98	24	the	the	DET
hjic-927	98	25	output	output	NOUN
hjic-927	98	26	function	function	NOUN
hjic-927	98	27	h	h	NOUN
hjic-927	98	28	:	:	PUNCT
hjic-927	98	29	yk=	yk=	PROPN
hjic-927	98	30	[	[	PUNCT
hjic-927	98	31	xgps	xgps	PROPN
hjic-927	98	32	,	,	PUNCT
hjic-927	98	33	k	k	PROPN
hjic-927	98	34	ygps	ygps	PROPN
hjic-927	98	35	,	,	PUNCT
hjic-927	98	36	k	k	X
hjic-927	98	37	]	]	PUNCT
hjic-927	99	1	=	=	PUNCT
hjic-927	99	2	[	[	PUNCT
hjic-927	99	3	xk	xk	PROPN
hjic-927	99	4	+	+	PROPN
hjic-927	99	5	mx	mx	PROPN
hjic-927	99	6	,	,	PUNCT
hjic-927	99	7	k	k	PROPN
hjic-927	99	8	yk	yk	PROPN
hjic-927	100	1	+	+	PROPN
hjic-927	100	2	my	my	PRON
hjic-927	100	3	,	,	PUNCT
hjic-927	100	4	k	k	NOUN
hjic-927	100	5	]	]	X
hjic-927	100	6	=	=	PUNCT
hjic-927	100	7	h	h	NOUN
hjic-927	100	8	(	(	PUNCT
hjic-927	100	9	xk	xk	PROPN
hjic-927	100	10	,	,	PUNCT
hjic-927	100	11	mk	mk	PROPN
hjic-927	100	12	)	)	PUNCT
hjic-927	100	13	(	(	PUNCT
hjic-927	100	14	16	16	NUM
hjic-927	100	15	)	)	PUNCT
hjic-927	100	16	5.2	5.2	NUM
hjic-927	100	17	jacobians	jacobian	VERB
hjic-927	100	18	the	the	DET
hjic-927	100	19	extended	extended	ADJ
hjic-927	100	20	kalman	kalman	NOUN
hjic-927	100	21	filter	filter	NOUN
hjic-927	100	22	requires	require	VERB
hjic-927	100	23	the	the	DET
hjic-927	100	24	jacobians	jacobian	NOUN
hjic-927	100	25	of	of	ADP
hjic-927	100	26	both	both	CCONJ
hjic-927	100	27	the	the	DET
hjic-927	100	28	state	state	NOUN
hjic-927	100	29	and	and	CCONJ
hjic-927	100	30	measurement	measurement	NOUN
hjic-927	100	31	functions	function	NOUN
hjic-927	100	32	with	with	ADP
hjic-927	100	33	respect	respect	NOUN
hjic-927	100	34	to	to	ADP
hjic-927	100	35	the	the	DET
hjic-927	100	36	state	state	NOUN
hjic-927	100	37	vector	vector	NOUN
hjic-927	100	38	:	:	PUNCT
hjic-927	100	39	f	f	PROPN
hjic-927	100	40	k	k	X
hjic-927	100	41	=	=	SYM
hjic-927	100	42	∂f	∂f	PROPN
hjic-927	100	43	∂x	∂x	PROPN
hjic-927	100	44	∣∣∣∣∣	∣∣∣∣∣	PROPN
hjic-927	100	45	x̂+	x̂+	PUNCT
hjic-927	101	1	k−1	k−1	PROPN
hjic-927	101	2	and	and	CCONJ
hjic-927	101	3	h	h	NOUN
hjic-927	101	4	=	=	SYM
hjic-927	101	5	∂h	∂h	PROPN
hjic-927	101	6	∂x	∂x	PROPN
hjic-927	101	7	∣∣∣∣∣	∣∣∣∣∣	PROPN
hjic-927	101	8	x̂+	x̂+	PUNCT
hjic-927	102	1	k−1	k−1	PROPN
hjic-927	102	2	=	=	PUNCT
hjic-927	103	1	[	[	PUNCT
hjic-927	103	2	1	1	NUM
hjic-927	103	3	0	0	NUM
hjic-927	103	4	0	0	NUM
hjic-927	103	5	0	0	NUM
hjic-927	103	6	1	1	NUM
hjic-927	103	7	0	0	NUM
hjic-927	103	8	]	]	PUNCT
hjic-927	103	9	(	(	PUNCT
hjic-927	103	10	17	17	NUM
hjic-927	103	11	)	)	PUNCT
hjic-927	103	12	the	the	DET
hjic-927	103	13	elements	element	NOUN
hjic-927	103	14	of	of	ADP
hjic-927	103	15	h	h	NOUN
hjic-927	103	16	are	be	AUX
hjic-927	103	17	constant	constant	ADJ
hjic-927	103	18	,	,	PUNCT
hjic-927	103	19	while	while	SCONJ
hjic-927	103	20	the	the	DET
hjic-927	103	21	elements	element	NOUN
hjic-927	103	22	of	of	ADP
hjic-927	103	23	f	f	PROPN
hjic-927	103	24	k	k	PROPN
hjic-927	103	25	depend	depend	VERB
hjic-927	103	26	on	on	ADP
hjic-927	103	27	the	the	DET
hjic-927	103	28	discrete	discrete	ADJ
hjic-927	103	29	time	time	NOUN
hjic-927	103	30	k	k	NOUN
hjic-927	103	31	,	,	PUNCT
hjic-927	103	32	as	as	SCONJ
hjic-927	103	33	defined	define	VERB
hjic-927	103	34	by	by	ADP
hjic-927	103	35	eq	eq	PROPN
hjic-927	103	36	.	.	PROPN
hjic-927	103	37	19	19	NUM
hjic-927	103	38	.	.	PUNCT
hjic-927	104	1	the	the	DET
hjic-927	104	2	sample	sample	NOUN
hjic-927	104	3	time	time	NOUN
hjic-927	104	4	ts	ts	ADV
hjic-927	104	5	was	be	AUX
hjic-927	104	6	100	100	NUM
hjic-927	104	7	ms	ms	NOUN
hjic-927	104	8	,	,	PUNCT
hjic-927	104	9	which	which	PRON
hjic-927	104	10	was	be	AUX
hjic-927	104	11	sufficiently	sufficiently	ADV
hjic-927	104	12	small	small	ADJ
hjic-927	104	13	to	to	PART
hjic-927	104	14	capture	capture	VERB
hjic-927	104	15	the	the	DET
hjic-927	104	16	vehicle	vehicle	NOUN
hjic-927	104	17	’s	’s	PART
hjic-927	104	18	movement	movement	NOUN
hjic-927	104	19	but	but	CCONJ
hjic-927	104	20	not	not	PART
hjic-927	104	21	too	too	ADV
hjic-927	104	22	small	small	ADJ
hjic-927	104	23	for	for	ADP
hjic-927	104	24	gps	gps	NOUN
hjic-927	104	25	sampling	sample	VERB
hjic-927	104	26	.	.	PUNCT
hjic-927	105	1	xk	xk	X
hjic-927	106	1	=	=	PUNCT
hjic-927	106	2			PROPN
hjic-927	106	3	xk	xk	PROPN
hjic-927	106	4	yk	yk	PROPN
hjic-927	106	5	ψk	ψk	INTJ
hjic-927	106	6			NOUN
hjic-927	106	7	=	=	PUNCT
hjic-927	106	8			NOUN
hjic-927	106	9	xk−1	xk−1	PROPN
hjic-927	106	10	+	+	CCONJ
hjic-927	106	11	vk−1ts	vk−1ts	NUM
hjic-927	106	12	cos	cos	X
hjic-927	106	13	(	(	PUNCT
hjic-927	106	14	ψk−1)−	ψk−1)−	PROPN
hjic-927	106	15	1	1	NUM
hjic-927	106	16	2	2	NUM
hjic-927	106	17	ay	ay	NOUN
hjic-927	106	18	,	,	PUNCT
hjic-927	106	19	k−1	k−1	PROPN
hjic-927	106	20	t	t	PROPN
hjic-927	106	21	2	2	NUM
hjic-927	106	22	s	s	PART
hjic-927	106	23	sin	sin	NOUN
hjic-927	106	24	(	(	PUNCT
hjic-927	106	25	ψk−1	ψk−1	PROPN
hjic-927	106	26	)	)	PUNCT
hjic-927	106	27	+	+	SYM
hjic-927	106	28	px	px	PROPN
hjic-927	106	29	,	,	PUNCT
hjic-927	106	30	k−1	k−1	PROPN
hjic-927	106	31	yk−1	yk−1	PROPN
hjic-927	106	32	+	+	CCONJ
hjic-927	106	33	vk−1ts	vk−1ts	NUM
hjic-927	106	34	sin	sin	NOUN
hjic-927	106	35	(	(	PUNCT
hjic-927	106	36	ψk−1	ψk−1	PROPN
hjic-927	106	37	)	)	PUNCT
hjic-927	106	38	+	+	CCONJ
hjic-927	106	39	1	1	NUM
hjic-927	106	40	2	2	NUM
hjic-927	106	41	ay	ay	NOUN
hjic-927	106	42	,	,	PUNCT
hjic-927	106	43	k−1	k−1	PROPN
hjic-927	106	44	t	t	PROPN
hjic-927	106	45	2	2	NUM
hjic-927	106	46	s	s	NOUN
hjic-927	106	47	cos	cos	PROPN
hjic-927	106	48	(	(	PUNCT
hjic-927	106	49	ψk−1	ψk−1	PROPN
hjic-927	106	50	)	)	PUNCT
hjic-927	106	51	+	+	CCONJ
hjic-927	106	52	py	py	PROPN
hjic-927	106	53	,	,	PUNCT
hjic-927	106	54	k−1	k−1	PROPN
hjic-927	106	55	ψk−1	ψk−1	PROPN
hjic-927	106	56	+	+	CCONJ
hjic-927	106	57	ψ̇k−1ts	ψ̇k−1ts	ADJ
hjic-927	106	58	+	+	CCONJ
hjic-927	106	59	pψ	pψ	PROPN
hjic-927	106	60	,	,	PUNCT
hjic-927	106	61	k−1	k−1	PROPN
hjic-927	106	62			NOUN
hjic-927	106	63	=	=	SYM
hjic-927	106	64	f	f	PROPN
hjic-927	106	65	(	(	PUNCT
hjic-927	106	66	xk−1	xk−1	PROPN
hjic-927	106	67	,	,	PUNCT
hjic-927	106	68	uk−1	uk−1	PROPN
hjic-927	106	69	,	,	PUNCT
hjic-927	106	70	pk−1	pk−1	PROPN
hjic-927	106	71	)	)	PUNCT
hjic-927	106	72	(	(	PUNCT
hjic-927	106	73	18	18	NUM
hjic-927	106	74	)	)	PUNCT
hjic-927	107	1	f	f	NOUN
hjic-927	108	1	k	k	NOUN
hjic-927	108	2	=	=	PUNCT
hjic-927	108	3			ADJ
hjic-927	108	4	1	1	NUM
hjic-927	108	5	0	0	NUM
hjic-927	108	6	−	−	NOUN
hjic-927	108	7	sin	sin	NOUN
hjic-927	108	8	(	(	PUNCT
hjic-927	108	9	ψk−1	ψk−1	PROPN
hjic-927	108	10	)	)	PUNCT
hjic-927	109	1	vk−1ts	vk−1ts	NUM
hjic-927	109	2	−	−	NOUN
hjic-927	109	3	1	1	NUM
hjic-927	109	4	2	2	NUM
hjic-927	109	5	cos	cos	PROPN
hjic-927	109	6	(	(	PUNCT
hjic-927	109	7	ψk−1	ψk−1	PROPN
hjic-927	109	8	)	)	PUNCT
hjic-927	109	9	ay	ay	NOUN
hjic-927	109	10	,	,	PUNCT
hjic-927	109	11	k−1	k−1	PROPN
hjic-927	109	12	t	t	PROPN
hjic-927	109	13	2	2	NUM
hjic-927	109	14	s	s	NOUN
hjic-927	109	15	0	0	NUM
hjic-927	109	16	1	1	NUM
hjic-927	109	17	cos	cos	PROPN
hjic-927	109	18	(	(	PUNCT
hjic-927	109	19	ψk−1	ψk−1	PROPN
hjic-927	109	20	)	)	PUNCT
hjic-927	109	21	vk−1ts	vk−1ts	NUM
hjic-927	109	22	−	−	NOUN
hjic-927	109	23	1	1	NUM
hjic-927	109	24	2	2	NUM
hjic-927	109	25	sin	sin	NOUN
hjic-927	109	26	(	(	PUNCT
hjic-927	109	27	ψk−1	ψk−1	PROPN
hjic-927	109	28	)	)	PUNCT
hjic-927	109	29	ay	ay	NOUN
hjic-927	109	30	,	,	PUNCT
hjic-927	109	31	k−1	k−1	PROPN
hjic-927	109	32	t	t	PROPN
hjic-927	109	33	2	2	NUM
hjic-927	109	34	s	s	NOUN
hjic-927	109	35	0	0	NUM
hjic-927	109	36	0	0	NUM
hjic-927	109	37	1	1	NUM
hjic-927	109	38			NOUN
hjic-927	109	39	,	,	PUNCT
hjic-927	109	40	uk	uk	PROPN
hjic-927	109	41	=	=	SYM
hjic-927	109	42	ay	ay	PROPN
hjic-927	109	43	,	,	PUNCT
hjic-927	109	44	kvk	kvk	PROPN
hjic-927	109	45	ψ̇k	ψ̇k	PROPN
hjic-927	109	46			PROPN
hjic-927	109	47	(	(	PUNCT
hjic-927	109	48	19	19	NUM
hjic-927	109	49	)	)	PUNCT
hjic-927	109	50	5.3	5.3	NUM
hjic-927	109	51	noise	noise	NOUN
hjic-927	109	52	model	model	NOUN
hjic-927	109	53	during	during	ADP
hjic-927	109	54	the	the	DET
hjic-927	109	55	design	design	NOUN
hjic-927	109	56	of	of	ADP
hjic-927	109	57	the	the	DET
hjic-927	109	58	extended	extended	ADJ
hjic-927	109	59	kalman	kalman	NOUN
hjic-927	109	60	filter	filter	NOUN
hjic-927	109	61	,	,	PUNCT
hjic-927	109	62	a	a	DET
hjic-927	109	63	timeinvariant	timeinvariant	NOUN
hjic-927	109	64	and	and	CCONJ
hjic-927	109	65	normally	normally	ADV
hjic-927	109	66	distributed	distribute	VERB
hjic-927	109	67	process	process	NOUN
hjic-927	109	68	as	as	ADV
hjic-927	109	69	well	well	ADV
hjic-927	109	70	as	as	ADP
hjic-927	109	71	measurement	measurement	NOUN
hjic-927	109	72	noise	noise	NOUN
hjic-927	109	73	were	be	AUX
hjic-927	109	74	assumed	assume	VERB
hjic-927	109	75	:	:	PUNCT
hjic-927	109	76	p	p	X
hjic-927	109	77	∼	∼	NOUN
hjic-927	109	78	n	n	CCONJ
hjic-927	109	79	(	(	PUNCT
hjic-927	109	80	0	0	NUM
hjic-927	109	81	,	,	PUNCT
hjic-927	109	82	q	q	NOUN
hjic-927	109	83	)	)	PUNCT
hjic-927	109	84	,	,	PUNCT
hjic-927	109	85	m	m	VERB
hjic-927	109	86	∼	∼	NOUN
hjic-927	109	87	n	n	CCONJ
hjic-927	109	88	(	(	PUNCT
hjic-927	109	89	0	0	NUM
hjic-927	109	90	,	,	PUNCT
hjic-927	109	91	r	r	NOUN
hjic-927	109	92	)	)	PUNCT
hjic-927	109	93	(	(	PUNCT
hjic-927	109	94	20	20	NUM
hjic-927	109	95	)	)	PUNCT
hjic-927	109	96	for	for	ADP
hjic-927	109	97	the	the	DET
hjic-927	109	98	development	development	NOUN
hjic-927	109	99	and	and	CCONJ
hjic-927	109	100	testing	testing	NOUN
hjic-927	109	101	of	of	ADP
hjic-927	109	102	our	our	PRON
hjic-927	109	103	extended	extended	ADJ
hjic-927	109	104	kalman	kalman	NOUN
hjic-927	109	105	filter	filter	NOUN
hjic-927	109	106	algorithm	algorithm	PROPN
hjic-927	109	107	,	,	PUNCT
hjic-927	109	108	a	a	DET
hjic-927	109	109	tesis	tesis	NOUN
hjic-927	109	110	vedyna	vedyna	NOUN
hjic-927	109	111	vehicle	vehicle	NOUN
hjic-927	109	112	dynamics	dynamic	NOUN
hjic-927	109	113	-	-	PUNCT
hjic-927	109	114	based	base	VERB
hjic-927	109	115	simulation	simulation	NOUN
hjic-927	109	116	environment	environment	NOUN
hjic-927	109	117	was	be	AUX
hjic-927	109	118	used	use	VERB
hjic-927	109	119	with	with	ADP
hjic-927	109	120	configurable	configurable	ADJ
hjic-927	109	121	noise	noise	NOUN
hjic-927	109	122	models	model	NOUN
hjic-927	109	123	(	(	PUNCT
hjic-927	109	124	see	see	VERB
hjic-927	109	125	section	section	NOUN
hjic-927	109	126	6	6	NUM
hjic-927	109	127	)	)	PUNCT
hjic-927	109	128	.	.	PUNCT
hjic-927	110	1	although	although	SCONJ
hjic-927	110	2	it	it	PRON
hjic-927	110	3	was	be	AUX
hjic-927	110	4	possible	possible	ADJ
hjic-927	110	5	to	to	PART
hjic-927	110	6	match	match	VERB
hjic-927	110	7	the	the	DET
hjic-927	110	8	noise	noise	NOUN
hjic-927	110	9	and	and	CCONJ
hjic-927	110	10	covariances	covariance	NOUN
hjic-927	110	11	of	of	ADP
hjic-927	110	12	the	the	DET
hjic-927	110	13	filter	filter	NOUN
hjic-927	110	14	perfectly	perfectly	ADV
hjic-927	110	15	,	,	PUNCT
hjic-927	110	16	the	the	DET
hjic-927	110	17	filter	filter	NOUN
hjic-927	110	18	and	and	CCONJ
hjic-927	110	19	noise	noise	NOUN
hjic-927	110	20	models	model	NOUN
hjic-927	110	21	were	be	AUX
hjic-927	110	22	tuned	tune	VERB
hjic-927	110	23	in	in	ADP
hjic-927	110	24	a	a	DET
hjic-927	110	25	slightly	slightly	ADV
hjic-927	110	26	different	different	ADJ
hjic-927	110	27	way	way	NOUN
hjic-927	110	28	.	.	PUNCT
hjic-927	111	1	the	the	DET
hjic-927	111	2	measurementand	measurementand	PROPN
hjic-927	111	3	processnoise	processnoise	PROPN
hjic-927	111	4	covariances	covariance	NOUN
hjic-927	111	5	for	for	ADP
hjic-927	111	6	both	both	CCONJ
hjic-927	111	7	the	the	DET
hjic-927	111	8	filter	filter	NOUN
hjic-927	111	9	and	and	CCONJ
hjic-927	111	10	noise	noise	NOUN
hjic-927	111	11	models	model	NOUN
hjic-927	111	12	have	have	AUX
hjic-927	111	13	been	be	AUX
hjic-927	111	14	estimated	estimate	VERB
hjic-927	111	15	based	base	VERB
hjic-927	111	16	on	on	ADP
hjic-927	111	17	the	the	DET
hjic-927	111	18	characteristics	characteristic	NOUN
hjic-927	111	19	of	of	ADP
hjic-927	111	20	the	the	DET
hjic-927	111	21	sensor	sensor	NOUN
hjic-927	111	22	and	and	CCONJ
hjic-927	111	23	gps	gps	PROPN
hjic-927	111	24	range	range	NOUN
hjic-927	111	25	error	error	NOUN
hjic-927	111	26	statistics	statistic	NOUN
hjic-927	112	1	[	[	X
hjic-927	112	2	15	15	NUM
hjic-927	112	3	]	]	X
hjic-927	112	4	:	:	PUNCT
hjic-927	112	5	q	q	X
hjic-927	113	1	=	=	PUNCT
hjic-927	113	2	diag	diag	X
hjic-927	113	3	(	(	PUNCT
hjic-927	113	4	0.2	0.2	NUM
hjic-927	113	5	m2	m2	PROPN
hjic-927	113	6	,	,	PUNCT
hjic-927	113	7	0.2	0.2	NUM
hjic-927	113	8	m2	m2	PROPN
hjic-927	113	9	,	,	PUNCT
hjic-927	113	10	0.01	0.01	NUM
hjic-927	113	11	rad2	rad2	PROPN
hjic-927	113	12	)	)	PUNCT
hjic-927	113	13	(	(	PUNCT
hjic-927	113	14	21	21	NUM
hjic-927	113	15	)	)	PUNCT
hjic-927	113	16	r	r	NOUN
hjic-927	113	17	=	=	SYM
hjic-927	113	18	diag	diag	NOUN
hjic-927	113	19	(	(	PUNCT
hjic-927	113	20	1.5	1.5	NUM
hjic-927	113	21	m2	m2	NOUN
hjic-927	113	22	,	,	PUNCT
hjic-927	113	23	1.5	1.5	NUM
hjic-927	113	24	m2	m2	NOUN
hjic-927	113	25	)	)	PUNCT
hjic-927	113	26	(	(	PUNCT
hjic-927	113	27	22	22	NUM
hjic-927	113	28	)	)	PUNCT
hjic-927	113	29	hungarian	hungarian	ADJ
hjic-927	113	30	journal	journal	NOUN
hjic-927	113	31	of	of	ADP
hjic-927	113	32	industry	industry	NOUN
hjic-927	113	33	and	and	CCONJ
hjic-927	113	34	chemistry	chemistry	NOUN
hjic-927	113	35	localization	localization	NOUN
hjic-927	113	36	accuracy	accuracy	NOUN
hjic-927	113	37	improvement	improvement	NOUN
hjic-927	113	38	of	of	ADP
hjic-927	113	39	autonomous	autonomous	ADJ
hjic-927	113	40	vehicles	vehicle	NOUN
hjic-927	113	41	113	113	NUM
hjic-927	113	42	our	our	PRON
hjic-927	113	43	algorithm	algorithm	NOUN
hjic-927	113	44	performs	perform	VERB
hjic-927	113	45	the	the	DET
hjic-927	113	46	dead	dead	ADJ
hjic-927	113	47	reckoning	reckon	VERB
hjic-927	113	48	in	in	ADP
hjic-927	113	49	the	the	DET
hjic-927	113	50	earthfixed	earthfixed	ADJ
hjic-927	113	51	coordinate	coordinate	NOUN
hjic-927	113	52	system	system	NOUN
hjic-927	113	53	and	and	CCONJ
hjic-927	113	54	,	,	PUNCT
hjic-927	113	55	therefore	therefore	ADV
hjic-927	113	56	,	,	PUNCT
hjic-927	113	57	no	no	DET
hjic-927	113	58	predetermined	predetermined	ADJ
hjic-927	113	59	difference	difference	NOUN
hjic-927	113	60	between	between	ADP
hjic-927	113	61	the	the	DET
hjic-927	113	62	direction	direction	NOUN
hjic-927	113	63	covariances	covariance	VERB
hjic-927	113	64	xe	xe	PROPN
hjic-927	113	65	and	and	CCONJ
hjic-927	113	66	ye	ye	PRON
hjic-927	113	67	is	be	AUX
hjic-927	113	68	present	present	ADJ
hjic-927	113	69	,	,	PUNCT
hjic-927	113	70	so	so	ADV
hjic-927	113	71	q11	q11	NOUN
hjic-927	113	72	=	=	SYM
hjic-927	113	73	q22	q22	NOUN
hjic-927	113	74	and	and	CCONJ
hjic-927	113	75	r11	r11	NOUN
hjic-927	113	76	=	=	SYM
hjic-927	113	77	r22	r22	NOUN
hjic-927	113	78	.	.	PUNCT
hjic-927	114	1	the	the	DET
hjic-927	114	2	displacement	displacement	ADJ
hjic-927	114	3	variance	variance	NOUN
hjic-927	114	4	of	of	ADP
hjic-927	114	5	0.2	0.2	NUM
hjic-927	114	6	m2	m2	PROPN
hjic-927	114	7	corresponds	correspond	NOUN
hjic-927	114	8	to	to	ADP
hjic-927	114	9	an	an	DET
hjic-927	114	10	error	error	NOUN
hjic-927	114	11	of	of	ADP
hjic-927	114	12	4.5	4.5	NUM
hjic-927	114	13	m	m	NOUN
hjic-927	114	14	s−1	s−1	PROPN
hjic-927	114	15	in	in	ADP
hjic-927	114	16	the	the	DET
hjic-927	114	17	wheel	wheel	NOUN
hjic-927	114	18	speed	speed	NOUN
hjic-927	114	19	-	-	PUNCT
hjic-927	114	20	based	base	VERB
hjic-927	114	21	velocity	velocity	NOUN
hjic-927	114	22	calculation	calculation	NOUN
hjic-927	114	23	.	.	PUNCT
hjic-927	115	1	in	in	ADP
hjic-927	115	2	the	the	DET
hjic-927	115	3	presence	presence	NOUN
hjic-927	115	4	of	of	ADP
hjic-927	115	5	non	non	ADJ
hjic-927	115	6	-	-	ADJ
hjic-927	115	7	normally	normally	ADV
hjic-927	115	8	distributed	distribute	VERB
hjic-927	115	9	noise	noise	NOUN
hjic-927	115	10	,	,	PUNCT
hjic-927	115	11	the	the	DET
hjic-927	115	12	filter	filter	NOUN
hjic-927	115	13	is	be	AUX
hjic-927	115	14	not	not	PART
hjic-927	115	15	optimal	optimal	ADJ
hjic-927	115	16	.	.	PUNCT
hjic-927	116	1	5.4	5.4	NUM
hjic-927	116	2	the	the	DET
hjic-927	116	3	extended	extended	ADJ
hjic-927	116	4	kalman	kalman	NOUN
hjic-927	116	5	filter	filter	NOUN
hjic-927	116	6	algorithm	algorithm	NOUN
hjic-927	116	7	the	the	DET
hjic-927	116	8	extended	extended	ADJ
hjic-927	116	9	kalman	kalman	NOUN
hjic-927	116	10	filter	filter	NOUN
hjic-927	116	11	algorithm	algorithm	PROPN
hjic-927	116	12	follows	follow	VERB
hjic-927	116	13	wellknown	wellknown	ADJ
hjic-927	116	14	steps	step	NOUN
hjic-927	116	15	[	[	X
hjic-927	116	16	14	14	NUM
hjic-927	116	17	]	]	PUNCT
hjic-927	116	18	.	.	PUNCT
hjic-927	117	1	the	the	DET
hjic-927	117	2	prediction	prediction	NOUN
hjic-927	117	3	equations	equation	NOUN
hjic-927	117	4	are	be	AUX
hjic-927	117	5	x̂−k	x̂−k	PROPN
hjic-927	117	6	=	=	SYM
hjic-927	117	7	f	f	PROPN
hjic-927	117	8	(	(	PUNCT
hjic-927	117	9	x̂+k−1	x̂+k−1	PROPN
hjic-927	117	10	,	,	PUNCT
hjic-927	117	11	uk−1	uk−1	PROPN
hjic-927	117	12	,	,	PUNCT
hjic-927	117	13	0	0	NUM
hjic-927	117	14	)	)	PUNCT
hjic-927	117	15	(	(	PUNCT
hjic-927	117	16	23	23	NUM
hjic-927	117	17	)	)	PUNCT
hjic-927	117	18	p−	p−	NOUN
hjic-927	117	19	k	k	NOUN
hjic-927	117	20	=	=	SYM
hjic-927	117	21	f	f	X
hjic-927	117	22	kp	kp	PROPN
hjic-927	117	23	+	+	CCONJ
hjic-927	117	24	k−1f	k−1f	PROPN
hjic-927	118	1	t	t	PROPN
hjic-927	118	2	k	k	PROPN
hjic-927	119	1	+	+	PROPN
hjic-927	119	2	q	q	X
hjic-927	119	3	(	(	PUNCT
hjic-927	119	4	24	24	NUM
hjic-927	119	5	)	)	PUNCT
hjic-927	119	6	calculation	calculation	NOUN
hjic-927	119	7	of	of	ADP
hjic-927	119	8	the	the	DET
hjic-927	119	9	kalman	kalman	NOUN
hjic-927	119	10	gain	gain	NOUN
hjic-927	119	11	is	be	AUX
hjic-927	119	12	kk	kk	NOUN
hjic-927	119	13	=	=	PROPN
hjic-927	119	14	p−	p−	NOUN
hjic-927	120	1	k	k	NOUN
hjic-927	120	2	h	h	NOUN
hjic-927	120	3	t	t	PROPN
hjic-927	121	1	k	k	PROPN
hjic-927	121	2	(	(	PUNCT
hjic-927	121	3	hkp	hkp	PROPN
hjic-927	121	4	−	−	PROPN
hjic-927	122	1	k	k	PROPN
hjic-927	122	2	h	h	PROPN
hjic-927	122	3	t	t	PROPN
hjic-927	122	4	k	k	PROPN
hjic-927	123	1	+	+	NOUN
hjic-927	123	2	r	r	NOUN
hjic-927	123	3	)	)	PUNCT
hjic-927	123	4	−1	−1	NOUN
hjic-927	123	5	(	(	PUNCT
hjic-927	123	6	25	25	NUM
hjic-927	123	7	)	)	PUNCT
hjic-927	123	8	the	the	DET
hjic-927	123	9	correction	correction	NOUN
hjic-927	123	10	equations	equation	NOUN
hjic-927	123	11	are	be	AUX
hjic-927	123	12	x̂+k	x̂+k	PROPN
hjic-927	123	13	=	=	PUNCT
hjic-927	124	1	x̂−k	x̂−k	PROPN
hjic-927	125	1	+	+	ADJ
hjic-927	125	2	kk	kk	X
hjic-927	125	3	(	(	PUNCT
hjic-927	125	4	yk	yk	PROPN
hjic-927	125	5	−	−	PROPN
hjic-927	125	6	hk	hk	PROPN
hjic-927	125	7	(	(	PUNCT
hjic-927	125	8	x̂−k	x̂−k	PROPN
hjic-927	125	9	,	,	PUNCT
hjic-927	125	10	uk	uk	PROPN
hjic-927	125	11	,	,	PUNCT
hjic-927	125	12	0	0	NUM
hjic-927	125	13	)	)	PUNCT
hjic-927	125	14	)	)	PUNCT
hjic-927	125	15	(	(	PUNCT
hjic-927	125	16	26	26	NUM
hjic-927	125	17	)	)	PUNCT
hjic-927	125	18	p+	p+	NOUN
hjic-927	125	19	k	k	NOUN
hjic-927	126	1	=	=	PUNCT
hjic-927	127	1	(	(	PUNCT
hjic-927	127	2	i	i	PRON
hjic-927	127	3	−kkhk	−kkhk	VERB
hjic-927	127	4	)	)	PUNCT
hjic-927	128	1	p−	p−	INTJ
hjic-927	128	2	k	k	X
hjic-927	128	3	(	(	PUNCT
hjic-927	128	4	27	27	NUM
hjic-927	128	5	)	)	PUNCT
hjic-927	128	6	the	the	DET
hjic-927	128	7	initial	initial	ADJ
hjic-927	128	8	state	state	NOUN
hjic-927	128	9	is	be	AUX
hjic-927	128	10	determined	determine	VERB
hjic-927	128	11	based	base	VERB
hjic-927	128	12	on	on	ADP
hjic-927	128	13	the	the	DET
hjic-927	128	14	first	first	ADJ
hjic-927	128	15	several	several	ADJ
hjic-927	128	16	gps	gps	NOUN
hjic-927	128	17	observations	observation	NOUN
hjic-927	128	18	whilst	whilst	SCONJ
hjic-927	128	19	in	in	ADP
hjic-927	128	20	motion	motion	NOUN
hjic-927	128	21	.	.	PUNCT
hjic-927	129	1	6	6	X
hjic-927	129	2	.	.	X
hjic-927	129	3	simulation	simulation	NOUN
hjic-927	129	4	environment	environment	NOUN
hjic-927	129	5	the	the	DET
hjic-927	129	6	development	development	NOUN
hjic-927	129	7	of	of	ADP
hjic-927	129	8	the	the	DET
hjic-927	129	9	localization	localization	NOUN
hjic-927	129	10	algorithm	algorithm	NOUN
hjic-927	129	11	was	be	AUX
hjic-927	129	12	conducted	conduct	VERB
hjic-927	129	13	in	in	ADP
hjic-927	129	14	a	a	DET
hjic-927	129	15	mathworks	mathworks	PROPN
hjic-927	129	16	matlab	matlab	PROPN
hjic-927	129	17	/	/	SYM
hjic-927	129	18	simulink	simulink	NOUN
hjic-927	129	19	-	-	PUNCT
hjic-927	129	20	based	base	VERB
hjic-927	129	21	vehicle	vehicle	NOUN
hjic-927	129	22	dynamics	dynamic	NOUN
hjic-927	129	23	simulation	simulation	NOUN
hjic-927	129	24	environment	environment	PROPN
hjic-927	129	25	.	.	PUNCT
hjic-927	130	1	the	the	DET
hjic-927	130	2	tesis	tesis	NOUN
hjic-927	130	3	vedyna	vedyna	NOUN
hjic-927	130	4	model	model	NOUN
hjic-927	130	5	library	library	NOUN
hjic-927	130	6	was	be	AUX
hjic-927	130	7	used	use	VERB
hjic-927	130	8	to	to	PART
hjic-927	130	9	model	model	VERB
hjic-927	130	10	the	the	DET
hjic-927	130	11	vehicle	vehicle	NOUN
hjic-927	130	12	,	,	PUNCT
hjic-927	130	13	road	road	NOUN
hjic-927	130	14	system	system	NOUN
hjic-927	130	15	and	and	CCONJ
hjic-927	130	16	maneuvers	maneuver	NOUN
hjic-927	130	17	(	(	PUNCT
hjic-927	130	18	fig	fig	NOUN
hjic-927	130	19	.	.	PUNCT
hjic-927	131	1	4	4	NUM
hjic-927	131	2	)	)	PUNCT
hjic-927	131	3	.	.	PUNCT
hjic-927	132	1	the	the	DET
hjic-927	132	2	advantage	advantage	NOUN
hjic-927	132	3	of	of	ADP
hjic-927	132	4	our	our	PRON
hjic-927	132	5	simulation	simulation	NOUN
hjic-927	132	6	platform	platform	NOUN
hjic-927	132	7	lies	lie	VERB
hjic-927	132	8	in	in	ADP
hjic-927	132	9	its	its	PRON
hjic-927	132	10	integrated	integrated	ADJ
hjic-927	132	11	structure	structure	NOUN
hjic-927	132	12	.	.	PUNCT
hjic-927	133	1	algorithms	algorithm	NOUN
hjic-927	133	2	developed	develop	VERB
hjic-927	133	3	in	in	ADP
hjic-927	133	4	matlab	matlab	PROPN
hjic-927	133	5	and	and	CCONJ
hjic-927	133	6	simulink	simulink	PROPN
hjic-927	133	7	can	can	AUX
hjic-927	133	8	be	be	AUX
hjic-927	133	9	integrated	integrate	VERB
hjic-927	133	10	into	into	ADP
hjic-927	133	11	the	the	DET
hjic-927	133	12	tesis	tesis	NOUN
hjic-927	133	13	vedyna	vedyna	NOUN
hjic-927	133	14	vehicle	vehicle	NOUN
hjic-927	133	15	dynamics	dynamic	NOUN
hjic-927	133	16	simulation	simulation	NOUN
hjic-927	133	17	which	which	PRON
hjic-927	133	18	enables	enable	VERB
hjic-927	133	19	softwarein	softwarein	ADJ
hjic-927	133	20	-	-	PUNCT
hjic-927	133	21	the	the	DET
hjic-927	133	22	-	-	PUNCT
hjic-927	133	23	loop	loop	NOUN
hjic-927	133	24	testing	testing	NOUN
hjic-927	133	25	and	and	CCONJ
hjic-927	133	26	real	real	ADJ
hjic-927	133	27	-	-	PUNCT
hjic-927	133	28	time	time	NOUN
hjic-927	133	29	hardware	hardware	NOUN
hjic-927	133	30	-	-	PUNCT
hjic-927	133	31	in	in	ADP
hjic-927	133	32	-	-	PUNCT
hjic-927	133	33	the	the	DET
hjic-927	133	34	-	-	PUNCT
hjic-927	133	35	loop	loop	NOUN
hjic-927	133	36	analysis	analysis	NOUN
hjic-927	133	37	to	to	PART
hjic-927	133	38	be	be	AUX
hjic-927	133	39	implemented	implement	VERB
hjic-927	133	40	by	by	ADP
hjic-927	133	41	the	the	DET
hjic-927	133	42	national	national	PROPN
hjic-927	133	43	instruments	instrument	NOUN
hjic-927	133	44	pxi	pxi	PROPN
hjic-927	133	45	hardware	hardware	NOUN
hjic-927	133	46	system	system	NOUN
hjic-927	133	47	.	.	PUNCT
hjic-927	134	1	in	in	ADP
hjic-927	134	2	our	our	PRON
hjic-927	134	3	platform	platform	NOUN
hjic-927	134	4	,	,	PUNCT
hjic-927	134	5	real	real	ADJ
hjic-927	134	6	streets	street	NOUN
hjic-927	134	7	using	use	VERB
hjic-927	134	8	gps	gps	PROPN
hjic-927	134	9	coordinates	coordinate	NOUN
hjic-927	134	10	or	or	CCONJ
hjic-927	134	11	map	map	VERB
hjic-927	134	12	databases	database	NOUN
hjic-927	134	13	can	can	AUX
hjic-927	134	14	be	be	AUX
hjic-927	134	15	modeled	model	VERB
hjic-927	134	16	.	.	PUNCT
hjic-927	135	1	this	this	PRON
hjic-927	135	2	enables	enable	VERB
hjic-927	135	3	the	the	DET
hjic-927	135	4	direct	direct	ADJ
hjic-927	135	5	comparison	comparison	NOUN
hjic-927	135	6	of	of	ADP
hjic-927	135	7	simulations	simulation	NOUN
hjic-927	135	8	and	and	CCONJ
hjic-927	135	9	real	real	ADJ
hjic-927	135	10	-	-	PUNCT
hjic-927	135	11	world	world	NOUN
hjic-927	135	12	measurements	measurement	NOUN
hjic-927	135	13	.	.	PUNCT
hjic-927	136	1	7	7	X
hjic-927	136	2	.	.	X
hjic-927	136	3	simulation	simulation	NOUN
hjic-927	136	4	results	result	VERB
hjic-927	136	5	the	the	DET
hjic-927	136	6	extended	extended	ADJ
hjic-927	136	7	kalman	kalman	NOUN
hjic-927	136	8	filter	filter	NOUN
hjic-927	136	9	was	be	AUX
hjic-927	136	10	tuned	tune	VERB
hjic-927	136	11	and	and	CCONJ
hjic-927	136	12	studied	study	VERB
hjic-927	136	13	in	in	ADP
hjic-927	136	14	simulated	simulated	ADJ
hjic-927	136	15	test	test	NOUN
hjic-927	136	16	maneuvers	maneuver	NOUN
hjic-927	136	17	during	during	ADP
hjic-927	136	18	which	which	PRON
hjic-927	136	19	data	datum	NOUN
hjic-927	136	20	were	be	AUX
hjic-927	136	21	collected	collect	VERB
hjic-927	136	22	.	.	PUNCT
hjic-927	137	1	the	the	DET
hjic-927	137	2	test	test	NOUN
hjic-927	137	3	maneuvers	maneuver	NOUN
hjic-927	137	4	were	be	AUX
hjic-927	137	5	performed	perform	VERB
hjic-927	137	6	on	on	ADP
hjic-927	137	7	a	a	DET
hjic-927	137	8	virtual	virtual	ADJ
hjic-927	137	9	test	test	NOUN
hjic-927	137	10	track	track	NOUN
hjic-927	137	11	that	that	PRON
hjic-927	137	12	included	include	VERB
hjic-927	137	13	lowand	lowand	ADJ
hjic-927	137	14	high	high	ADJ
hjic-927	137	15	-	-	PUNCT
hjic-927	137	16	speed	speed	NOUN
hjic-927	137	17	driving	driving	NOUN
hjic-927	137	18	,	,	PUNCT
hjic-927	137	19	accelerating	accelerate	VERB
hjic-927	137	20	,	,	PUNCT
hjic-927	137	21	braking	brake	VERB
hjic-927	137	22	and	and	CCONJ
hjic-927	137	23	cornering	corner	VERB
hjic-927	137	24	.	.	PUNCT
hjic-927	138	1	the	the	DET
hjic-927	138	2	size	size	NOUN
hjic-927	138	3	of	of	ADP
hjic-927	138	4	the	the	DET
hjic-927	138	5	test	test	NOUN
hjic-927	138	6	track	track	NOUN
hjic-927	138	7	was	be	AUX
hjic-927	138	8	around	around	ADV
hjic-927	138	9	2	2	NUM
hjic-927	138	10	by	by	ADP
hjic-927	138	11	2	2	NUM
hjic-927	138	12	km	km	NOUN
hjic-927	138	13	and	and	CCONJ
hjic-927	138	14	the	the	DET
hjic-927	138	15	simulated	simulated	ADJ
hjic-927	138	16	test	test	NOUN
hjic-927	138	17	maneuvers	maneuver	NOUN
hjic-927	138	18	lasted	last	VERB
hjic-927	138	19	for	for	ADP
hjic-927	138	20	528	528	NUM
hjic-927	138	21	s.	s.	NOUN
hjic-927	138	22	our	our	PRON
hjic-927	138	23	extended	extended	ADJ
hjic-927	138	24	kalman	kalman	NOUN
hjic-927	138	25	filter	filter	NOUN
hjic-927	138	26	was	be	AUX
hjic-927	138	27	compared	compare	VERB
hjic-927	138	28	to	to	ADP
hjic-927	138	29	simple	simple	ADJ
hjic-927	138	30	dead	dead	ADJ
hjic-927	138	31	reckoning	reckoning	NOUN
hjic-927	138	32	and	and	CCONJ
hjic-927	138	33	gps	gps	NOUN
hjic-927	138	34	observations	observation	NOUN
hjic-927	138	35	.	.	PUNCT
hjic-927	139	1	the	the	DET
hjic-927	139	2	true	true	ADJ
hjic-927	139	3	path	path	NOUN
hjic-927	139	4	,	,	PUNCT
hjic-927	139	5	the	the	DET
hjic-927	139	6	result	result	NOUN
hjic-927	139	7	of	of	ADP
hjic-927	139	8	dead	dead	ADJ
hjic-927	139	9	reckoning	reckoning	NOUN
hjic-927	139	10	and	and	CCONJ
hjic-927	139	11	the	the	DET
hjic-927	139	12	position	position	NOUN
hjic-927	139	13	,	,	PUNCT
hjic-927	139	14	estimated	estimate	VERB
hjic-927	139	15	by	by	ADP
hjic-927	139	16	the	the	DET
hjic-927	139	17	implementation	implementation	NOUN
hjic-927	139	18	of	of	ADP
hjic-927	139	19	our	our	PRON
hjic-927	139	20	extended	extended	ADJ
hjic-927	139	21	kalman	kalman	NOUN
hjic-927	139	22	filter	filter	NOUN
hjic-927	139	23	,	,	PUNCT
hjic-927	139	24	are	be	AUX
hjic-927	139	25	shown	show	VERB
hjic-927	139	26	in	in	ADP
hjic-927	139	27	fig	fig	NOUN
hjic-927	139	28	.	.	PUNCT
hjic-927	140	1	5	5	X
hjic-927	140	2	.	.	X
hjic-927	140	3	figure	figure	NOUN
hjic-927	140	4	4	4	NUM
hjic-927	140	5	:	:	PUNCT
hjic-927	140	6	tesis	tesis	NOUN
hjic-927	140	7	dynaanimation	dynaanimation	NOUN
hjic-927	140	8	user	user	NOUN
hjic-927	140	9	interface	interface	VERB
hjic-927	140	10	7.1	7.1	NUM
hjic-927	140	11	comparison	comparison	NOUN
hjic-927	140	12	with	with	ADP
hjic-927	140	13	dead	dead	ADJ
hjic-927	140	14	reckoning	reckon	VERB
hjic-927	140	15	dead	dead	ADJ
hjic-927	140	16	reckoning	reckon	VERB
hjic-927	140	17	without	without	ADP
hjic-927	140	18	the	the	DET
hjic-927	140	19	aid	aid	NOUN
hjic-927	140	20	of	of	ADP
hjic-927	140	21	the	the	DET
hjic-927	140	22	extended	extended	ADJ
hjic-927	140	23	kalman	kalman	NOUN
hjic-927	140	24	filter	filter	NOUN
hjic-927	140	25	accumulated	accumulate	VERB
hjic-927	140	26	a	a	DET
hjic-927	140	27	large	large	ADJ
hjic-927	140	28	position	position	NOUN
hjic-927	140	29	error	error	NOUN
hjic-927	140	30	during	during	ADP
hjic-927	140	31	the	the	DET
hjic-927	140	32	test	test	NOUN
hjic-927	140	33	maneuvers	maneuver	NOUN
hjic-927	140	34	.	.	PUNCT
hjic-927	141	1	the	the	DET
hjic-927	141	2	error	error	NOUN
hjic-927	141	3	of	of	ADP
hjic-927	141	4	the	the	DET
hjic-927	141	5	dead	dead	ADJ
hjic-927	141	6	reckoning	reckoning	NOUN
hjic-927	141	7	reached	reach	VERB
hjic-927	141	8	100	100	NUM
hjic-927	141	9	m	m	NOUN
hjic-927	141	10	,	,	PUNCT
hjic-927	141	11	as	as	SCONJ
hjic-927	141	12	can	can	AUX
hjic-927	141	13	be	be	AUX
hjic-927	141	14	seen	see	VERB
hjic-927	141	15	in	in	ADP
hjic-927	141	16	fig	fig	NOUN
hjic-927	141	17	.	.	PUNCT
hjic-927	142	1	5	5	X
hjic-927	142	2	.	.	X
hjic-927	142	3	the	the	DET
hjic-927	142	4	position	position	NOUN
hjic-927	142	5	estimated	estimate	VERB
hjic-927	142	6	by	by	ADP
hjic-927	142	7	our	our	PRON
hjic-927	142	8	extended	extended	ADJ
hjic-927	142	9	kalman	kalman	NOUN
hjic-927	142	10	filter	filter	NOUN
hjic-927	142	11	did	do	AUX
hjic-927	142	12	not	not	PART
hjic-927	142	13	include	include	VERB
hjic-927	142	14	error	error	NOUN
hjic-927	142	15	accumulation	accumulation	NOUN
hjic-927	142	16	and	and	CCONJ
hjic-927	142	17	performed	perform	VERB
hjic-927	142	18	better	well	ADV
hjic-927	142	19	than	than	ADP
hjic-927	142	20	dead	dead	ADJ
hjic-927	142	21	reckoning	reckon	VERB
hjic-927	142	22	alone	alone	ADV
hjic-927	142	23	.	.	PUNCT
hjic-927	143	1	7.2	7.2	NUM
hjic-927	143	2	comparison	comparison	NOUN
hjic-927	143	3	with	with	ADP
hjic-927	143	4	gps	gps	PROPN
hjic-927	143	5	due	due	ADP
hjic-927	143	6	to	to	ADP
hjic-927	143	7	the	the	DET
hjic-927	143	8	large	large	ADJ
hjic-927	143	9	difference	difference	NOUN
hjic-927	143	10	between	between	ADP
hjic-927	143	11	the	the	DET
hjic-927	143	12	size	size	NOUN
hjic-927	143	13	of	of	ADP
hjic-927	143	14	the	the	DET
hjic-927	143	15	path	path	NOUN
hjic-927	143	16	and	and	CCONJ
hjic-927	143	17	the	the	DET
hjic-927	143	18	position	position	NOUN
hjic-927	143	19	errors	error	NOUN
hjic-927	143	20	,	,	PUNCT
hjic-927	143	21	the	the	DET
hjic-927	143	22	difference	difference	NOUN
hjic-927	143	23	between	between	ADP
hjic-927	143	24	gps	gps	PROPN
hjic-927	143	25	observations	observation	NOUN
hjic-927	143	26	and	and	CCONJ
hjic-927	143	27	the	the	DET
hjic-927	143	28	extended	extended	ADJ
hjic-927	143	29	kalman	kalman	NOUN
hjic-927	143	30	filter	filter	NOUN
hjic-927	143	31	estimates	estimate	NOUN
hjic-927	143	32	were	be	AUX
hjic-927	143	33	not	not	PART
hjic-927	143	34	as	as	ADV
hjic-927	143	35	clearly	clearly	ADV
hjic-927	143	36	visible	visible	ADJ
hjic-927	143	37	as	as	ADP
hjic-927	143	38	the	the	DET
hjic-927	143	39	error	error	NOUN
hjic-927	143	40	of	of	ADP
hjic-927	143	41	dead	dead	ADJ
hjic-927	143	42	reckoning	reckoning	NOUN
hjic-927	143	43	(	(	PUNCT
hjic-927	143	44	fig	fig	NOUN
hjic-927	143	45	.	.	PUNCT
hjic-927	143	46	5	5	NUM
hjic-927	143	47	)	)	PUNCT
hjic-927	143	48	.	.	PUNCT
hjic-927	144	1	zooming	zoom	VERB
hjic-927	144	2	in	in	ADP
hjic-927	144	3	on	on	ADP
hjic-927	144	4	certain	certain	ADJ
hjic-927	144	5	parts	part	NOUN
hjic-927	144	6	of	of	ADP
hjic-927	144	7	the	the	DET
hjic-927	144	8	path	path	NOUN
hjic-927	144	9	enables	enable	VERB
hjic-927	144	10	visual	visual	ADJ
hjic-927	144	11	evaluation	evaluation	NOUN
hjic-927	144	12	of	of	ADP
hjic-927	144	13	a	a	DET
hjic-927	144	14	particular	particular	ADJ
hjic-927	144	15	part	part	NOUN
hjic-927	144	16	of	of	ADP
hjic-927	144	17	the	the	DET
hjic-927	144	18	path	path	NOUN
hjic-927	144	19	0	0	NUM
hjic-927	144	20	500	500	NUM
hjic-927	144	21	1000	1000	NUM
hjic-927	144	22	1500	1500	NUM
hjic-927	144	23	2000	2000	NUM
hjic-927	144	24	0	0	NUM
hjic-927	144	25	500	500	NUM
hjic-927	144	26	1000	1000	NUM
hjic-927	144	27	1500	1500	NUM
hjic-927	144	28	2000	2000	NUM
hjic-927	144	29	position	position	NOUN
hjic-927	144	30	,	,	PUNCT
hjic-927	144	31	x	x	X
hjic-927	144	32	,	,	PUNCT
hjic-927	144	33	[	[	X
hjic-927	144	34	m	m	X
hjic-927	144	35	]	]	X
hjic-927	144	36	po	po	X
hjic-927	144	37	si	si	PROPN
hjic-927	144	38	tio	tio	PROPN
hjic-927	144	39	n	n	CCONJ
hjic-927	144	40	,	,	PUNCT
hjic-927	144	41	y	y	PROPN
hjic-927	144	42	,	,	PUNCT
hjic-927	144	43	[	[	PUNCT
hjic-927	144	44	m	m	X
hjic-927	144	45	]	]	X
hjic-927	144	46	true	true	ADJ
hjic-927	144	47	path	path	NOUN
hjic-927	144	48	dead	dead	ADJ
hjic-927	144	49	reckoning	reckon	VERB
hjic-927	144	50	ekf	ekf	PROPN
hjic-927	144	51	estimation	estimation	NOUN
hjic-927	144	52	figure	figure	NOUN
hjic-927	144	53	5	5	NUM
hjic-927	144	54	:	:	PUNCT
hjic-927	144	55	the	the	DET
hjic-927	144	56	real	real	ADJ
hjic-927	144	57	path	path	NOUN
hjic-927	144	58	,	,	PUNCT
hjic-927	144	59	dead	dead	ADJ
hjic-927	144	60	reckoning	reckon	VERB
hjic-927	144	61	only	only	ADV
hjic-927	144	62	and	and	CCONJ
hjic-927	144	63	ekf	ekf	VERB
hjic-927	144	64	estimation	estimation	NOUN
hjic-927	144	65	48(1	48(1	NOUN
hjic-927	144	66	)	)	PUNCT
hjic-927	144	67	pp	pp	ADV
hjic-927	144	68	.	.	PUNCT
hjic-927	145	1	109–115	109–115	NUM
hjic-927	145	2	(	(	PUNCT
hjic-927	145	3	2020	2020	NUM
hjic-927	145	4	)	)	PUNCT
hjic-927	145	5	114	114	NUM
hjic-927	145	6	szalay	szalay	NOUN
hjic-927	145	7	,	,	PUNCT
hjic-927	145	8	enisz	enisz	ADJ
hjic-927	145	9	,	,	PUNCT
hjic-927	145	10	medve	medve	ADJ
hjic-927	145	11	,	,	PUNCT
hjic-927	145	12	and	and	CCONJ
hjic-927	145	13	fodor	fodor	NOUN
hjic-927	145	14	0	0	NUM
hjic-927	145	15	2	2	NUM
hjic-927	145	16	4	4	NUM
hjic-927	145	17	6	6	NUM
hjic-927	145	18	8	8	NUM
hjic-927	145	19	10	10	NUM
hjic-927	145	20	12	12	NUM
hjic-927	145	21	14	14	NUM
hjic-927	145	22	16	16	NUM
hjic-927	145	23	18	18	NUM
hjic-927	145	24	20	20	NUM
hjic-927	145	25	22	22	NUM
hjic-927	145	26	24	24	NUM
hjic-927	145	27	26	26	NUM
hjic-927	145	28	−2	−2	NOUN
hjic-927	145	29	0	0	NUM
hjic-927	145	30	2	2	NUM
hjic-927	145	31	4	4	NUM
hjic-927	145	32	displacement	displacement	NOUN
hjic-927	145	33	,	,	PUNCT
hjic-927	145	34	x	x	X
hjic-927	145	35	,	,	PUNCT
hjic-927	145	36	[	[	X
hjic-927	145	37	m	m	X
hjic-927	145	38	]	]	X
hjic-927	145	39	d	d	X
hjic-927	145	40	is	be	AUX
hjic-927	145	41	pl	pl	INTJ
hjic-927	145	42	ac	ac	ADV
hjic-927	145	43	em	em	PRON
hjic-927	145	44	en	en	PROPN
hjic-927	145	45	t	t	PROPN
hjic-927	145	46	,	,	PUNCT
hjic-927	145	47	y	y	PROPN
hjic-927	145	48	,	,	PUNCT
hjic-927	145	49	[	[	PUNCT
hjic-927	145	50	m	m	X
hjic-927	145	51	]	]	X
hjic-927	145	52	real	real	ADJ
hjic-927	145	53	path	path	NOUN
hjic-927	145	54	gps	gps	PROPN
hjic-927	145	55	position	position	PROPN
hjic-927	145	56	ekf	ekf	PROPN
hjic-927	145	57	estimation	estimation	NOUN
hjic-927	145	58	figure	figure	NOUN
hjic-927	145	59	6	6	NUM
hjic-927	145	60	:	:	PUNCT
hjic-927	145	61	the	the	DET
hjic-927	145	62	initial	initial	ADJ
hjic-927	145	63	section	section	NOUN
hjic-927	145	64	of	of	ADP
hjic-927	145	65	the	the	DET
hjic-927	145	66	true	true	ADJ
hjic-927	145	67	,	,	PUNCT
hjic-927	145	68	estimated	estimated	ADJ
hjic-927	145	69	and	and	CCONJ
hjic-927	145	70	gps	gps	NOUN
hjic-927	145	71	-	-	PUNCT
hjic-927	145	72	observed	observe	VERB
hjic-927	145	73	paths	path	NOUN
hjic-927	145	74	(	(	PUNCT
hjic-927	145	75	fig	fig	NOUN
hjic-927	145	76	.	.	PUNCT
hjic-927	145	77	6	6	NUM
hjic-927	145	78	)	)	PUNCT
hjic-927	145	79	.	.	PUNCT
hjic-927	146	1	to	to	PART
hjic-927	146	2	evaluate	evaluate	VERB
hjic-927	146	3	the	the	DET
hjic-927	146	4	extended	extended	ADJ
hjic-927	146	5	kalman	kalman	NOUN
hjic-927	146	6	filter	filter	NOUN
hjic-927	146	7	estimate	estimate	NOUN
hjic-927	146	8	and	and	CCONJ
hjic-927	146	9	make	make	VERB
hjic-927	146	10	it	it	PRON
hjic-927	146	11	numerically	numerically	ADV
hjic-927	146	12	comparable	comparable	ADJ
hjic-927	146	13	to	to	ADP
hjic-927	146	14	the	the	DET
hjic-927	146	15	gps	gps	PROPN
hjic-927	146	16	observations	observation	NOUN
hjic-927	146	17	,	,	PUNCT
hjic-927	146	18	the	the	DET
hjic-927	146	19	instantaneous	instantaneous	ADJ
hjic-927	146	20	and	and	CCONJ
hjic-927	146	21	average	average	ADJ
hjic-927	146	22	distance	distance	NOUN
hjic-927	146	23	errors	error	NOUN
hjic-927	146	24	were	be	AUX
hjic-927	146	25	calculated	calculate	VERB
hjic-927	146	26	.	.	PUNCT
hjic-927	147	1	the	the	DET
hjic-927	147	2	distance	distance	NOUN
hjic-927	147	3	error	error	NOUN
hjic-927	147	4	dk	dk	NOUN
hjic-927	147	5	of	of	ADP
hjic-927	147	6	the	the	DET
hjic-927	147	7	estimation	estimation	NOUN
hjic-927	147	8	is	be	AUX
hjic-927	147	9	calculated	calculate	VERB
hjic-927	147	10	as	as	ADP
hjic-927	147	11	the	the	DET
hjic-927	147	12	distance	distance	NOUN
hjic-927	147	13	between	between	ADP
hjic-927	147	14	the	the	DET
hjic-927	147	15	estimated	estimated	ADJ
hjic-927	147	16	and	and	CCONJ
hjic-927	147	17	true	true	ADJ
hjic-927	147	18	positions	position	NOUN
hjic-927	147	19	:	:	PUNCT
hjic-927	147	20	dk	dk	X
hjic-927	147	21	=	=	PUNCT
hjic-927	147	22	√	√	PROPN
hjic-927	147	23	(	(	PUNCT
hjic-927	147	24	x̂k	x̂k	NUM
hjic-927	147	25	−	−	PROPN
hjic-927	148	1	xk	xk	PROPN
hjic-927	148	2	)	)	PUNCT
hjic-927	148	3	2	2	NUM
hjic-927	148	4	+	+	CCONJ
hjic-927	148	5	(	(	PUNCT
hjic-927	148	6	ŷk	ŷk	PROPN
hjic-927	148	7	−	−	PROPN
hjic-927	148	8	yk	yk	PROPN
hjic-927	148	9	)	)	PUNCT
hjic-927	148	10	2	2	NUM
hjic-927	148	11	(	(	PUNCT
hjic-927	148	12	28	28	NUM
hjic-927	148	13	)	)	PUNCT
hjic-927	148	14	the	the	DET
hjic-927	148	15	distance	distance	NOUN
hjic-927	148	16	error	error	NOUN
hjic-927	148	17	dgps	dgps	PROPN
hjic-927	148	18	,	,	PUNCT
hjic-927	148	19	k	k	PROPN
hjic-927	148	20	of	of	ADP
hjic-927	148	21	gps	gps	PROPN
hjic-927	148	22	observations	observation	NOUN
hjic-927	148	23	is	be	AUX
hjic-927	148	24	dgps	dgps	PROPN
hjic-927	148	25	,	,	PUNCT
hjic-927	148	26	k	k	PROPN
hjic-927	148	27	=	=	SYM
hjic-927	148	28	√	√	PROPN
hjic-927	148	29	(	(	PUNCT
hjic-927	148	30	xgps	xgps	PROPN
hjic-927	148	31	−	−	PROPN
hjic-927	148	32	x	x	SYM
hjic-927	148	33	)	)	PUNCT
hjic-927	148	34	2	2	NUM
hjic-927	149	1	+	+	CCONJ
hjic-927	149	2	(	(	PUNCT
hjic-927	149	3	ygps	ygps	PROPN
hjic-927	149	4	−	−	PROPN
hjic-927	149	5	y	y	PROPN
hjic-927	149	6	)	)	PUNCT
hjic-927	149	7	2	2	NUM
hjic-927	149	8	(	(	PUNCT
hjic-927	149	9	29	29	NUM
hjic-927	149	10	)	)	PUNCT
hjic-927	149	11	the	the	DET
hjic-927	149	12	average	average	ADJ
hjic-927	149	13	distance	distance	NOUN
hjic-927	149	14	errors	error	NOUN
hjic-927	149	15	are	be	AUX
hjic-927	149	16	d̄	d̄	NOUN
hjic-927	149	17	=	=	SYM
hjic-927	149	18	1	1	NUM
hjic-927	149	19	n	n	NUM
hjic-927	149	20	n∑	n∑	NOUN
hjic-927	149	21	k=1	k=1	PUNCT
hjic-927	150	1	dk	dk	INTJ
hjic-927	150	2	and	and	CCONJ
hjic-927	150	3	d̄gps	d̄gps	NOUN
hjic-927	150	4	=	=	SYM
hjic-927	150	5	1	1	NUM
hjic-927	150	6	n	n	NUM
hjic-927	150	7	n∑	n∑	PROPN
hjic-927	150	8	k=1	k=1	PROPN
hjic-927	150	9	dgps	dgps	PROPN
hjic-927	150	10	,	,	PUNCT
hjic-927	150	11	k	k	PROPN
hjic-927	150	12	(	(	PUNCT
hjic-927	150	13	30	30	NUM
hjic-927	150	14	)	)	PUNCT
hjic-927	150	15	the	the	DET
hjic-927	150	16	distance	distance	NOUN
hjic-927	150	17	errors	error	NOUN
hjic-927	150	18	of	of	ADP
hjic-927	150	19	the	the	DET
hjic-927	150	20	gps	gps	PROPN
hjic-927	150	21	observations	observation	NOUN
hjic-927	150	22	and	and	CCONJ
hjic-927	150	23	the	the	DET
hjic-927	150	24	extended	extended	ADJ
hjic-927	150	25	kalman	kalman	NOUN
hjic-927	150	26	filter	filter	NOUN
hjic-927	150	27	position	position	NOUN
hjic-927	150	28	estimates	estimate	NOUN
hjic-927	150	29	are	be	AUX
hjic-927	150	30	shown	show	VERB
hjic-927	150	31	in	in	ADP
hjic-927	150	32	fig	fig	NOUN
hjic-927	150	33	.	.	PUNCT
hjic-927	151	1	7	7	X
hjic-927	151	2	.	.	X
hjic-927	151	3	the	the	DET
hjic-927	151	4	timespan	timespan	NOUN
hjic-927	151	5	of	of	ADP
hjic-927	151	6	the	the	DET
hjic-927	151	7	test	test	NOUN
hjic-927	151	8	maneuvers	maneuver	NOUN
hjic-927	151	9	was	be	AUX
hjic-927	151	10	528	528	NUM
hjic-927	151	11	s	s	NOUN
hjic-927	151	12	,	,	PUNCT
hjic-927	151	13	moreover	moreover	ADV
hjic-927	151	14	,	,	PUNCT
hjic-927	151	15	at	at	ADP
hjic-927	151	16	a	a	DET
hjic-927	151	17	sample	sample	NOUN
hjic-927	151	18	time	time	NOUN
hjic-927	151	19	of	of	ADP
hjic-927	151	20	100	100	NUM
hjic-927	151	21	ms	ms	NOUN
hjic-927	151	22	,	,	PUNCT
hjic-927	151	23	it	it	PRON
hjic-927	151	24	produced	produce	VERB
hjic-927	151	25	5280	5280	NUM
hjic-927	151	26	points	point	NOUN
hjic-927	151	27	.	.	PUNCT
hjic-927	152	1	the	the	DET
hjic-927	152	2	average	average	ADJ
hjic-927	152	3	distance	distance	NOUN
hjic-927	152	4	error	error	NOUN
hjic-927	152	5	of	of	ADP
hjic-927	152	6	the	the	DET
hjic-927	152	7	gps	gps	PROPN
hjic-927	152	8	observations	observation	NOUN
hjic-927	152	9	was	be	AUX
hjic-927	152	10	d̄gps	d̄gps	NOUN
hjic-927	152	11	=	=	SYM
hjic-927	152	12	751	751	NUM
hjic-927	152	13	mm	mm	NOUN
hjic-927	152	14	.	.	PUNCT
hjic-927	153	1	our	our	PRON
hjic-927	153	2	extended	extended	ADJ
hjic-927	153	3	kalman	kalman	NOUN
hjic-927	153	4	filter	filter	NOUN
hjic-927	153	5	reduced	reduce	VERB
hjic-927	153	6	the	the	DET
hjic-927	153	7	average	average	ADJ
hjic-927	153	8	distance	distance	NOUN
hjic-927	153	9	error	error	NOUN
hjic-927	153	10	significantly	significantly	ADV
hjic-927	153	11	,	,	PUNCT
hjic-927	153	12	d̄	d̄	PROPN
hjic-927	153	13	=	=	NUM
hjic-927	153	14	457	457	NUM
hjic-927	153	15	mm	mm	INTJ
hjic-927	153	16	.	.	PUNCT
hjic-927	154	1	besides	besides	SCONJ
hjic-927	154	2	the	the	DET
hjic-927	154	3	average	average	ADJ
hjic-927	154	4	values	value	NOUN
hjic-927	154	5	,	,	PUNCT
hjic-927	154	6	the	the	DET
hjic-927	154	7	distributions	distribution	NOUN
hjic-927	154	8	of	of	ADP
hjic-927	154	9	the	the	DET
hjic-927	154	10	distance	distance	NOUN
hjic-927	154	11	errors	error	NOUN
hjic-927	154	12	are	be	AUX
hjic-927	154	13	also	also	ADV
hjic-927	154	14	of	of	ADP
hjic-927	154	15	interest	interest	NOUN
hjic-927	154	16	.	.	PUNCT
hjic-927	155	1	the	the	DET
hjic-927	155	2	distance	distance	NOUN
hjic-927	155	3	errors	error	NOUN
hjic-927	155	4	are	be	AUX
hjic-927	155	5	discrete	discrete	ADJ
hjic-927	155	6	values	value	NOUN
hjic-927	155	7	whose	whose	DET
hjic-927	155	8	distributions	distribution	NOUN
hjic-927	155	9	can	can	AUX
hjic-927	155	10	be	be	AUX
hjic-927	155	11	approximated	approximate	VERB
hjic-927	155	12	by	by	ADP
hjic-927	155	13	their	their	PRON
hjic-927	155	14	histograms	histogram	NOUN
hjic-927	155	15	.	.	PUNCT
hjic-927	156	1	such	such	ADJ
hjic-927	156	2	histograms	histogram	NOUN
hjic-927	156	3	are	be	AUX
hjic-927	156	4	shown	show	VERB
hjic-927	156	5	in	in	ADP
hjic-927	156	6	(	(	PUNCT
hjic-927	156	7	fig	fig	NOUN
hjic-927	156	8	.	.	PUNCT
hjic-927	157	1	8)	8)	NUM
hjic-927	157	2	with	with	ADP
hjic-927	157	3	a	a	DET
hjic-927	157	4	bin	bin	NOUN
hjic-927	157	5	width	width	NOUN
hjic-927	157	6	of	of	ADP
hjic-927	157	7	10	10	NUM
hjic-927	157	8	cm	cm	NOUN
hjic-927	157	9	.	.	PUNCT
hjic-927	158	1	8	8	NUM
hjic-927	158	2	.	.	PUNCT
hjic-927	158	3	conclusions	conclusion	NOUN
hjic-927	158	4	in	in	ADP
hjic-927	158	5	this	this	DET
hjic-927	158	6	paper	paper	NOUN
hjic-927	158	7	,	,	PUNCT
hjic-927	158	8	a	a	DET
hjic-927	158	9	real	real	ADJ
hjic-927	158	10	-	-	PUNCT
hjic-927	158	11	time	time	NOUN
hjic-927	158	12	vehicle	vehicle	NOUN
hjic-927	158	13	localization	localization	NOUN
hjic-927	158	14	algorithm	algorithm	NOUN
hjic-927	158	15	developed	develop	VERB
hjic-927	158	16	and	and	CCONJ
hjic-927	158	17	implemented	implement	VERB
hjic-927	158	18	in	in	ADP
hjic-927	158	19	a	a	DET
hjic-927	158	20	tesis	tesis	NOUN
hjic-927	158	21	vedyna	vedyna	NOUN
hjic-927	158	22	vehicle	vehicle	NOUN
hjic-927	158	23	dynamics	dynamic	NOUN
hjic-927	158	24	simulation	simulation	NOUN
hjic-927	158	25	environment	environment	NOUN
hjic-927	158	26	was	be	AUX
hjic-927	158	27	presented	present	VERB
hjic-927	158	28	.	.	PUNCT
hjic-927	159	1	the	the	DET
hjic-927	159	2	localization	localization	NOUN
hjic-927	159	3	algorithm	algorithm	NOUN
hjic-927	159	4	used	use	VERB
hjic-927	159	5	an	an	DET
hjic-927	159	6	extended	extended	ADJ
hjic-927	159	7	kalman	kalman	NOUN
hjic-927	159	8	filter	filter	NOUN
hjic-927	159	9	to	to	PART
hjic-927	159	10	fuse	fuse	NOUN
hjic-927	159	11	gps	gps	NOUN
hjic-927	159	12	observations	observation	NOUN
hjic-927	159	13	with	with	ADP
hjic-927	159	14	vehicle	vehicle	NOUN
hjic-927	159	15	sensor	sensor	NOUN
hjic-927	159	16	measurements	measurement	NOUN
hjic-927	159	17	of	of	ADP
hjic-927	159	18	only	only	ADV
hjic-927	159	19	the	the	DET
hjic-927	159	20	steering	steering	NOUN
hjic-927	159	21	angle	angle	NOUN
hjic-927	159	22	,	,	PUNCT
hjic-927	159	23	yaw	yaw	NOUN
hjic-927	159	24	rate	rate	NOUN
hjic-927	159	25	and	and	CCONJ
hjic-927	159	26	wheel	wheel	NOUN
hjic-927	159	27	speeds	speed	NOUN
hjic-927	159	28	.	.	PUNCT
hjic-927	160	1	the	the	DET
hjic-927	160	2	underlying	underlie	VERB
hjic-927	160	3	state	state	NOUN
hjic-927	160	4	-	-	PUNCT
hjic-927	160	5	space	space	NOUN
hjic-927	160	6	model	model	NOUN
hjic-927	160	7	is	be	AUX
hjic-927	160	8	based	base	VERB
hjic-927	160	9	on	on	ADP
hjic-927	160	10	planar	planar	ADJ
hjic-927	160	11	dead	dead	ADJ
hjic-927	160	12	reckoning	reckoning	NOUN
hjic-927	160	13	that	that	PRON
hjic-927	160	14	calculates	calculate	VERB
hjic-927	160	15	the	the	DET
hjic-927	160	16	longitudinal	longitudinal	ADJ
hjic-927	160	17	displacement	displacement	NOUN
hjic-927	160	18	using	use	VERB
hjic-927	160	19	wheel	wheel	NOUN
hjic-927	160	20	speed	speed	NOUN
hjic-927	160	21	and	and	CCONJ
hjic-927	160	22	lateral	lateral	ADJ
hjic-927	160	23	displacement	displacement	NOUN
hjic-927	160	24	in	in	ADP
hjic-927	160	25	a	a	DET
hjic-927	160	26	simplified	simplified	ADJ
hjic-927	160	27	version	version	NOUN
hjic-927	160	28	of	of	ADP
hjic-927	160	29	the	the	DET
hjic-927	160	30	single	single	ADJ
hjic-927	160	31	track	track	NOUN
hjic-927	160	32	model	model	NOUN
hjic-927	160	33	.	.	PUNCT
hjic-927	161	1	the	the	DET
hjic-927	161	2	state	state	NOUN
hjic-927	161	3	-	-	PUNCT
hjic-927	161	4	space	space	NOUN
hjic-927	161	5	model	model	NOUN
hjic-927	161	6	only	only	ADV
hjic-927	161	7	includes	include	VERB
hjic-927	161	8	the	the	DET
hjic-927	161	9	x	x	PROPN
hjic-927	161	10	and	and	CCONJ
hjic-927	161	11	y	y	PROPN
hjic-927	161	12	coordinates	coordinate	NOUN
hjic-927	161	13	and	and	CCONJ
hjic-927	161	14	the	the	DET
hjic-927	161	15	yaw	yaw	PROPN
hjic-927	161	16	angle	angle	NOUN
hjic-927	161	17	ψ	ψ	X
hjic-927	161	18	to	to	PART
hjic-927	161	19	minimize	minimize	VERB
hjic-927	161	20	the	the	DET
hjic-927	161	21	model	model	NOUN
hjic-927	161	22	and	and	CCONJ
hjic-927	161	23	filter	filter	NOUN
hjic-927	161	24	algorithm	algorithm	NOUN
hjic-927	161	25	.	.	PUNCT
hjic-927	162	1	the	the	DET
hjic-927	162	2	performance	performance	NOUN
hjic-927	162	3	of	of	ADP
hjic-927	162	4	the	the	DET
hjic-927	162	5	position	position	NOUN
hjic-927	162	6	estimator	estimator	NOUN
hjic-927	162	7	was	be	AUX
hjic-927	162	8	analyzed	analyze	VERB
hjic-927	162	9	during	during	ADP
hjic-927	162	10	different	different	ADJ
hjic-927	162	11	highand	highand	ADJ
hjic-927	162	12	low	low	ADJ
hjic-927	162	13	-	-	PUNCT
hjic-927	162	14	speed	speed	NOUN
hjic-927	162	15	maneuvers	maneuver	NOUN
hjic-927	162	16	.	.	PUNCT
hjic-927	163	1	compared	compare	VERB
hjic-927	163	2	to	to	ADP
hjic-927	163	3	the	the	DET
hjic-927	163	4	dead	dead	ADJ
hjic-927	163	5	reckoning	reckoning	NOUN
hjic-927	163	6	and	and	CCONJ
hjic-927	163	7	gps	gps	VERB
hjic-927	163	8	observations	observation	NOUN
hjic-927	163	9	that	that	PRON
hjic-927	163	10	were	be	AUX
hjic-927	163	11	not	not	PART
hjic-927	163	12	integrated	integrate	VERB
hjic-927	163	13	,	,	PUNCT
hjic-927	163	14	the	the	DET
hjic-927	163	15	integrated	integrate	VERB
hjic-927	163	16	system	system	NOUN
hjic-927	163	17	performed	perform	VERB
hjic-927	163	18	significantly	significantly	ADV
hjic-927	163	19	better	well	ADV
hjic-927	163	20	.	.	PUNCT
hjic-927	164	1	the	the	DET
hjic-927	164	2	average	average	ADJ
hjic-927	164	3	distance	distance	NOUN
hjic-927	164	4	error	error	NOUN
hjic-927	164	5	was	be	AUX
hjic-927	164	6	reduced	reduce	VERB
hjic-927	164	7	by	by	ADP
hjic-927	164	8	39	39	NUM
hjic-927	164	9	%	%	NOUN
hjic-927	164	10	.	.	PUNCT
hjic-927	165	1	further	further	ADJ
hjic-927	165	2	improvement	improvement	NOUN
hjic-927	165	3	of	of	ADP
hjic-927	165	4	localization	localization	NOUN
hjic-927	165	5	accuracy	accuracy	NOUN
hjic-927	165	6	would	would	AUX
hjic-927	165	7	be	be	AUX
hjic-927	165	8	possible	possible	ADJ
hjic-927	165	9	by	by	ADP
hjic-927	165	10	using	use	VERB
hjic-927	165	11	a	a	DET
hjic-927	165	12	more	more	ADV
hjic-927	165	13	sophisticated	sophisticated	ADJ
hjic-927	165	14	vehicle	vehicle	NOUN
hjic-927	165	15	model	model	NOUN
hjic-927	165	16	resulting	result	VERB
hjic-927	165	17	in	in	ADP
hjic-927	165	18	a	a	DET
hjic-927	165	19	more	more	ADV
hjic-927	165	20	complex	complex	ADJ
hjic-927	165	21	implementation	implementation	NOUN
hjic-927	165	22	of	of	ADP
hjic-927	165	23	an	an	DET
hjic-927	165	24	extended	extended	ADJ
hjic-927	165	25	kalman	kalman	NOUN
hjic-927	165	26	filter	filter	NOUN
hjic-927	165	27	with	with	ADP
hjic-927	165	28	a	a	DET
hjic-927	165	29	much	much	ADV
hjic-927	165	30	higher	high	ADJ
hjic-927	165	31	computational	computational	ADJ
hjic-927	165	32	burden	burden	NOUN
hjic-927	165	33	.	.	PUNCT
hjic-927	166	1	0	0	NUM
hjic-927	166	2	100	100	NUM
hjic-927	166	3	200	200	NUM
hjic-927	166	4	300	300	NUM
hjic-927	166	5	400	400	NUM
hjic-927	166	6	500	500	NUM
hjic-927	166	7	0	0	NUM
hjic-927	166	8	1	1	NUM
hjic-927	166	9	2	2	NUM
hjic-927	166	10	3	3	NUM
hjic-927	166	11	4	4	NUM
hjic-927	166	12	time	time	NOUN
hjic-927	166	13	,	,	PUNCT
hjic-927	166	14	t	t	PROPN
hjic-927	166	15	,	,	PUNCT
hjic-927	166	16	[	[	X
hjic-927	166	17	s	s	X
hjic-927	166	18	]	]	X
hjic-927	166	19	d	d	X
hjic-927	166	20	is	be	AUX
hjic-927	166	21	ta	ta	PROPN
hjic-927	166	22	nc	nc	PROPN
hjic-927	166	23	e	e	PROPN
hjic-927	166	24	er	er	INTJ
hjic-927	166	25	ro	ro	INTJ
hjic-927	166	26	rs	rs	NOUN
hjic-927	166	27	,	,	PUNCT
hjic-927	166	28	d	d	X
hjic-927	166	29	an	an	PRON
hjic-927	166	30	d	d	X
hjic-927	166	31	d	d	X
hjic-927	166	32	g	g	PROPN
hjic-927	166	33	p	p	PROPN
hjic-927	166	34	s	s	X
hjic-927	166	35	,	,	PUNCT
hjic-927	166	36	[	[	PUNCT
hjic-927	166	37	m	m	NOUN
hjic-927	166	38	]	]	X
hjic-927	166	39	gps	gps	PROPN
hjic-927	166	40	distance	distance	NOUN
hjic-927	166	41	error	error	NOUN
hjic-927	166	42	dgps	dgps	PROPN
hjic-927	166	43	ekf	ekf	PROPN
hjic-927	166	44	distance	distance	NOUN
hjic-927	166	45	error	error	NOUN
hjic-927	166	46	d	d	PROPN
hjic-927	166	47	gps	gps	VERB
hjic-927	166	48	average	average	ADJ
hjic-927	166	49	d̄gps	d̄gps	NOUN
hjic-927	166	50	=	=	SYM
hjic-927	166	51	751	751	NUM
hjic-927	166	52	mm	mm	PROPN
hjic-927	166	53	ekf	ekf	NOUN
hjic-927	166	54	average	average	ADJ
hjic-927	166	55	d̄	d̄	NOUN
hjic-927	166	56	=	=	SYM
hjic-927	166	57	457	457	NUM
hjic-927	166	58	mm	mm	NOUN
hjic-927	166	59	figure	figure	NOUN
hjic-927	166	60	7	7	NUM
hjic-927	166	61	:	:	PUNCT
hjic-927	166	62	distance	distance	NOUN
hjic-927	166	63	error	error	NOUN
hjic-927	166	64	comparison	comparison	NOUN
hjic-927	166	65	hungarian	hungarian	ADJ
hjic-927	166	66	journal	journal	NOUN
hjic-927	166	67	of	of	ADP
hjic-927	166	68	industry	industry	NOUN
hjic-927	166	69	and	and	CCONJ
hjic-927	166	70	chemistry	chemistry	NOUN
hjic-927	166	71	localization	localization	NOUN
hjic-927	166	72	accuracy	accuracy	NOUN
hjic-927	166	73	improvement	improvement	NOUN
hjic-927	166	74	of	of	ADP
hjic-927	166	75	autonomous	autonomous	ADJ
hjic-927	166	76	vehicles	vehicle	NOUN
hjic-927	166	77	115	115	NUM
hjic-927	166	78	0	0	NUM
hjic-927	166	79	1	1	NUM
hjic-927	166	80	2	2	NUM
hjic-927	166	81	3	3	NUM
hjic-927	166	82	4	4	NUM
hjic-927	166	83	0	0	NUM
hjic-927	166	84	200	200	NUM
hjic-927	166	85	400	400	NUM
hjic-927	166	86	600	600	NUM
hjic-927	166	87	800	800	NUM
hjic-927	166	88	1000	1000	NUM
hjic-927	166	89	distance	distance	NOUN
hjic-927	166	90	error	error	NOUN
hjic-927	166	91	,	,	PUNCT
hjic-927	166	92	d	d	X
hjic-927	166	93	,	,	PUNCT
hjic-927	166	94	[	[	X
hjic-927	166	95	m	m	X
hjic-927	166	96	]	]	X
hjic-927	166	97	c	c	AUX
hjic-927	166	98	ou	ou	X
hjic-927	166	99	nt	not	PART
hjic-927	166	100	histogram	histogram	NOUN
hjic-927	166	101	of	of	ADP
hjic-927	166	102	dgps	dgps	PROPN
hjic-927	166	103	histogram	histogram	PROPN
hjic-927	166	104	of	of	ADP
hjic-927	166	105	d	d	NOUN
hjic-927	166	106	d̄gps	d̄gps	NOUN
hjic-927	166	107	=	=	SYM
hjic-927	166	108	751	751	NUM
hjic-927	166	109	mm	mm	NOUN
hjic-927	166	110	d̄	d̄	NOUN
hjic-927	166	111	=	=	NUM
hjic-927	166	112	457	457	NUM
hjic-927	166	113	mm	mm	NUM
hjic-927	166	114	figure	figure	NOUN
hjic-927	166	115	8	8	NUM
hjic-927	166	116	:	:	PUNCT
hjic-927	166	117	distance	distance	NOUN
hjic-927	166	118	error	error	NOUN
hjic-927	166	119	histograms	histogram	NOUN
hjic-927	166	120	acknowledgement	acknowledgement	NOUN
hjic-927	166	121	this	this	DET
hjic-927	166	122	research	research	NOUN
hjic-927	166	123	was	be	AUX
hjic-927	166	124	supported	support	VERB
hjic-927	166	125	by	by	ADP
hjic-927	166	126	the	the	DET
hjic-927	166	127	project	project	NOUN
hjic-927	166	128	efop-3.6.216	efop-3.6.216	VERB
hjic-927	166	129	-	-	PUNCT
hjic-927	166	130	2017	2017	NUM
hjic-927	166	131	-	-	PUNCT
hjic-927	166	132	00002	00002	NUM
hjic-927	166	133	entitled	entitle	VERB
hjic-927	166	134	"	"	PUNCT
hjic-927	166	135	research	research	NOUN
hjic-927	166	136	of	of	ADP
hjic-927	166	137	autonomous	autonomous	ADJ
hjic-927	166	138	vehicle	vehicle	NOUN
hjic-927	166	139	systems	system	NOUN
hjic-927	166	140	related	relate	VERB
hjic-927	166	141	to	to	ADP
hjic-927	166	142	the	the	DET
hjic-927	166	143	autonomous	autonomous	ADJ
hjic-927	166	144	vehicle	vehicle	NOUN
hjic-927	166	145	proving	prove	VERB
hjic-927	166	146	ground	ground	NOUN
hjic-927	166	147	of	of	ADP
hjic-927	166	148	zalaegerszeg	zalaegerszeg	PROPN
hjic-927	166	149	"	"	PUNCT
hjic-927	166	150	.	.	PUNCT
hjic-927	167	1	references	reference	NOUN
hjic-927	167	2	[	[	X
hjic-927	167	3	1	1	NUM
hjic-927	167	4	]	]	X
hjic-927	167	5	karlsson	karlsson	PROPN
hjic-927	167	6	,	,	PUNCT
hjic-927	167	7	r.	r.	PROPN
hjic-927	167	8	;	;	PUNCT
hjic-927	167	9	gustafsson	gustafsson	PROPN
hjic-927	167	10	,	,	PUNCT
hjic-927	167	11	f.	f.	PROPN
hjic-927	167	12	:	:	PUNCT
hjic-927	167	13	the	the	DET
hjic-927	167	14	future	future	NOUN
hjic-927	167	15	of	of	ADP
hjic-927	167	16	automotive	automotive	ADJ
hjic-927	167	17	localization	localization	NOUN
hjic-927	167	18	algorithms	algorithm	NOUN
hjic-927	167	19	:	:	PUNCT
hjic-927	167	20	available	available	ADJ
hjic-927	167	21	,	,	PUNCT
hjic-927	167	22	reliable	reliable	ADJ
hjic-927	167	23	,	,	PUNCT
hjic-927	167	24	and	and	CCONJ
hjic-927	167	25	scalable	scalable	ADJ
hjic-927	167	26	localization	localization	NOUN
hjic-927	167	27	:	:	PUNCT
hjic-927	167	28	anywhere	anywhere	ADV
hjic-927	167	29	and	and	CCONJ
hjic-927	167	30	anytime	anytime	ADV
hjic-927	167	31	,	,	PUNCT
hjic-927	167	32	ieee	ieee	NOUN
hjic-927	167	33	signal	signal	NOUN
hjic-927	167	34	processing	processing	NOUN
hjic-927	167	35	magazine	magazine	NOUN
hjic-927	167	36	,	,	PUNCT
hjic-927	167	37	2017	2017	NUM
hjic-927	167	38	,	,	PUNCT
hjic-927	167	39	34(2	34(2	NUM
hjic-927	167	40	)	)	PUNCT
hjic-927	167	41	,	,	PUNCT
hjic-927	167	42	60–69	60–69	NUM
hjic-927	167	43	doi	doi	NOUN
hjic-927	167	44	:	:	PUNCT
hjic-927	167	45	10.1109	10.1109	NUM
hjic-927	167	46	/	/	SYM
hjic-927	167	47	msp.2016.2637418	msp.2016.2637418	NOUN
hjic-927	167	48	[	[	X
hjic-927	167	49	2	2	NUM
hjic-927	167	50	]	]	X
hjic-927	167	51	farrell	farrell	PROPN
hjic-927	167	52	,	,	PUNCT
hjic-927	167	53	j.a	j.a	PROPN
hjic-927	167	54	.	.	PROPN
hjic-927	167	55	;	;	PUNCT
hjic-927	167	56	givargis	givargis	PROPN
hjic-927	167	57	,	,	PUNCT
hjic-927	167	58	t.d	t.d	PROPN
hjic-927	167	59	.	.	PROPN
hjic-927	167	60	;	;	PUNCT
hjic-927	167	61	barth	barth	PROPN
hjic-927	167	62	,	,	PUNCT
hjic-927	167	63	m.j	m.j	PROPN
hjic-927	167	64	.	.	PROPN
hjic-927	167	65	:	:	PUNCT
hjic-927	167	66	realtime	realtime	NOUN
hjic-927	167	67	differential	differential	ADJ
hjic-927	167	68	carrier	carrier	NOUN
hjic-927	167	69	phase	phase	NOUN
hjic-927	167	70	gps	gps	NOUN
hjic-927	167	71	-	-	PUNCT
hjic-927	167	72	aided	aid	VERB
hjic-927	167	73	ins	in	NOUN
hjic-927	167	74	,	,	PUNCT
hjic-927	167	75	ieee	ieee	NOUN
hjic-927	167	76	transactions	transaction	NOUN
hjic-927	167	77	on	on	ADP
hjic-927	167	78	control	control	NOUN
hjic-927	167	79	systems	system	NOUN
hjic-927	167	80	technology	technology	NOUN
hjic-927	167	81	,	,	PUNCT
hjic-927	167	82	2000	2000	NUM
hjic-927	167	83	,	,	PUNCT
hjic-927	167	84	8(4	8(4	NUM
hjic-927	167	85	)	)	PUNCT
hjic-927	167	86	,	,	PUNCT
hjic-927	167	87	709–721	709–721	PROPN
hjic-927	167	88	doi	doi	NOUN
hjic-927	167	89	:	:	PUNCT
hjic-927	167	90	10.1109/87.852915	10.1109/87.852915	NUM
hjic-927	168	1	[	[	X
hjic-927	168	2	3	3	NUM
hjic-927	168	3	]	]	SYM
hjic-927	168	4	qi	qi	PROPN
hjic-927	168	5	,	,	PUNCT
hjic-927	168	6	h.	h.	PROPN
hjic-927	168	7	;	;	PUNCT
hjic-927	168	8	moore	moore	PROPN
hjic-927	168	9	,	,	PUNCT
hjic-927	168	10	j.b	j.b	PROPN
hjic-927	168	11	.	.	PUNCT
hjic-927	168	12	:	:	PUNCT
hjic-927	169	1	direct	direct	PROPN
hjic-927	169	2	kalman	kalman	PROPN
hjic-927	169	3	filtering	filtering	PROPN
hjic-927	169	4	approach	approach	NOUN
hjic-927	169	5	for	for	ADP
hjic-927	169	6	gps	gps	PROPN
hjic-927	169	7	/	/	SYM
hjic-927	169	8	ins	in	NOUN
hjic-927	169	9	integration	integration	NOUN
hjic-927	169	10	,	,	PUNCT
hjic-927	169	11	ieee	ieee	NOUN
hjic-927	169	12	transactions	transaction	NOUN
hjic-927	169	13	on	on	ADP
hjic-927	169	14	aerospace	aerospace	NOUN
hjic-927	169	15	and	and	CCONJ
hjic-927	169	16	electronic	electronic	ADJ
hjic-927	169	17	systems	system	NOUN
hjic-927	169	18	,	,	PUNCT
hjic-927	169	19	2002	2002	NUM
hjic-927	169	20	,	,	PUNCT
hjic-927	169	21	38(2	38(2	NUM
hjic-927	169	22	)	)	PUNCT
hjic-927	169	23	,	,	PUNCT
hjic-927	169	24	687–693	687–693	NUM
hjic-927	169	25	doi	doi	NOUN
hjic-927	169	26	:	:	PUNCT
hjic-927	169	27	10.1109	10.1109	NUM
hjic-927	169	28	/	/	SYM
hjic-927	169	29	taes.2002.1008998	taes.2002.1008998	PRON
hjic-927	169	30	[	[	X
hjic-927	169	31	4	4	NUM
hjic-927	169	32	]	]	SYM
hjic-927	169	33	yu	yu	PROPN
hjic-927	169	34	,	,	PUNCT
hjic-927	169	35	m.	m.	NOUN
hjic-927	169	36	:	:	PUNCT
hjic-927	169	37	ins	ins	PROPN
hjic-927	169	38	/	/	SYM
hjic-927	169	39	gps	gps	PROPN
hjic-927	169	40	integration	integration	NOUN
hjic-927	169	41	system	system	NOUN
hjic-927	169	42	using	use	VERB
hjic-927	169	43	adaptive	adaptive	ADJ
hjic-927	169	44	filter	filter	NOUN
hjic-927	169	45	for	for	ADP
hjic-927	169	46	estimating	estimate	VERB
hjic-927	169	47	measurement	measurement	NOUN
hjic-927	169	48	noise	noise	NOUN
hjic-927	169	49	variance	variance	NOUN
hjic-927	169	50	,	,	PUNCT
hjic-927	169	51	ieee	ieee	NOUN
hjic-927	169	52	transactions	transaction	NOUN
hjic-927	169	53	on	on	ADP
hjic-927	169	54	aerospace	aerospace	NOUN
hjic-927	169	55	and	and	CCONJ
hjic-927	169	56	electronic	electronic	ADJ
hjic-927	169	57	systems	system	NOUN
hjic-927	169	58	,	,	PUNCT
hjic-927	169	59	2012	2012	NUM
hjic-927	169	60	,	,	PUNCT
hjic-927	169	61	48(2	48(2	NUM
hjic-927	169	62	)	)	PUNCT
hjic-927	169	63	,	,	PUNCT
hjic-927	169	64	1786–1792	1786–1792	NUM
hjic-927	169	65	doi	doi	NOUN
hjic-927	169	66	:	:	PUNCT
hjic-927	169	67	10.1109	10.1109	NUM
hjic-927	169	68	/	/	SYM
hjic-927	169	69	taes.2012.6178100	taes.2012.6178100	PRON
hjic-927	170	1	[	[	X
hjic-927	170	2	5	5	NUM
hjic-927	170	3	]	]	X
hjic-927	170	4	liu	liu	PROPN
hjic-927	170	5	,	,	PUNCT
hjic-927	170	6	h.	h.	PROPN
hjic-927	170	7	;	;	PUNCT
hjic-927	170	8	nassar	nassar	PROPN
hjic-927	170	9	,	,	PUNCT
hjic-927	170	10	s.	s.	PROPN
hjic-927	170	11	;	;	PUNCT
hjic-927	170	12	el	el	PROPN
hjic-927	170	13	-	-	PUNCT
hjic-927	170	14	sheimy	sheimy	PROPN
hjic-927	170	15	,	,	PUNCT
hjic-927	170	16	n.	n.	NOUN
hjic-927	170	17	:	:	PUNCT
hjic-927	170	18	two	two	NUM
hjic-927	170	19	-	-	PUNCT
hjic-927	170	20	filter	filter	NOUN
hjic-927	170	21	smoothing	smoothing	NOUN
hjic-927	170	22	for	for	ADP
hjic-927	170	23	accurate	accurate	ADJ
hjic-927	170	24	ins	in	NOUN
hjic-927	170	25	/	/	SYM
hjic-927	170	26	gps	gps	PROPN
hjic-927	170	27	land	land	NOUN
hjic-927	170	28	-	-	PUNCT
hjic-927	170	29	vehicle	vehicle	NOUN
hjic-927	170	30	navigation	navigation	NOUN
hjic-927	170	31	in	in	ADP
hjic-927	170	32	urban	urban	ADJ
hjic-927	170	33	centers	center	NOUN
hjic-927	170	34	,	,	PUNCT
hjic-927	170	35	ieee	ieee	NOUN
hjic-927	170	36	transactions	transaction	NOUN
hjic-927	170	37	on	on	ADP
hjic-927	170	38	vehicular	vehicular	ADJ
hjic-927	170	39	technology	technology	NOUN
hjic-927	170	40	,	,	PUNCT
hjic-927	170	41	2010	2010	NUM
hjic-927	170	42	,	,	PUNCT
hjic-927	170	43	59(9	59(9	NUM
hjic-927	170	44	)	)	PUNCT
hjic-927	170	45	,	,	PUNCT
hjic-927	170	46	4256–4267	4256–4267	NUM
hjic-927	170	47	doi	doi	NOUN
hjic-927	170	48	:	:	PUNCT
hjic-927	170	49	10.1109	10.1109	NUM
hjic-927	170	50	/	/	SYM
hjic-927	170	51	tvt.2010.2070850	tvt.2010.2070850	NUM
hjic-927	170	52	[	[	SYM
hjic-927	170	53	6	6	NUM
hjic-927	170	54	]	]	X
hjic-927	170	55	almeida	almeida	PROPN
hjic-927	170	56	,	,	PUNCT
hjic-927	170	57	h.p	h.p	PROPN
hjic-927	170	58	.	.	PROPN
hjic-927	170	59	;	;	PUNCT
hjic-927	171	1	júnior	júnior	PROPN
hjic-927	171	2	,	,	PUNCT
hjic-927	171	3	c.l.n	c.l.n	PROPN
hjic-927	171	4	.	.	PUNCT
hjic-927	171	5	;	;	PUNCT
hjic-927	171	6	d.	d.	PROPN
hjic-927	171	7	santos	santos	PROPN
hjic-927	171	8	,	,	PUNCT
hjic-927	171	9	d.s	d.s	PROPN
hjic-927	171	10	.	.	PROPN
hjic-927	171	11	;	;	PUNCT
hjic-927	171	12	leles	lele	NOUN
hjic-927	171	13	,	,	PUNCT
hjic-927	171	14	m.c.r	m.c.r	NOUN
hjic-927	171	15	.	.	PUNCT
hjic-927	171	16	:	:	PUNCT
hjic-927	171	17	autonomous	autonomous	ADJ
hjic-927	171	18	navigation	navigation	NOUN
hjic-927	171	19	of	of	ADP
hjic-927	171	20	a	a	DET
hjic-927	171	21	smallscale	smallscale	NOUN
hjic-927	171	22	ground	ground	NOUN
hjic-927	171	23	vehicle	vehicle	NOUN
hjic-927	171	24	using	use	VERB
hjic-927	171	25	low	low	ADJ
hjic-927	171	26	-	-	PUNCT
hjic-927	171	27	cost	cost	NOUN
hjic-927	171	28	imu	imu	NOUN
hjic-927	171	29	/	/	SYM
hjic-927	171	30	gps	gps	NOUN
hjic-927	171	31	integration	integration	NOUN
hjic-927	171	32	for	for	ADP
hjic-927	171	33	outdoor	outdoor	ADJ
hjic-927	171	34	applications	application	NOUN
hjic-927	171	35	,	,	PUNCT
hjic-927	171	36	in	in	ADP
hjic-927	171	37	2019	2019	NUM
hjic-927	171	38	ieee	ieee	NOUN
hjic-927	171	39	international	international	PROPN
hjic-927	171	40	systems	systems	PROPN
hjic-927	171	41	conference	conference	NOUN
hjic-927	171	42	(	(	PUNCT
hjic-927	171	43	syscon	syscon	PROPN
hjic-927	171	44	)	)	PUNCT
hjic-927	171	45	,	,	PUNCT
hjic-927	171	46	1–8	1–8	X
hjic-927	171	47	doi	doi	NOUN
hjic-927	171	48	:	:	PUNCT
hjic-927	171	49	10.1109	10.1109	NUM
hjic-927	171	50	/	/	SYM
hjic-927	171	51	syscon.2019.8836794	syscon.2019.8836794	NOUN
hjic-927	171	52	[	[	X
hjic-927	171	53	7	7	NUM
hjic-927	171	54	]	]	SYM
hjic-927	171	55	yu	yu	PROPN
hjic-927	171	56	,	,	PUNCT
hjic-927	171	57	m.	m.	NOUN
hjic-927	171	58	;	;	PUNCT
hjic-927	171	59	guo	guo	PROPN
hjic-927	171	60	,	,	PUNCT
hjic-927	171	61	h.	h.	PROPN
hjic-927	171	62	;	;	PUNCT
hjic-927	171	63	gao	gao	PROPN
hjic-927	171	64	,	,	PUNCT
hjic-927	171	65	w.	w.	PROPN
hjic-927	171	66	:	:	PUNCT
hjic-927	171	67	realization	realization	NOUN
hjic-927	171	68	of	of	ADP
hjic-927	171	69	lowcost	lowcost	PROPN
hjic-927	171	70	imu	imu	NOUN
hjic-927	171	71	/	/	SYM
hjic-927	171	72	gps	gps	PROPN
hjic-927	171	73	integrated	integrate	VERB
hjic-927	171	74	navigation	navigation	NOUN
hjic-927	171	75	system	system	NOUN
hjic-927	171	76	,	,	PUNCT
hjic-927	171	77	in	in	ADP
hjic-927	171	78	2006	2006	NUM
hjic-927	171	79	japan	japan	PROPN
hjic-927	171	80	-	-	PUNCT
hjic-927	171	81	china	china	PROPN
hjic-927	171	82	joint	joint	ADJ
hjic-927	171	83	workshop	workshop	NOUN
hjic-927	171	84	on	on	ADP
hjic-927	171	85	frontier	frontier	NOUN
hjic-927	171	86	of	of	ADP
hjic-927	171	87	computer	computer	NOUN
hjic-927	171	88	science	science	NOUN
hjic-927	171	89	and	and	CCONJ
hjic-927	171	90	technology	technology	NOUN
hjic-927	171	91	,	,	PUNCT
hjic-927	171	92	189–195	189–195	NUM
hjic-927	171	93	doi	doi	NOUN
hjic-927	171	94	:	:	PUNCT
hjic-927	171	95	10.1109	10.1109	NUM
hjic-927	171	96	/	/	SYM
hjic-927	171	97	fcst.2006.27	fcst.2006.27	NOUN
hjic-927	172	1	[	[	X
hjic-927	172	2	8	8	NUM
hjic-927	172	3	]	]	X
hjic-927	172	4	kao	kao	PROPN
hjic-927	172	5	,	,	PUNCT
hjic-927	172	6	w.w	w.w	PROPN
hjic-927	172	7	.	.	PROPN
hjic-927	172	8	:	:	PUNCT
hjic-927	172	9	integration	integration	NOUN
hjic-927	172	10	of	of	ADP
hjic-927	172	11	gps	gps	PROPN
hjic-927	172	12	and	and	CCONJ
hjic-927	172	13	dead	dead	ADV
hjic-927	172	14	-	-	PUNCT
hjic-927	172	15	reckoning	reckon	VERB
hjic-927	172	16	navigation	navigation	NOUN
hjic-927	172	17	systems	system	NOUN
hjic-927	172	18	,	,	PUNCT
hjic-927	172	19	in	in	ADP
hjic-927	172	20	vehicle	vehicle	NOUN
hjic-927	172	21	navigation	navigation	NOUN
hjic-927	172	22	and	and	CCONJ
hjic-927	172	23	information	information	NOUN
hjic-927	172	24	systems	system	NOUN
hjic-927	172	25	conference	conference	NOUN
hjic-927	172	26	,	,	PUNCT
hjic-927	172	27	1991	1991	NUM
hjic-927	172	28	,	,	PUNCT
hjic-927	172	29	vol	vol	NOUN
hjic-927	172	30	.	.	PROPN
hjic-927	172	31	2	2	NUM
hjic-927	172	32	,	,	PUNCT
hjic-927	172	33	635	635	NUM
hjic-927	172	34	–	–	PUNCT
hjic-927	172	35	643	643	NUM
hjic-927	172	36	doi	doi	NOUN
hjic-927	172	37	:	:	PUNCT
hjic-927	172	38	10.1109	10.1109	NUM
hjic-927	172	39	/	/	SYM
hjic-927	172	40	vnis.1991.205808	vnis.1991.205808	NOUN
hjic-927	172	41	[	[	X
hjic-927	172	42	9	9	NUM
hjic-927	172	43	]	]	PUNCT
hjic-927	172	44	rezaei	rezaei	NOUN
hjic-927	172	45	,	,	PUNCT
hjic-927	172	46	s.	s.	PROPN
hjic-927	172	47	;	;	PUNCT
hjic-927	172	48	sengupta	sengupta	NOUN
hjic-927	172	49	,	,	PUNCT
hjic-927	172	50	r.	r.	PROPN
hjic-927	172	51	:	:	PUNCT
hjic-927	172	52	kalman	kalman	PROPN
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hjic-927	172	54	-	-	PUNCT
hjic-927	172	55	based	base	VERB
hjic-927	172	56	integration	integration	NOUN
hjic-927	172	57	of	of	ADP
hjic-927	172	58	dgps	dgps	PROPN
hjic-927	172	59	and	and	CCONJ
hjic-927	172	60	vehicle	vehicle	NOUN
hjic-927	172	61	sensors	sensor	NOUN
hjic-927	172	62	for	for	ADP
hjic-927	172	63	localization	localization	NOUN
hjic-927	172	64	,	,	PUNCT
hjic-927	172	65	ieee	ieee	NOUN
hjic-927	172	66	transactions	transaction	NOUN
hjic-927	172	67	on	on	ADP
hjic-927	172	68	control	control	NOUN
hjic-927	172	69	systems	system	NOUN
hjic-927	172	70	technology	technology	NOUN
hjic-927	172	71	,	,	PUNCT
hjic-927	172	72	2007	2007	NUM
hjic-927	172	73	,	,	PUNCT
hjic-927	172	74	15(6	15(6	NUM
hjic-927	172	75	)	)	PUNCT
hjic-927	172	76	,	,	PUNCT
hjic-927	172	77	1080–1088	1080–1088	NUM
hjic-927	172	78	doi	doi	NOUN
hjic-927	172	79	:	:	PUNCT
hjic-927	172	80	10.1109	10.1109	NUM
hjic-927	172	81	/	/	SYM
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hjic-927	172	83	[	[	X
hjic-927	172	84	10	10	NUM
hjic-927	172	85	]	]	PUNCT
hjic-927	172	86	hohman	hohman	NOUN
hjic-927	172	87	,	,	PUNCT
hjic-927	172	88	d.	d.	PROPN
hjic-927	172	89	;	;	PUNCT
hjic-927	172	90	murdock	murdock	PROPN
hjic-927	172	91	,	,	PUNCT
hjic-927	172	92	t.	t.	PROPN
hjic-927	172	93	;	;	PUNCT
hjic-927	172	94	westerfield	westerfield	PROPN
hjic-927	172	95	,	,	PUNCT
hjic-927	172	96	e.	e.	PROPN
hjic-927	172	97	;	;	PUNCT
hjic-927	172	98	hattox	hattox	NOUN
hjic-927	172	99	,	,	PUNCT
hjic-927	172	100	t.	t.	PROPN
hjic-927	172	101	;	;	PUNCT
hjic-927	172	102	kusterer	kusterer	PROPN
hjic-927	172	103	,	,	PUNCT
hjic-927	172	104	t.	t.	PROPN
hjic-927	172	105	:	:	PUNCT
hjic-927	172	106	gps	gps	PROPN
hjic-927	172	107	roadside	roadside	NOUN
hjic-927	172	108	integrated	integrate	VERB
hjic-927	172	109	precision	precision	NOUN
hjic-927	172	110	positioning	positioning	NOUN
hjic-927	172	111	system	system	NOUN
hjic-927	172	112	,	,	PUNCT
hjic-927	172	113	in	in	ADP
hjic-927	172	114	ieee	ieee	NOUN
hjic-927	172	115	2000	2000	NUM
hjic-927	172	116	.	.	PUNCT
hjic-927	173	1	position	position	NOUN
hjic-927	173	2	location	location	NOUN
hjic-927	173	3	and	and	CCONJ
hjic-927	173	4	navigation	navigation	NOUN
hjic-927	173	5	symposium	symposium	NOUN
hjic-927	173	6	(	(	PUNCT
hjic-927	173	7	cat	cat	NOUN
hjic-927	173	8	.	.	PUNCT
hjic-927	174	1	no.00ch37062	no.00ch37062	PROPN
hjic-927	174	2	)	)	PUNCT
hjic-927	174	3	,	,	PUNCT
hjic-927	174	4	221–230	221–230	NUM
hjic-927	174	5	doi	doi	NOUN
hjic-927	174	6	:	:	PUNCT
hjic-927	174	7	10.1109	10.1109	NUM
hjic-927	174	8	/	/	SYM
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hjic-927	175	1	[	[	X
hjic-927	175	2	11	11	NUM
hjic-927	175	3	]	]	X
hjic-927	175	4	iso	iso	NOUN
hjic-927	175	5	8855:2011	8855:2011	NUM
hjic-927	175	6	road	road	NOUN
hjic-927	175	7	vehicles	vehicle	NOUN
hjic-927	175	8	–	–	PUNCT
hjic-927	175	9	vehicle	vehicle	NOUN
hjic-927	175	10	dynamics	dynamic	NOUN
hjic-927	175	11	and	and	CCONJ
hjic-927	175	12	road	road	NOUN
hjic-927	175	13	-	-	PUNCT
hjic-927	175	14	holding	hold	VERB
hjic-927	175	15	ability	ability	NOUN
hjic-927	175	16	–	–	PUNCT
hjic-927	175	17	vocabulary	vocabulary	ADJ
hjic-927	175	18	,	,	PUNCT
hjic-927	175	19	standard	standard	NOUN
hjic-927	175	20	,	,	PUNCT
hjic-927	175	21	international	international	ADJ
hjic-927	175	22	organization	organization	NOUN
hjic-927	175	23	for	for	ADP
hjic-927	175	24	standardization	standardization	NOUN
hjic-927	175	25	,	,	PUNCT
hjic-927	175	26	geneva	geneva	PROPN
hjic-927	175	27	,	,	PUNCT
hjic-927	175	28	ch	ch	NOUN
hjic-927	175	29	,	,	PUNCT
hjic-927	175	30	2011	2011	NUM
hjic-927	175	31	[	[	X
hjic-927	175	32	12	12	NUM
hjic-927	175	33	]	]	PUNCT
hjic-927	175	34	riekert	riekert	NOUN
hjic-927	175	35	,	,	PUNCT
hjic-927	175	36	p.	p.	NOUN
hjic-927	175	37	;	;	PUNCT
hjic-927	175	38	schunck	schunck	X
hjic-927	175	39	,	,	PUNCT
hjic-927	175	40	t.e	t.e	PROPN
hjic-927	175	41	.	.	PUNCT
hjic-927	175	42	:	:	PUNCT
hjic-927	176	1	zur	zur	X
hjic-927	176	2	fahrmechanik	fahrmechanik	X
hjic-927	176	3	des	des	PROPN
hjic-927	176	4	gummibereiften	gummibereiften	PROPN
hjic-927	176	5	kraftfahrzeugs	kraftfahrzeugs	PROPN
hjic-927	176	6	,	,	PUNCT
hjic-927	176	7	ingenieur	ingenieur	PROPN
hjic-927	176	8	-	-	PUNCT
hjic-927	176	9	archiv	archiv	PROPN
hjic-927	176	10	,	,	PUNCT
hjic-927	176	11	1940	1940	NUM
hjic-927	176	12	,	,	PUNCT
hjic-927	176	13	11(3	11(3	NUM
hjic-927	176	14	)	)	PUNCT
hjic-927	176	15	,	,	PUNCT
hjic-927	176	16	210–224	210–224	NUM
hjic-927	176	17	doi	doi	NOUN
hjic-927	176	18	:	:	PUNCT
hjic-927	176	19	10.1007	10.1007	NUM
hjic-927	176	20	/	/	SYM
hjic-927	176	21	bf02086921	bf02086921	NOUN
hjic-927	176	22	[	[	PUNCT
hjic-927	176	23	13	13	NUM
hjic-927	176	24	]	]	SYM
hjic-927	176	25	bucy	bucy	PROPN
hjic-927	176	26	,	,	PUNCT
hjic-927	176	27	r.s	r.s	PROPN
hjic-927	176	28	.	.	PROPN
hjic-927	176	29	:	:	PUNCT
hjic-927	177	1	linear	linear	ADJ
hjic-927	177	2	and	and	CCONJ
hjic-927	177	3	nonlinear	nonlinear	ADJ
hjic-927	177	4	filtering	filtering	NOUN
hjic-927	177	5	,	,	PUNCT
hjic-927	177	6	proceedings	proceeding	NOUN
hjic-927	177	7	of	of	ADP
hjic-927	177	8	the	the	DET
hjic-927	177	9	ieee	ieee	NOUN
hjic-927	177	10	,	,	PUNCT
hjic-927	177	11	1970	1970	NUM
hjic-927	177	12	,	,	PUNCT
hjic-927	177	13	58(6	58(6	NUM
hjic-927	177	14	)	)	PUNCT
hjic-927	177	15	,	,	PUNCT
hjic-927	177	16	854–864	854–864	NUM
hjic-927	177	17	doi	doi	NOUN
hjic-927	177	18	:	:	PUNCT
hjic-927	177	19	10.1109	10.1109	NUM
hjic-927	177	20	/	/	SYM
hjic-927	177	21	proc.1970.7792	proc.1970.7792	NOUN
hjic-927	177	22	[	[	X
hjic-927	177	23	14	14	NUM
hjic-927	177	24	]	]	X
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hjic-927	177	26	,	,	PUNCT
hjic-927	177	27	d.	d.	PROPN
hjic-927	177	28	:	:	PUNCT
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hjic-927	177	30	state	state	NOUN
hjic-927	177	31	estimation	estimation	NOUN
hjic-927	177	32	:	:	PUNCT
hjic-927	177	33	kalman	kalman	NOUN
hjic-927	177	34	,	,	PUNCT
hjic-927	177	35	h	h	NOUN
hjic-927	177	36	infinity	infinity	NOUN
hjic-927	177	37	,	,	PUNCT
hjic-927	177	38	and	and	CCONJ
hjic-927	177	39	nonlinear	nonlinear	ADJ
hjic-927	177	40	approaches	approach	NOUN
hjic-927	177	41	(	(	PUNCT
hjic-927	177	42	wileyinterscience	wileyinterscience	NOUN
hjic-927	177	43	,	,	PUNCT
hjic-927	177	44	new	new	PROPN
hjic-927	177	45	york	york	PROPN
hjic-927	177	46	,	,	PUNCT
hjic-927	177	47	ny	ny	PROPN
hjic-927	177	48	,	,	PUNCT
hjic-927	177	49	usa	usa	PROPN
hjic-927	177	50	)	)	PUNCT
hjic-927	177	51	,	,	PUNCT
hjic-927	177	52	2006	2006	NUM
hjic-927	177	53	isbn	isbn	NOUN
hjic-927	177	54	:	:	PUNCT
hjic-927	177	55	0471708585	0471708585	NUM
hjic-927	178	1	[	[	X
hjic-927	178	2	15	15	NUM
hjic-927	178	3	]	]	X
hjic-927	178	4	faa	faa	PROPN
hjic-927	178	5	william	william	PROPN
hjic-927	178	6	j.	j.	PROPN
hjic-927	178	7	hughes	hughes	PROPN
hjic-927	178	8	technical	technical	PROPN
hjic-927	178	9	center	center	PROPN
hjic-927	178	10	:	:	PUNCT
hjic-927	178	11	global	global	ADJ
hjic-927	178	12	positioning	positioning	NOUN
hjic-927	178	13	system	system	NOUN
hjic-927	178	14	(	(	PUNCT
hjic-927	178	15	gps	gps	PROPN
hjic-927	178	16	)	)	PUNCT
hjic-927	178	17	standard	standard	ADJ
hjic-927	178	18	positioning	positioning	NOUN
hjic-927	178	19	service	service	NOUN
hjic-927	178	20	(	(	PUNCT
hjic-927	178	21	sps	sps	NOUN
hjic-927	178	22	)	)	PUNCT
hjic-927	178	23	performance	performance	NOUN
hjic-927	178	24	analysis	analysis	NOUN
hjic-927	178	25	report	report	NOUN
hjic-927	178	26	,	,	PUNCT
hjic-927	178	27	2019	2019	NUM
hjic-927	178	28	https://www.nstb.tc.faa.gov/reports/	https://www.nstb.tc.faa.gov/reports/	NOUN
hjic-927	178	29	48(1	48(1	NOUN
hjic-927	178	30	)	)	PUNCT
hjic-927	178	31	pp	pp	ADV
hjic-927	178	32	.	.	PUNCT
hjic-927	179	1	109–115	109–115	NUM
hjic-927	179	2	(	(	PUNCT
hjic-927	179	3	2020	2020	NUM
hjic-927	179	4	)	)	PUNCT
hjic-927	179	5	https://doi.org/10.1109/msp.2016.2637418	https://doi.org/10.1109/msp.2016.2637418	PROPN
hjic-927	179	6	https://doi.org/10.1109/87.852915	https://doi.org/10.1109/87.852915	PROPN
hjic-927	180	1	https://doi.org/10.1109/taes.2002.1008998	https://doi.org/10.1109/taes.2002.1008998	PROPN
hjic-927	180	2	https://doi.org/10.1109/taes.2012.6178100	https://doi.org/10.1109/taes.2012.6178100	PROPN
hjic-927	180	3	https://doi.org/10.1109/taes.2012.6178100	https://doi.org/10.1109/taes.2012.6178100	PROPN
hjic-927	180	4	https://doi.org/10.1109/tvt.2010.2070850	https://doi.org/10.1109/tvt.2010.2070850	PROPN
hjic-927	180	5	https://doi.org/10.1109/tvt.2010.2070850	https://doi.org/10.1109/tvt.2010.2070850	PROPN
hjic-927	180	6	https://doi.org/10.1109/syscon.2019.8836794	https://doi.org/10.1109/syscon.2019.8836794	PROPN
hjic-927	180	7	https://doi.org/10.1109/fcst.2006.27	https://doi.org/10.1109/fcst.2006.27	PROPN
hjic-927	180	8	https://doi.org/10.1109/fcst.2006.27	https://doi.org/10.1109/fcst.2006.27	PROPN
hjic-927	180	9	https://doi.org/10.1109/vnis.1991.205808	https://doi.org/10.1109/vnis.1991.205808	PROPN
hjic-927	180	10	https://doi.org/10.1109/tcst.2006.886439	https://doi.org/10.1109/tcst.2006.886439	PROPN
hjic-927	180	11	https://doi.org/10.1109/tcst.2006.886439	https://doi.org/10.1109/tcst.2006.886439	PROPN
hjic-927	180	12	https://doi.org/10.1109/plans.2000.838306	https://doi.org/10.1109/plans.2000.838306	PROPN
hjic-927	180	13	https://doi.org/10.1109/plans.2000.838306	https://doi.org/10.1109/plans.2000.838306	PROPN
hjic-927	180	14	https://doi.org/10.1007/bf02086921	https://doi.org/10.1007/bf02086921	PRON
hjic-927	180	15	https://doi.org/10.1109/proc.1970.7792	https://doi.org/10.1109/proc.1970.7792	PROPN
hjic-927	180	16	https://doi.org/10.1109/proc.1970.7792	https://doi.org/10.1109/proc.1970.7792	PROPN
hjic-927	180	17	https://www.nstb.tc.faa.gov/reports/	https://www.nstb.tc.faa.gov/reports/	NOUN
hjic-927	180	18	introduction	introduction	NOUN
hjic-927	180	19	modeling	model	VERB
hjic-927	180	20	strategy	strategy	NOUN
hjic-927	180	21	dead	dead	ADJ
hjic-927	180	22	reckoning	reckon	VERB
hjic-927	180	23	algorithm	algorithm	NOUN
hjic-927	180	24	lateral	lateral	ADJ
hjic-927	180	25	vehicle	vehicle	NOUN
hjic-927	180	26	dynamics	dynamic	NOUN
hjic-927	180	27	extended	extend	VERB
hjic-927	180	28	kalman	kalman	NOUN
hjic-927	180	29	filter	filter	NOUN
hjic-927	180	30	design	design	NOUN
hjic-927	180	31	state	state	NOUN
hjic-927	180	32	-	-	PUNCT
hjic-927	180	33	space	space	NOUN
hjic-927	180	34	model	model	NOUN
hjic-927	180	35	jacobians	jacobians	PROPN
hjic-927	180	36	noise	noise	NOUN
hjic-927	180	37	model	model	NOUN
hjic-927	180	38	the	the	DET
hjic-927	180	39	extended	extended	ADJ
hjic-927	180	40	kalman	kalman	NOUN
hjic-927	180	41	filter	filter	NOUN
hjic-927	180	42	algorithm	algorithm	PROPN
hjic-927	180	43	simulation	simulation	PROPN
hjic-927	180	44	environment	environment	PROPN
hjic-927	180	45	simulation	simulation	PROPN
hjic-927	180	46	results	result	VERB
hjic-927	180	47	comparison	comparison	NOUN
hjic-927	180	48	with	with	ADP
hjic-927	180	49	dead	dead	ADJ
hjic-927	180	50	reckoning	reckon	VERB
hjic-927	180	51	comparison	comparison	NOUN
hjic-927	180	52	with	with	ADP
hjic-927	180	53	gps	gps	PROPN
hjic-927	180	54	conclusions	conclusion	NOUN