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14 6 13 6 14 6 13 5 13 6 14 5 13 6 13 5 14 5 13 5 13 5 13 5 14 4 13 5 13 4 13 4 13 5 13 4 12 4 13 4 13 3 13 4 12 4 13 3 13 4 12 3 13 4 13 3 12 3 13 3 12 3 13 3 13 3 12 3 13 3 12 3 13 3 13 3 13 3 12 2 13 3 13 3 13 2 12 3 13 3 13 2 12 3 13 3 13 2 12 3 13 2 13 3 12 2 13 3 13 2 12 2 13 3 13 2 12 3 13 2 13 3 3877 1754 78 MP stroke/c10 { 0.000000 1.000000 0.000000 sr} bdefc10-2 -10 -2 -11 -1 -11 -2 -10 -1 -11 -2 -10 -2 -11 -1 -11 -2 -11 -1 -11 -1 -11 -2 -10 -2 -10 -2 -11 -1 -10 -2 -11 -1 -11 -1 -11 -1 -10 -1 -11 -1 -11 -1 -10 -1 -11 0 -10 -1 -11 0 -64 1 -11 1 -11 0 -10 1 -12 1 -10 1 -11 0 -10 1 -11 1 -10 1 -11 1 -10 0 -11 1 -10 1 -11 0 -10 1 -11 0 -11 1 -10 0 -11 1 -10 1 -11 0 -11 1 -11 0 -21 1 -11 0 -10 1 -11 0 -11 1 -10 0 -21 1 -11 1 -11 1 -10 0 -10 1 -11 1 -10 2 -10 1 -11 1 -10 1 -10 2 -11 1 -10 3 -12 2 -11 1 -10 2 -10 1 -10 2 -10 1 -10 3 -12 0 -8 1 -10 0 -17 2 -11 0 -10 -1 -8 0 -9 -1 -11 0 -11 -1 -11 -2 -9 -1 -10 -5 -4 -4 -4 -3 -9 -5 -6 -3 -9 -5 -8 -4 -9 -5 -10 -6 -7 -6 -7 -7 -8 2116 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3 -15 2 -15 3 -15 3 -14 3 -14 4 -14 3 -14 4 -13 4 -14 4 -13 4 -13 5 -12 5 -12 5 -12 5 -11 6 -12 5 -11 6 -10 6 -11 6 -10 7 -10 7 -10 6 -9 8 -9 7 -9 7 -8 8 -9 8 -8 8 -8 9 -7 8 -7 9 -7 9 -7 9 -6 9 -6 10 -6 9 -6 10 -5 10 -6 11 -5 10 -4 10 -5 11 -4 11 -4 11 -3 11 -4 11 -3 11 -3 12 5025 3335 100 MP stroke-4 12 -3 11 -3 12 -2 12 -3 12 -2 12 -3 12 -2 12 -2 12 -2 13 -1 12 -2 12 -2 13 -2 12 -2 13 -2 12 -1 12 -2 13 -1 12 -2 13 -1 13 -2 12 -1 13 -1 12 -2 12 -1 13 -1 12 -1 12 -1 13 -1 12 -1 12 0 12 -1 12 -1 13 -1 12 0 12 -1 12 0 24 -1 12 0 12 -1 11 0 12 -1 12 0 24 -1 11 0 91 -1 11 0 11 1 11 0 54 1 11 0 32 1 10 0 11 1 10 0 21 1 10 1 10 0 11 1 10 1 10 1 10 2 10 1 9 2 10 1 9 2 10 2 9 2 10 3 10 2 10 2 10 2 10 4 9 4 9 4 9 4 9 4 10 5 8 4 11 4 9 5 9 6 9 5 9 6 10 8 7 8 7 7 9 8 8 7 8 9 8 8 8 9 9 8 9 8 10 8 9 10 8 10 8 9 9 4888 2095 100 MP stroke11 7 8 11 11 7 10 10 9 9 11 8 12 6 10 9 11 7 8 10 14 5 10 8 10 8 9 9 15 4 14 6 11 7 14 5 19 4 11 6 4 8 12 5 18 4 16 4 8 5 16 5 11 5 13 3 18 4 15 6 14 3 13 4 7 1 17 4 9 4 13 3 8 2 16 3 13 2 16 7 15 4 13 4 11 -3 14 5 16 6 13 2 13 10 13 2 16 -7 12 -2 10 1 14 4 14 3 13 0 9 1 15 1 9 3 12 4 8 5 6 5 18 1 11 5 16 5 22 -1 10 4 7 9 13 2 6 9 15 1 19 -4 19 -3 13 3 16 -2 20 -6 15 0 13 4 12 0 15 1 4 8 3893 1783 80 MP strokeSOgrc100 j-41 71 -41 -71 82 0 1751 4110 4 MP0 sgDPgs 899 389 5361 4227 MR c npgr-41 71 -41 -71 82 0 5324 941 4 MPDPgs 899 389 5361 4227 MR c npgr2260  294 mt (Filtering and smoothing result with 2nd order EKF) s 882 4658 mt ( ) s6243  431 mt ( ) s1 sg0 772 1573 0 0 -772 959 1221 4 MPPP-1573 0 0 772 1573 0 0 -772 959 1221 5 MP stroke4 wDOSO6 w0 sg 959 1221 mt 2532 1221 L 959  449 mt 2532  449 L 959 1221 mt  959  449 L2532 1221 mt 2532  449 L 959 1221 mt 2532 1221 L 959 1221 mt  959  449 L 959 1221 mt 2532 1221 L 959  449 mt 2532  449 L 959 1221 mt  959  449 L2532 1221 mt 2532  449 L1405  582 mt (Real trajectory) sgs 959 449 1574 773 MR c np343 0 1027 540 2 MP strokegr1405  730 mt (EKF2 estimate) sgs 959 449 1574 773 MR c npDAc8343 0 1027 687 2 MP strokeSOgrc80 sg1405  878 mt (ERTS estimate) sgs 959 449 1574 773 MR c npDDc9343 0 1027 835 2 MP strokeSOgrc90 sg1405 1025 mt (ETF estimate) sgs 959 449 1574 773 MR c npDDc10343 0 1027 982 2 MP strokeSOgrc100 sg1405 1173 mt (Positions of sensors) sgs 959 449 1574 773 MR c npgs 1125 1056 147 147 MR c np-41 71 -41 -71 82 0 1157 1153 4 MPDPgrgrend %%Color Dicteplot%%EndObjectepageendshowpage%%Trailer%%BoundingBox:    70   215   550   602%%Pages: 001%%EOF