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[(exp)-11(e)-1.6(r)-8.4(i)-2(men)17(t)-2.1(s)-327.6(a)7.4(r)10.7(e)-327.8(c)-4.6(a)7.4(r)-8.4(r)-8.4(i)-2(e)-6.6(d)-327.2(o)9.1(u)10.1(t)-327.3(u)1(sing)-327(p)10.1(r)-2.4(ac)-8.6(t)-7.2(i)-2(c)-4.6(a)-6.7(l)-329.2(i)-2(ndo)-10.9(o)10.1(r)-326.6(a)7.4(nd)-328.2(o)9.1(u)10.1(tdo)-10.9(o)10.1(r)-327.6(e)-1.6(n)21.1(v)-4.7(ir)10.7(o)10.1(n)-2(men)17(t)-328.4(d)-5(a)17.4(t)-8.2(a)-1.6(,)-327.1(a)7.4(nd)-328.2(t)-8.2(h)2(e)-326.8(e)-1.6(xp)-11(er)-8.4(imen)17(t)-8.2(a)-6.7(l)-329.2(r)10.7(esu)-7(l)10.1(ts)-326.6(sho)14.2(w)-326.8(t)-8.2(h)1(a)17.4(t)-327.4(t)-8.2(h)2(e)]TJ
T*
-0.0008 Tc
[(syst)5.1(ema)18.6(t)-6(ic)-227.2(f)-10.9(r)-1.2(a)8.6(m)3.2(e)-8.4(w)7.7(o)11.3(r)2.8(k)-228.5(a)8.6(nd)-228.6(inc)5.7(l)11.3(usi)6.2(v)7.5(e)-228.2(a)-5.4(lg)7.5(o)11.3(r)-7.2(i)11.2(t)-7(hm)7.2(s)-228(a)8.6(r)11.9(e)-227.2(b)-9.7(o)10.3(t)-7(h)-228.6(e)8.1(ec)-7.4(t)-6(i)6.2(v)7.5(e)-228.2(a)8.6(n)3.2(d)-228.6(e)-0.4(cien)18.2(t)-0.9(.)]TJ
/F2 1 Tf
11.9551 0 0 11.9551 50.58 300.531 Tm
0 Tc
[(1.)-250.3(Introduction)]TJ
/F3 1 Tf
9.9626 0 0 9.9626 50.58 280.6411 Tm
-0.0101 Tc
[()-6.9(e)-340.3(t)-16.8(h)-6.4(e)-15.1(o)1.2(r)-39.3(y)-339.8(of)-341(n)-7.8(a)7.9(v)-13.2(i)-10.4(g)-10.1(a)8.8(t)-15.9(i)-10.4(on)-338.5(an)-6.9(d)-340.3(p)-19.1(o)-10.5(s)-9.9(it)-15.9(i)-10.4(o)1.2(n)-10.6(i)-10.4(ng)-338(h)-7.3(a)-7.4(s)-341.4(b)-18.8(e)-15.1(e)-9.7(n)-342.1(u)-7.6(s)-18(e)-15.1(d)-341.2(i)-10.4(n)]TJ
0 -1.141 TD
0 Tc
[(va)9(r)-6.6(i)-0.3(o)10.4(u)2.5(s)-326.8(a)18.9(p)10.9(p)7.3(lica)18.9(t)-5.8(i)-0.3(o)11.3(n)-327.5(\012elds)-329.5(s)5.6(uc)6.5(h)-330.5(a)2.7(s)-328.6(p)-9(osi)11.4(t)-5.8(io)11.3(nin)7.7(g)-326.1(e)-5(q)9.6(ui)11.4(p)11.8(m)3.2(en)18.5(t)-326.5(t)6(o)]TJ
T*
-0.0001 Tc
[(mo)11.2(ni)11.3(t)5.9(o)11.2(r)-385.2(i)11.3(ts)-388.3(w)8.3(o)11.2(rkin)7.6(g)-387.6(s)5.5(t)-6.8(a)18.8(t)5.9(e)-388.1(a)8.9(n)3.1(d)-388.1(p)-9.1(osi)11.3(t)-5.9(io)11.2(nin)7.6(g)-384.9(a)-388.6(c)-2.6(a)8.9(r)-389.7(o)11.2(r)-387.9(p)-9.1(e)-5.1(o)10.3(p)7.2(le)]TJ
0 -1.1807 TD
-0.0002 Tc
[(t)5.8(o)-319.5(guide)-319.6(t)-6.9(hem)-318.6(t)5.8(o)-319.5(a)-320(cer)-10.4(t)-6.9(a)8.8(i)-0.5(n)-318.6(p)7.1(lace)6.5(.)-321.5(I)16.5(n)-320.4(t)-6.9(hes)-8.1(e)-318.7(a)18.7(p)10.7(p)7.1(l)-0.1(ica)18.7(t)-6(io)11.1(n)7.5(s)0(,)-318.7(i)11.2(t)-318.5(i)2.2(s)]TJ
0 -1.1816 TD
0.0039 Tc
[(r)16.3(e)-1.1(q)13.5(u)3.7(ir)16.3(ed)-162.8(th)6.7(a)22.8(t)-163.6(ta)12.9(r)11.7(g)12.1(e)4.3(t)3.6(s)-163.9(a)12.9(r)16.3(e)-163.7(pos)4.1(i)15.3(tio)15.2(n)7.1(ed)-161.9(a)12.9(n)7.1(d)-163.7(t)-1.9(rac)10.4(k)13(ed)10.6(,)-164.7(w)-3.1(h)4(i)3.6(c)10.4(h)-164.9(ca)12.9(n)-165.5(b)-4.8(e)]TJ
0 -1.1807 TD
0 Tc
[(r)12.4(e)-5.9(a)-5.5(l)0.1(ized)-291.4(usin)7.7(g)-290.8(t)-6.7(he)-291.4(g)-7.2(l)0.1(o)5(b)-5.1(a)-5.5(l)-291.7(na)18(viga)18.9(t)-5.8(i)-0.3(o)11.3(n)-289.5(s)-6.1(a)18.9(t)6(e)4(l)-5.4(l)0.1(i)11.4(t)6(e)-291.4(s)0.2(ys)5.6(t)6(e)0.4(m)-293.1(\()0(GNSS\))]TJ
T*
-0.0003 Tc
[(o)11(r)-366.5(GNSS)-367.3(a)8.7(ide)-5.3(d)-366.6(iner)-10.5(t)-6.1(i)-3.3(a)-5.8(l)-365.2(na)17.7(viga)18.6(t)-6.1(i)-0.6(o)11(n)-363.9(sys)5.3(t)5.7(em)-368.3(\(INS\).)-367.6(H)24.9(o)15.5(w)8.1(e)-8(v)7.4(e)0.1(r)62.6(,)]TJ
0 -1.1816 TD
-0.0053 Tc
[(t)-12(h)-1.6(e)-306.6(G)-4.9(N)-4.9(S)-5.6(S)-307.3(s)-5.1(y)-5.2(s)0.3(te)-4.9(m)-308.3(i)-2.9(s)-306.8(s)0.3(ub)5.8(j)-10.4(e)-10.3(c)-12.3(t)-307.4(to)-307.4(v)-5.7(a)3.7(r)-11.9(i)-5.6(ous)-305(l)-5.2(i)-5.6(m)-5.7(i)6.1(t)-12(a)13.6(t)-11.1(i)-5.6(o)6(ns)-5.1(,)-303.1(t)-12(he)-306.6(mo)-5.7(st)]TJ
0 -1.1807 TD
-0.0003 Tc
[(cr)-6.9(i)11.1(t)-6.1(ica)-5.8(l)-185.4(o)11(n)2.9(e)-186(o)11(f)-186.7(w)-7.3(hic)6.2(h)-188.1(is)-187.1(ja)8.7(mmin)7.4(g)-3(.)-187(GNSS)-188.5(s)-0.1(ig)-5.7(na)-5.8(ls)-185.3(a)8.7(r)12.1(e)-186.9(n)2.9(o)10.1(t)-185.8(a)-5.8(l)7(wa)17.7(ys)]TJ
T*
0 Tc
[(a)18(v)-0.4(a)9(i)-5.7(la)8.1(b)7.5(l)0.1(e)-230(d)12.2(ue)-230.9(t)6(o)-230.8(t)-6.7(h)3.7(e)-229.1(b)7.5(lo)-9.4(c)6.5(k)0(a)5.4(g)8.2(e)-231.8(o)11.3(f)-229.8(h)0.1(ig)-7.2(h)-230.3(b)11.1(ui)-5.7(ldin)7.7(gs,)-230(c)-2.5(a)9(n)22.1(y)8.2(o)11.3(n)7.7(s)0.2(,)-229.1(a)9(nd)]TJ
0 -1.1816 TD
0.1609 Tc
[(f)169.6(o)172.2(r)173.3(e)161.3(s)166.5(t)160.6(s)161.1(,)0.4(a)169.9(m)164.1(o)172.2(n)168.6(go)171.3(t)154.2(h)164.6(e)161.3(r)166.9(s)161.1(.)-0.5(F)179.5(o)172.2(rt)154.2(h)161(i)163.3(sr)173.3(e)155(a)163.6(s)153(o)172.2(n)160.4(,)0.4(an)179.4(u)160.7(m)170.5(b)152.2(e)161.3(ro)172.2(fa)155.4(l)172.7(t)166.9(e)161.3(r)154.3(n)163.2(a)179.8(t)155.1(i)167.8(v)168.6(e)]TJ
0 -1.141 TD
-0.0034 Tc
[(te)-8.4(chnolog)-8.8(i)-3.7(es,)-185.5(i)-3.7(ncl)8.4(u)-3.6(ding)-184.9(o)7(p)7.5(t)-9.2(i)-3.7(c)-5.9(a)-8.9(l)-184.9([)]TJ
0 g
12.6599 0 TD
0 Tc
()Tj
0 0 0 1 k
0.3379 0 TD
0.0001 Tc
[(],)-182.9(radio)-181.9([)]TJ
0 g
3.3994 0 TD
0 Tc
()Tj
0 0 0 1 k
0.4652 0 TD
()Tj
0 g
0.5203 0 TD
()Tj
0 0 0 1 k
0.4969 0 TD
-0.0001 Tc
[(],)-183.1(RFID)-182.9([)]TJ
0 g
3.5096 0 TD
0 Tc
(\015)Tj
0 0 0 1 k
0.4535 0 TD
0.0001 Tc
[(],)-182.9(a)9.1(n)3.3(d)]TJ
-21.8427 -1.141 TD
[(aco)10.5(u)2.6(s)5.7(t)-5.7(ic)-414.3([)]TJ
0 g
4.0128 0 TD
0 Tc
()Tj
0 0 0 1 k
0.4941 0 TD
0.414 Tc
[(])413.9(,)-1.2(h)416.8(a)432(v)421.7(e)-1.1(b)405.3(e)409(e)414.4(n)-2(p)425.8(r)426.4(o)424.4(p)405(o)413.6(s)406.1(e)409(d)0.7(f)422.7(o)425.3(ri)413.7(n)417.2(d)414.4(o)404.6(o)425.3(ra)423(n)417.2(d)-0.2(o)424.4(u)425.6(t)420(d)414.4(o)404.6(o)425.3(r)]TJ
-4.5069 -1.141 TD
-0.0063 Tc
[(p)-15.3(o)-6.7(s)-6.1(i)5.1(t)-12.1(i)-6.6(o)5(n)-6.8(i)-6.6(n)1.4(g)-204.1(s)-6.1(y)-6.2(s)-0.7(te)-5.9(ms)-208.4(o)9.5(v)1.4(e)-5.9(r)-208(t)-13(h)-2.6(e)-206.4(y)1.9(e)-12.2(a)2.7(rs)-6.1(.)-208.3(M)20.2(o)-6.7(s)-0.7(t)-209(e)-5.9(o)5(r)-16.5(t)-6.6(s)-206.6(w)2.1(e)-5.9(r)6.1(e)-208.2(f)2.4(o)-15.7(c)-13.3(us)-14.2(e)-11.3(d)]TJ
T*
-0.0001 Tc
[(o)11.2(n)-177.6(W)37.7(i)-0.4(Fi)-176.6(bas)-8(e)-5.1(d)-177.6(l)0(o)-9.5(c)-2.6(a)-5.6(l)0(iza)18.8(t)-5.9(io)11.2(n)-175.8(w)-7.1(hic)6.4(h)-178(t)-6.8(a)-5.6(k)9(e)0.3(s)-177.8(t)-6.8(he)-176.8(ad)7.5(va)8.9(n)18.4(t)-6.8(a)5.3(g)8.1(e)-177.7(o)11.2(f)-177.5(W)37.7(iFi)]TJ
T*
-0.0016 Tc
[(inf)-11.8(r)-1.9(as)4(t)-7.4(r)-11.8(uc)-8.6(t)8(u)-1.8(r)10.8(e)-1.2(s.)-331.9(B)6.4(y)-334(usin)6.1(g)-333.1(t)-8.3(he)-333.6(us)-9.5(er)9.8()93.1(s)-332.9(sma)7.4(r)-11.8(t)8(p)5.7(ho)9.7(ne)-331.8(t)4.4(o)-334.5(me)-7.5(as)4(ur)10.8(e)]TJ
T*
-0.0006 Tc
[(t)-7.3(h)3.1(e)-428.4(s)-0.4(ig)-6(na)-6.1(l)-427.8(s)5(t)-6.4(r)11.8(en)7.1(gt)-7.3(h)-427.8(f)-10.8(r)11.8(o)10.7(m)-427.4(m)18(u)-6.2(l)11.2(t)-6.4(i)10.8(p)6.7(l)-0.5(e)-427.5(W)37.2(iFi)-428.2(a)-0.6(cces)5(s)-430.4(p)-9.6(o)10.7(in)17.9(ts,)-427.5(t)-7.3(he)]TJ
T*
0.0017 Tc
[(us)-6.2(er)13.2()96.4(s)-353.1(lo)-7.7(ca)20.6(tio)13(n)-352(ca)10.7(n)-353.8(b)-7(e)-353.8(c)1.9(o)13(n)9.4(s)7.3(t)-4.1(ra)10.7(in)4.9(ed)-351.1(wi)13.1(thin)-352.9(a)-353.4(r)14.1(e)5.7(l)-1(a)20.6(t)-4.1(i)8.6(v)9.4(e)5.7(l)9(y)-352.3(s)1.9(mall)]TJ
T*
-0.0002 Tc
[(r)12.2(e)0.2(g)-5.6(i)-0.5(o)11.1(n)-164.2(in)-164.2(a)-163.8(l)-2.9(a)8.8(r)7.6(g)8(e)-163.3(indo)-9.6(o)11.1(r)-164(en)21.9(vir)12.2(o)11.1(nmen)18.3(t.)-164.3(H)25(o)15.6(w)8.2(e)-7.9(v)7.5(e)0.2(r)62.7(,)-164.3(t)-6.9(h)3.5(es)-8.1(e)-163.3(s)0(ys)5.4(t)5.8(e)0.2(m)7.6(s)]TJ
T*
-0.011 Tc
[(re)-7(l)-3.7(y)-415.6(on)-415.3(pre)-10.6(p)-16.4(are)-16(d)-414.4(i)-11.3(n)-11.5(f)-21.2(r)-11.3(a)-8.3(s)-5.4(t)-16.8(r)-21.2(u)-11.2(c)-18(tu)-11.2(re)-10.6(s)-412.8(i)-11.3(ns)-5.4(t)-17.7(a)-16.5(l)-16.4(l)-11(e)-16(d)-414.4(b)-19.7(e)-10.6(fore)-7(h)-8.2(a)-2(n)-7.8(d)-4.3(,)-414.5(a)-2(n)-7.8(d)]TJ
T*
-0.0002 Tc
[(t)-6.9(h)3.5(eir)-263.4(a)-0.2(cc)-7.2(urac)-16.2(y)-263.9(c)0(r)-6.8(i)11.2(t)-6(i)-0.5(ca)-5.7(l)-5.6(l)7.1(y)-262.1(dep)-9.2(ends)-264.7(o)11.1(n)-263.5(t)-6.9(h)3.5(e)-263.6(n)18.3(um)9.4(b)-8.9(e)0.2(r)-263.4(o)11.1(f)-263.4(a)17.8(va)8.8(i)-5.9(l)-2.9(a)7.9(b)7.3(le)]TJ
25.8998 25.1364 TD
0 Tc
[(acces)5.6(s)-444.2(p)-9(o)11.3(in)18.5(ts,)-440.5(w)-7(hic)6.5(h)-442.6(r)12.4(e)0.4(s)5.6(u)-5.6(l)11.8(t)-0.3(s)-441.5(i)-0.3(n)-442.2(c)0.2(er)-10.2(t)-6.7(a)9(in)-441.3(r)12.4(e)0.4(s)5.6(t)-5.8(r)-6.6(i)-0.3(c)-7(t)-5.8(io)11.3(n)7.7(s)-438.8([)]TJ
0 g
21.7578 0 TD
(\015)Tj
0 0 0 1 k
0.4544 0 TD
0.0001 Tc
[(].)-443.1(I)16.8(n)]TJ
-22.2122 -1.141 TD
-0.0004 Tc
[(addi)11(t)-6.2(i)-0.7(o)10.9(n)-0.9(,)-547.5(m)1.9(a)8.6(n)21.7(y)-547.8(r)12(es)5.2(u)-6(l)11.4(ts)-547.6(r)12(e)3.6(la)18.5(t)5.6(e)-5.4(d)-548.3(t)5.6(o)-549.2(t)-7.1(he)-548.3(a)18.5(p)10.5(p)6.9(l)-0.4(ica)18.5(t)-6.2(io)10.9(n)-547.4(o)10.9(f)-548.2(t)-7.1(he)]TJ
T*
0.2467 Tc
[(c)244.2(a)255.7(m)249.9(e)247.1(r)246.4(a)0(b)241.6(a)249.4(s)238.8(e)241.7(dp)237.7(o)246.3(s)246.9(i)258.1(t)240.9(i)246.4(o)258(n)246.2(i)246.4(n)254.4(g)2.8(s)246.9(y)246.8(s)252.3(t)252.7(e)247.1(m)254.5(sh)249.5(a)264.7(v)254.4(eb)238(e)241.7(e)247.1(nr)259.1(e)247.1(p)237.7(o)258(r)236.5(t)252.7(e)241.7(di)246.4(nt)240(h)250.4(e)]TJ
T*
0.0043 Tc
[(la)7(s)9.9(t)-394.4(f)13(e)-3.4(w)-393.9(y)12.5(ea)13.3(r)10.3(s)-393.9([)]TJ
0 g
6.3471 0 TD
0 Tc
()Tj
0 0 0 1 k
0.3379 0 TD
-0.0003 Tc
[(],)-398.3(inc)6.2(l)11.5(udin)7.4(g)-397.7(s)-0.1(im)18.3(u)-5.9(l)11.5(t)-7(a)8.7(neo)10.1(u)2.2(s)-393.9(l)-0.3(o)-9.7(c)-2.8(a)-5.8(l)-0.3(iza)18.6(t)-6.1(io)11(n)-395.5(a)8.7(nd)]TJ
-6.685 -1.141 TD
-0.0007 Tc
[(ma)18.2(p)10.2(p)11.1(in)7(g)-447.8(\()-0.7(S)10.8(L)-10.2(AM\))-447.9([)]TJ
0 g
8.0608 0 TD
0 Tc
()Tj
0 0 0 1 k
0.4643 0 TD
0.4482 Tc
[(]a)457.2(n)451.4(d)0.5(v)445.1(i)450.6(s)453.8(u)445.3(a)442.7(l)0.2(o)438.8(d)448.6(o)459.5(m)451.4(e)448.6(t)442.4(r)419(y)2([)]TJ
0 g
10.2623 0 TD
0 Tc
()Tj
0 0 0 1 k
0.4752 0 TD
0.0015 Tc
[(].)-448(Al)13.3(t)-5.2(h)5.2(o)11.9(u)1.3(g)-5.7(h)]TJ
-19.2627 -1.141 TD
-0.0016 Tc
[(S)9.9(L)-11.1(AM)-284.1(is)-285(b)-10.3(e)-6.6(co)9.7(ming)-283.4(a)-285.3(s)4(t)-8.3(a)7.4(nd)-3.9(a)7.4(r)10.8(d)-283.9(t)4.4(e)-6.6(c)4.9(hniq)8(ue)-284.8(f)7.1(o)9.7(r)-283.7(i)-1.9(ndo)-11(o)9.7(r)-283.8(r)10.8(ob)-10.3(o)8.8(t)-7.4(ic)]TJ
T*
0.0007 Tc
[(a)19.6(p)11.6(p)8(l)0.8(ica)19.6(t)-5.1(io)12(n)8.4(s)0.9(,)-387.4(i)12.1(t)-388.1(i)3.1(s)-388.4(s)6.3(t)-5.1(i)-5(l)-4.7(l)-387.7(c)7.2(h)3.5(a)-4.8(l)-4.7(len)8.4(g)-4.7(in)8.4(g)-387.7(t)6.7(o)-388.2(a)19.6(p)11.6(p)8(l)8(y)-389.5(S)12.2(L)-8.8(AM)-387.5(in)-388.2(la)9.7(r)8.5(g)8.9(e)]TJ
T*
-0.0094 Tc
[(outd)-9(o)-18.8(o)1.9(r)-234.6(e)-9(n)12.7(v)-12.5(i)-9.7(r)3(on)-9.9(m)-6.2(e)-9(n)9.1(t)-9.7(s)-9.2(.)]TJ
1.5005 -1.141 TD
-0.0001 Tc
[(I)16.6(n)-560.6(r)12.3(e)-5.1(cen)18.4(t)-560.5(y)8.1(e)-6(a)8.9(r)5.9(s,)-560.8(t)-6.8(h)3.6(e)-559.8(s)0.1(ize)-560.7(o)11.2(f)-559.6(c)-2.6(a)8.9(m)3.1(era)-560.2(n)3.1(etw)8.3(o)11.2(rks)-559.1(g)-5.5(r)12.3(o)15.7(ws)]TJ
-1.5005 -1.141 TD
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