ocr: inertial. sensors, measuring instantaneous acceleration in the current vehicle longi- tudinal axis (t), lateral axis (), and ver- tical direction (2); angularrate sensors, measuring instanta- neous rotational velocities around the three coordinate axesx,y, < andz; these cor- respond toroll (0), pitch (0),a andyaw (4); odometric measurements such as distance traveled, current speed (v) and steering angle (2); these are based on shaft en- coders; and a GPS unit giving global location (not usedin phase I).
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