4f414070a57fb98307b7ee32840f0cb6 pmc_23887084.pdf 975121c9d4a63dc0e68af84ebc3272b74398a31f pmc_23887084.pdf 2aaeeb3ee12d2ac26a66fac297f1436879b2bbf11f29f22a3506335189ed3d27 pmc_23887084.pdf Title: A Comparison between Different Error Modeling of MEMS Applied to GPS/INS Integrated Systems Subject: Advances in the development of micro-electromechanical systems (MEMS) have made possible the fabrication of cheap and small dimension accelerometers and gyroscopes, which are being used in many applications where the global positioning system (GPS) and the inertial navigation system (INS) integration is carried out, i.e., identifying track defects, terrestrial and pedestrian navigation, unmanned aerial vehicles (UAVs), stabilization of many platforms, etc. Although these MEMS sensors are low-cost, they present different errors, which degrade the accuracy of the navigation systems in a short period of time. Therefore, a suitable modeling of these errors is necessary in order to minimize them and, consequently, improve the system performance. In this work, the most used techniques currently to analyze the stochastic errors that affect these sensors are shown and compared: we examine in detail the autocorrelation, the Allan variance (AV) and the power spectral density (PSD) techniques. Subsequently, an analysis and modeling of the inertial sensors, which combines autoregressive (AR) filters and wavelet de-noising, is also achieved. Since a low-cost INS (MEMS grade) presents error sources with short-term (high-frequency) and long-term (low-frequency) components, we introduce a method that compensates for these error terms by doing a complete analysis of Allan variance, wavelet de-nosing and the selection of the level of decomposition for a suitable combination between these techniques. Eventually, in order to assess the stochastic models obtained with these techniques, the Extended Kalman Filter (EKF) of a loosely-coupled GPS/INS integration strategy is augmented with different states. Results show a comparison between the proposed method and the traditional sensor error models under GPS signal blockages using real data collected in urban roadways. Keywords: "Allan variance; power spectral density; INS/GPS; error modeling; MEMS; AR models; wavelet de-noising" Author: Alex G. 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DocumentCatalog: ViewerPreferences: HideToolbar: false HideMenubar: false HideWindowUI: false FitWindow: true CenterWindow: false DisplayDocTitle: false NonFullScreenPageMode: UseNone Direction: L2R ViewArea: CropBox ViewClip: CropBox PrintArea: CropBox PageClip: CropBox PageLayout: SinglePage PageMode: UseThumbs Outlines: Item: Title: ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄶ㉜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄶ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊㔠〠潢樊㰼 匠⽇潔漠⽄
獥捴楯渮㈩‾㸊敮摯扪ਸ‰扪ਨ㙜㌷㝜〰ぜㄱ㕜〰ぜ㄰㕜〰ぜㄱ㕜〰ぜㄲ㍜〰ぜ〵㕜〰ぜ㄰㉜〰ぜㄴㅜ〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄱ㙜〰ぜㄲ㌩੥湤潢樊㤠〠潢樊㰼 匠⽇潔漠⽄
獥捴楯渮㌩‾㸊敮摯扪਱㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄴ㝜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊ㄳ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮ㄩ‾㸊敮摯扪਱㘠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊ㄷ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊敮摯扪ਲ〠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㉜〰ぜㄴ㕜〰ぜㄶぜ〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴ㙜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄵㅜ〰ぜㄴ㙜〰ぜㄴ㙜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㈱‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぜㄱ㕜〰ぜ㄰㕜〰ぜㄱ㕜〰ぜㄲ㍜〰ぜ〵㕜〰ぜ㄰㉜〰ぜㄴㅜ〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄱ㙜〰ぜㄲ㌩੥湤潢樊㤠〠潢樊㰼 匠⽇潔漠⽄
獥捴楯渮㌩‾㸊敮摯扪਱㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄴ㝜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊ㄳ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮ㄩ‾㸊敮摯扪਱㘠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊ㄷ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊敮摯扪ਲ〠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㉜〰ぜㄴ㕜〰ぜㄶぜ〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴ㙜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄵㅜ〰ぜㄴ㙜〰ぜㄴ㙜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㈱‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄴ㝜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊ㄳ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮ㄩ‾㸊敮摯扪਱㘠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊ㄷ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊敮摯扪ਲ〠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㉜〰ぜㄴ㕜〰ぜㄶぜ〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴ㙜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄵㅜ〰ぜㄴ㙜〰ぜㄴ㙜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㈱‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Children: Item: Title: ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊ㄷ‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㌮㈩‾㸊敮摯扪ਲ〠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㉜〰ぜㄴ㕜〰ぜㄶぜ〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴ㙜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄵㅜ〰ぜㄴ㙜〰ぜㄴ㙜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㈱‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲ㉜〰ぜㄴ㕜〰ぜㄶぜ〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄴ㙜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄵㅜ〰ぜㄴ㙜〰ぜㄴ㙜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㈱‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸴ Item: Title: ぜㄱㅜ〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄴ㙜〰ぜㄷㅜ〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜ㄰㕜〰ぜㄷぜ〰ぜㄶ㑜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄵぜ〰ぜㄴㅜ〰ぜㄶ㍜〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄴ㍜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜ〴ぜ〰ぜㄲぜ〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄶ㌩੥湤潢樊㈵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮ㄩ‾㸊敮摯扪ਲ㠠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊㈹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㈩‾㸊敮摯扪ਲ਼㈠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲぜ〰ぜㄶ㉜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄶ㌩੥湤潢樊㌳‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㌩‾㸊敮摯扪ਲ਼㘠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲぜ〰ぜㄵ㝜〰ぜㄶ㝜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄷㄩ੥湤潢樊㌷‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㐩‾㸊敮摯扪਴〠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㐱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㔩‾㸊敮摯扪਴㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㜩੥湤潢樊㐵‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Children: Item: Title: ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊㈹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㈩‾㸊敮摯扪ਲ਼㈠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲぜ〰ぜㄶ㉜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄶ㌩੥湤潢樊㌳‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㌩‾㸊敮摯扪ਲ਼㘠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲぜ〰ぜㄵ㝜〰ぜㄶ㝜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄷㄩ੥湤潢樊㌷‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㐩‾㸊敮摯扪਴〠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㐱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㔩‾㸊敮摯扪਴㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㜩੥湤潢樊㐵‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄴ㝜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄲぜ〰ぜㄶ㉜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄶ㌩੥湤潢樊㌳‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㌩‾㸊敮摯扪ਲ਼㘠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲぜ〰ぜㄵ㝜〰ぜㄶ㝜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄷㄩ੥湤潢樊㌷‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㐩‾㸊敮摯扪਴〠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㐱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㔩‾㸊敮摯扪਴㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㜩੥湤潢樊㐵‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: ぜㄲぜ〰ぜㄵ㝜〰ぜㄶ㝜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄶ㑜〰ぜㄶ㉜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄷㄩ੥湤潢樊㌷‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㐩‾㸊敮摯扪਴〠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㐱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㔩‾㸊敮摯扪਴㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㜩੥湤潢樊㐵‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㐱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㐮㔩‾㸊敮摯扪਴㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㜩੥湤潢樊㐵‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㜩੥湤潢樊㐵‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸵ Item: Title: ぜ㄰㕜〰ぜㄷぜ〰ぜㄶぜ〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㐹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮ㄩ‾㸊敮摯扪ਵ㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㑜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄴ㕜〰ぜㄴㅜ〰ぜㄶ㍜〰ぜㄶ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜㄲ㕜〰ぜㄵ㙜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴㅜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄴ㍜〰ぜㄶㅜ〰ぜㄶ㕜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊㔳‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㈩‾㸊敮摯扪ਵ㘠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㔷‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㌩‾㸊敮摯扪ਸ਼〠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㉜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㘱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㐩‾㸊敮摯扪ਸ਼㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲぜ〰ぜㄲ㍜〰ぜ㄰㑜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㔩‾㸊敮摯扪ਸ਼㠠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㘩‾㸊敮摯扪਷㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄶ㝜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㜳‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸶ Children: Item: Title: ぜㄱㅜ〰ぜㄵ㙜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㑜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄴ㕜〰ぜㄴㅜ〰ぜㄶ㍜〰ぜㄶ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜㄲ㕜〰ぜㄵ㙜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴㅜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄴ㍜〰ぜㄶㅜ〰ぜㄶ㕜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊㔳‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㈩‾㸊敮摯扪ਵ㘠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㔷‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㌩‾㸊敮摯扪ਸ਼〠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㉜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㘱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㐩‾㸊敮摯扪ਸ਼㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲぜ〰ぜㄲ㍜〰ぜ㄰㑜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㔩‾㸊敮摯扪ਸ਼㠠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㘩‾㸊敮摯扪਷㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄶ㝜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㜳‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸶ Item: Title: ぜ㄰ㅜ〰ぜㄶ㕜〰ぜㄶ㑜〰ぜㄵ㝜〰ぜㄴ㍜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㔷‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㌩‾㸊敮摯扪ਸ਼〠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㉜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㘱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㐩‾㸊敮摯扪ਸ਼㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲぜ〰ぜㄲ㍜〰ぜ㄰㑜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㔩‾㸊敮摯扪ਸ਼㠠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㘩‾㸊敮摯扪਷㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄶ㝜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㜳‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸶ Item: Title: ぜ㄰ㅜ〰ぜㄲ㉜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄶ㌩੥湤潢樊㘱‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㐩‾㸊敮摯扪ਸ਼㐠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲぜ〰ぜㄲ㍜〰ぜ㄰㑜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㔩‾㸊敮摯扪ਸ਼㠠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㘩‾㸊敮摯扪਷㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄶ㝜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㜳‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸶ Item: Title: ぜㄲぜ〰ぜㄲ㍜〰ぜ㄰㑜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㔩‾㸊敮摯扪ਸ਼㠠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄲ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㘩‾㸊敮摯扪਷㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄶ㝜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㜳‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸶ Item: Title: ぜ㄰ㅜ〰ぜㄲ㙜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㙜〰ぜㄴㅜ〰ぜㄵ㑜〰ぜㄷㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄶ㌩੥湤潢樊㘹‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮㔮㘩‾㸊敮摯扪਷㈠〠潢樊⡜㌷㙜㌷㝜〰ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄶ㝜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㜳‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸶ Item: Title: ぜㄲ㝜〰ぜㄴㅜ〰ぜㄶ㙜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄱ㙜〰ぜㄵ㝜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㙜〰ぜㄴ㝜〰ぜ〴ぜ〰ぜㄶ㝜〰ぜㄵㅜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄵ㑜〰ぜㄵ㑜〰ぜㄴㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄲ㙜〰ぜㄴㅜ〰ぜㄶ㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄴ㔩੥湤潢樊㜳‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸶ Item: Title: ぜㄱㅜ〰ぜㄱ㙜〰ぜㄲ㍜〰ぜ〴ぜ〰ぜ㄰㉜〰ぜㄵㅜ〰ぜㄴㅜ〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄱ㕜〰ぜㄵ㝜〰ぜㄴ㑜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜ〴ぜ〰ぜ㄰ㅜ〰ぜㄴ㑜〰ぜㄴㅜ〰ぜㄶぜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄶ㑜〰ぜㄵ㝜〰ぜ〴ぜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄱ㑜〰ぜㄵ㝜〰ぜㄵ㝜〰ぜㄶ㍜〰ぜㄴ㕜〰ぜㄵ㑜〰ぜㄷㅜ〰ぜ〵㕜〰ぜ㄰㍜〰ぜㄵ㝜〰ぜㄶ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㘩੥湤潢樊㜷‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸷ Item: Title: ぜㄲ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㕜〰ぜㄵ㑜〰ぜㄶ㑜〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜ㄰㑜〰ぜㄵㅜ〰ぜㄶ㍜〰ぜㄴ㍜〰ぜㄶ㕜〰ぜㄶ㍜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㘩੥湤潢樊㠱‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸸ Item: Title: ぜ㄰㍜〰ぜㄵ㝜〰ぜㄵ㙜〰ぜㄴ㍜〰ぜㄵ㑜〰ぜㄶ㕜〰ぜㄶ㍜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜㄶ㍜〰ぜ〴ぜ〰ぜㄴㅜ〰ぜㄵ㙜〰ぜㄴ㑜〰ぜ〴ぜ〰ぜㄲ㉜〰ぜㄴ㕜〰ぜㄴ㍜〰ぜㄵ㝜〰ぜㄵ㕜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄴ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜㄶ㌩੥湤潢樊㠵‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸸ Item: Title: ぜ㄰ㅜ〰ぜㄴ㍜〰ぜㄵ㍜〰ぜㄵ㙜〰ぜㄵ㝜〰ぜㄶ㝜〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄴ㑜〰ぜㄴ㝜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄶ㌩੥湤潢樊㠸‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⸸ Item: Title: ぜ㄰㍜〰ぜㄵ㝜〰ぜㄵ㙜〰ぜㄴ㙜〰ぜㄵ㑜〰ぜㄵㅜ〰ぜㄴ㍜〰ぜㄶ㑜〰ぜ〴ぜ〰ぜㄵ㝜〰ぜㄴ㙜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴ㕜〰ぜㄶ㉜〰ぜㄴ㕜〰ぜㄶ㍜〰ぜㄶ㐩੥湤潢樊㤱‰扪਼㰠⽓ 䝯呯 䐠⡳散瑩潮⹁⸩‾㸊敮摯扪ਹ㐠〠潢樊⡜㌷㙜㌷㝜〰ぜ㄰ㅜ〰ぜㄶぜ〰ぜㄶぜ〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄴ㑜〰ぜㄵㅜ〰ぜㄷ〩੥湤潢樊㤵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮䄮ㄩ‾㸊敮摯扪ਹ㠠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱㅜ〰ぜㄱ㕜〰ぜㄲ㕜〰ぜ〴ぜ〰ぜ㄰㕜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄵㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㘩੥湤潢樊㤹‰扪਼㰠⽓ 䝯呯 䐠嬱〰‰⁒†⽆楴⁝‾㸊敮摯扪਱〲‰扪‼㰊⽌敮杴栠㈷〰†††ਯ䙩汴敲 䙬慴敄散潤攊㸾ੳ瑲敡洊磚镙孷?๾쾯飇饮䒓ꊮቧ髣?䆖栏㞺䱅䴜ᜠ₍왖髬줹ᥞо헽䪮?遟諒珳율娩◲㠎圷瞫⠗襌噩ᨉ饅ꮛ櫵ﭺ杚ퟵᬥ흮쵏쀒龱䠡錐Ѻ⫍哉鰪퐢圣텋꘸㬺ᙹ骍ᓋ䉨碒ኄ녜鐇禜政킼ભ獹隙䐊ᓷ찀ꠐﻻ렚䜿⾮浯廼줛樕ꖉ휢䶔䡥븪鬗뢑摂쩴ꕂꅃ뗪췪⾋쉎蟟쏪碕褼䤢濑㐗禤䡤覦?ﭺﮁ⻸稓쟫쯋睶꥿㨋昢阡￟糡흷ꡂ뛒䩤駴㨄㨔ᇜ✈᎑䐡㰒?녏ሡᖨ吨?塷ᖅ冐薡遊达䃅삛ᇯ쏃쌦觗ꊩ๖鑝珱뿮?䕽놤챌ꤳ氅㫒䉧?➕⳺甿?㘧傧⋗憆ఒ⡓ꅕ쪔ꓽ旗ᲊ?꺥玲ᤞ賡쥛筷朠䲲땩ݚ?縎쇣꟯믊풶붧奷잫􍺑﹌╴㐞ᧆꆶ꘢몡ꏟ矗뮋꬏㮚맯譡ⓚ㶺섴譱諢玡샤Ⓙ㚟妠ꃟ徎똭⃦そ脹助逷圢䤁塚啬㭅呚캨∑㩿壒℔妼੦抾繧讶㺖׍组묗痙ⶩሊꧧ骄證䦤㨼㮉࿚㙅笴䆵ᤆ뭴ᛄ愞结慺ቿ毙獯㭌ꊟ걛㠪줡澤弽⨕ Item: Title: ぜ㄰ㅜ〰ぜㄶぜ〰ぜㄶぜ〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄴ㑜〰ぜㄵㅜ〰ぜㄷ〩੥湤潢樊㤵‰扪਼㰠⽓ 䝯呯 䐠⡳畢獥捴楯渮䄮ㄩ‾㸊敮摯扪ਹ㠠〠潢樊⡜㌷㙜㌷㝜〰ぜㄱㅜ〰ぜㄱ㕜〰ぜㄲ㕜〰ぜ〴ぜ〰ぜ㄰㕜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄵㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㘩੥湤潢樊㤹‰扪਼㰠⽓ 䝯呯 䐠嬱〰‰⁒†⽆楴⁝‾㸊敮摯扪਱〲‰扪‼㰊⽌敮杴栠㈷〰†††ਯ䙩汴敲 䙬慴敄散潤攊㸾ੳ瑲敡洊磚镙孷?๾쾯飇饮䒓ꊮቧ髣?䆖栏㞺䱅䴜ᜠ₍왖髬줹ᥞо헽䪮?遟諒珳율娩◲㠎圷瞫⠗襌噩ᨉ饅ꮛ櫵ﭺ杚ퟵᬥ흮쵏쀒龱䠡錐Ѻ⫍哉鰪퐢圣텋꘸㬺ᙹ骍ᓋ䉨碒ኄ녜鐇禜政킼ભ獹隙䐊ᓷ찀ꠐﻻ렚䜿⾮浯廼줛樕ꖉ휢䶔䡥븪鬗뢑摂쩴ꕂꅃ뗪췪⾋쉎蟟쏪碕褼䤢濑㐗禤䡤覦?ﭺﮁ⻸稓쟫쯋睶꥿㨋昢阡￟糡흷ꡂ뛒䩤駴㨄㨔ᇜ✈᎑䐡㰒?녏ሡᖨ吨?塷ᖅ冐薡遊达䃅삛ᇯ쏃쌦觗ꊩ๖鑝珱뿮?䕽놤챌ꤳ氅㫒䉧?➕⳺甿?㘧傧⋗憆ఒ⡓ꅕ쪔ꓽ旗ᲊ?꺥玲ᤞ賡쥛筷朠䲲땩ݚ?縎쇣꟯믊풶붧奷잫􍺑﹌╴㐞ᧆꆶ꘢몡ꏟ矗뮋꬏㮚맯譡ⓚ㶺섴譱諢玡샤Ⓙ㚟妠ꃟ徎똭⃦そ脹助逷圢䤁塚啬㭅呚캨∑㩿壒℔妼੦抾繧讶㺖׍组묗痙ⶩሊꧧ骄證䦤㨼㮉࿚㙅笴䆵ᤆ뭴ᛄ愞结慺ቿ毙獯㭌ꊟ걛㠪줡澤弽⨕ Children: Item: Title: ぜㄱㅜ〰ぜㄱ㕜〰ぜㄲ㕜〰ぜ〴ぜ〰ぜ㄰㕜〰ぜㄶ㉜〰ぜㄶ㉜〰ぜㄵ㝜〰ぜㄶ㉜〰ぜ〴ぜ〰ぜㄲ㍜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄴ㕜〰ぜ〵㕜〰ぜㄲ㍜〰ぜㄶぜ〰ぜㄴㅜ〰ぜㄴ㍜〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄱㅜ〰ぜㄵ㕜〰ぜㄶぜ〰ぜㄵ㑜〰ぜㄴ㕜〰ぜㄵ㕜〰ぜㄴ㕜〰ぜㄵ㙜〰ぜㄶ㑜〰ぜㄴㅜ〰ぜㄶ㑜〰ぜㄵㅜ〰ぜㄵ㝜〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄵㅜ〰ぜㄵ㙜〰ぜ〴ぜ〰ぜㄶ㑜〰ぜㄵぜ〰ぜㄴ㕜〰ぜ〴ぜ〰ぜㄱ㍜〰ぜ㄰㘩੥湤潢樊㤹‰扪਼㰠⽓ 䝯呯 䐠嬱〰‰⁒†⽆楴⁝‾㸊敮摯扪਱〲‰扪‼㰊⽌敮杴栠㈷〰†††ਯ䙩汴敲 䙬慴敄散潤攊㸾ੳ瑲敡洊磚镙孷?๾쾯飇饮䒓ꊮቧ髣?䆖栏㞺䱅䴜ᜠ₍왖髬줹ᥞо헽䪮?遟諒珳율娩◲㠎圷瞫⠗襌噩ᨉ饅ꮛ櫵ﭺ杚ퟵᬥ흮쵏쀒龱䠡錐Ѻ⫍哉鰪퐢圣텋꘸㬺ᙹ骍ᓋ䉨碒ኄ녜鐇禜政킼ભ獹隙䐊ᓷ찀ꠐﻻ렚䜿⾮浯廼줛樕ꖉ휢䶔䡥븪鬗뢑摂쩴ꕂꅃ뗪췪⾋쉎蟟쏪碕褼䤢濑㐗禤䡤覦?ﭺﮁ⻸稓쟫쯋睶꥿㨋昢阡￟糡흷ꡂ뛒䩤駴㨄㨔ᇜ✈᎑䐡㰒?녏ሡᖨ吨?塷ᖅ冐薡遊达䃅삛ᇯ쏃쌦觗ꊩ๖鑝珱뿮?䕽놤챌ꤳ氅㫒䉧?➕⳺甿?㘧傧⋗憆ఒ⡓ꅕ쪔ꓽ旗ᲊ?꺥玲ᤞ賡쥛筷朠䲲땩ݚ?縎쇣꟯믊풶붧奷잫􍺑﹌╴㐞ᧆꆶ꘢몡ꏟ矗뮋꬏㮚맯譡ⓚ㶺섴譱諢玡샤Ⓙ㚟妠ꃟ徎똭⃦そ脹助逷圢䤁塚啬㭅呚캨∑㩿壒℔妼੦抾繧讶㺖׍组묗痙ⶩሊꧧ骄證䦤㨼㮉࿚㙅笴䆵ᤆ뭴ᛄ愞结慺ቿ毙獯㭌ꊟ걛㠪줡澤弽⨕ Info: Title: A Comparison between Different Error Modeling of MEMS Applied to GPS/INS Integrated Systems Author: Alex G. Quinchia 1 Subject: Advances in the development of micro-electromechanical systems (MEMS) have made possible the fabrication of cheap and small dimension accelerometers and gyroscopes, which are being used in many applications where the global positioning system (GPS) and the inertial navigation system (INS) integration is carried out, i.e., identifying track defects, terrestrial and pedestrian navigation, unmanned aerial vehicles (UAVs), stabilization of many platforms, etc. Although these MEMS sensors are low-cost, they present different errors, which degrade the accuracy of the navigation systems in a short period of time. Therefore, a suitable modeling of these errors is necessary in order to minimize them and, consequently, improve the system performance. In this work, the most used techniques currently to analyze the stochastic errors that affect these sensors are shown and compared: we examine in detail the autocorrelation, the Allan variance (AV) and the power spectral density (PSD) techniques. Subsequently, an analysis and modeling of the inertial sensors, which combines autoregressive (AR) filters and wavelet de-noising, is also achieved. Since a low-cost INS (MEMS grade) presents error sources with short-term (high-frequency) and long-term (low-frequency) components, we introduce a method that compensates for these error terms by doing a complete analysis of Allan variance, wavelet de-nosing and the selection of the level of decomposition for a suitable combination between these techniques. Eventually, in order to assess the stochastic models obtained with these techniques, the Extended Kalman Filter (EKF) of a loosely-coupled GPS/INS integration strategy is augmented with different states. Results show a comparison between the proposed method and the traditional sensor error models under GPS signal blockages using real data collected in urban roadways. Keywords: "Allan variance; power spectral density; INS/GPS; error modeling; MEMS; AR models; wavelet de-noising" Creator: LaTeX with hyperref package Producer: pdfTeX-1.40.10 CreationDate: Wed Jul 24 08:54:45 CEST 2013 ModDate: Wed Jul 24 09:01:11 CEST 2013 ID: 0xf6715d244b89251a8918a31d782e3828, 0x6f66a1fbf8a3d947b443c8d87c00079d Filters: FilterPipeline: FlateDecode Fonts: Type1: Font: BaseFont: TCKHLZ+NimbusRomNo9L-ReguItal FontSubset: true FirstChar: 2 LastChar: 151 FontDescriptor: FontName: TCKHLZ+NimbusRomNo9L-ReguItal Flags: Symbolic FontBBox: -169, -270, 1010, 924 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: NJMLKB+NimbusRomNo9L-Medi FontSubset: true FirstChar: 2 LastChar: 122 FontDescriptor: FontName: NJMLKB+NimbusRomNo9L-Medi Flags: Symbolic FontBBox: -168, -341, 1000, 960 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: VBFTOV+NimbusRomNo9L-Regu FontSubset: true FirstChar: 2 LastChar: 168 FontDescriptor: FontName: VBFTOV+NimbusRomNo9L-Regu Flags: Symbolic FontBBox: -168, -281, 1000, 924 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: EXYDTP+CMR12 FontSubset: true FirstChar: 1 LastChar: 115 FontDescriptor: FontName: EXYDTP+CMR12 Flags: Symbolic FontBBox: -34, -251, 988, 750 FontFile: true Font: BaseFont: HAPUQK+NimbusRomNo9L-MediItal FontSubset: true FirstChar: 101 LastChar: 115 FontDescriptor: FontName: HAPUQK+NimbusRomNo9L-MediItal Flags: Symbolic FontBBox: -200, -324, 996, 964 FontFile: true EncodingDictionary: Differences: true Font: BaseFont: XDESNL+CMMI12 FontSubset: true FirstChar: 11 LastChar: 122 FontDescriptor: FontName: XDESNL+CMMI12 Flags: Symbolic FontBBox: -31, -250, 1026, 750 FontFile: true Font: BaseFont: MBNXET+CMR8 FontSubset: true FirstChar: 1 LastChar: 61 FontDescriptor: FontName: MBNXET+CMR8 Flags: Symbolic FontBBox: -36, -250, 1070, 750 FontFile: true Font: BaseFont: MLFBRD+CMMI8 FontSubset: true FirstChar: 12 LastChar: 122 FontDescriptor: FontName: MLFBRD+CMMI8 Flags: Symbolic FontBBox: -24, -250, 1110, 750 FontFile: true Font: BaseFont: FMGXNK+CMSY10 FontSubset: true FirstChar: 0 LastChar: 112 FontDescriptor: FontName: FMGXNK+CMSY10 Flags: Symbolic FontBBox: -29, -960, 1116, 775 FontFile: true Font: BaseFont: CVVKWT+CMBX12 FontSubset: true FirstChar: 40 LastChar: 55 FontDescriptor: FontName: CVVKWT+CMBX12 Flags: Symbolic FontBBox: -53, -251, 1139, 750 FontFile: true Font: BaseFont: LAQFRY+CMBSY10 FontSubset: true FirstChar: 112 LastChar: 112 FontDescriptor: FontName: LAQFRY+CMBSY10 Flags: Symbolic FontBBox: -26, -940, 1332, 825 FontFile: true Font: BaseFont: KMWVVL+CMBX8 FontSubset: true FirstChar: 50 LastChar: 51 FontDescriptor: FontName: KMWVVL+CMBX8 Flags: Symbolic FontBBox: -59, -250, 1235, 750 FontFile: true Font: BaseFont: COFDVF+CMSY8 FontSubset: true FirstChar: 0 LastChar: 106 FontDescriptor: FontName: COFDVF+CMSY8 Flags: Symbolic FontBBox: -30, -955, 1185, 779 FontFile: true Font: BaseFont: FYFZLE+CMMIB8 FontSubset: true FirstChar: 61 LastChar: 107 FontDescriptor: FontName: FYFZLE+CMMIB8 Flags: Symbolic FontBBox: -15, -250, 1281, 750 FontFile: true Font: BaseFont: MHBJAY+CMMIB10 FontSubset: true FirstChar: 11 LastChar: 115 FontDescriptor: FontName: MHBJAY+CMMIB10 Flags: Symbolic FontBBox: -15, -250, 1216, 750 FontFile: true Font: BaseFont: OANBSW+CMMI6 FontSubset: true FirstChar: 59 LastChar: 120 FontDescriptor: FontName: OANBSW+CMMI6 Flags: Symbolic FontBBox: 11, -250, 1241, 750 FontFile: true Font: BaseFont: GYGNTK+CMBX7 FontSubset: true FirstChar: 48 LastChar: 51 FontDescriptor: FontName: GYGNTK+CMBX7 Flags: Symbolic FontBBox: -55, -250, 1289, 751 FontFile: true Font: BaseFont: OBNMZK+CMEX10 FontSubset: true FirstChar: 0 LastChar: 113 FontDescriptor: FontName: OBNMZK+CMEX10 Flags: Symbolic FontBBox: -24, -2960, 1454, 772 FontFile: true Font: BaseFont: BVTOFD+CMBX10 FontSubset: true FirstChar: 40 LastChar: 41 FontDescriptor: FontName: BVTOFD+CMBX10 Flags: Symbolic FontBBox: -56, -250, 1164, 750 FontFile: true Font: BaseFont: OHASAC+CMR10 FontSubset: true FirstChar: 48 LastChar: 57 FontDescriptor: FontName: OHASAC+CMR10 Flags: Symbolic FontBBox: -40, -250, 1009, 750 FontFile: true Font: BaseFont: CUJHND+CMMI10 FontSubset: true FirstChar: 58 LastChar: 58 FontDescriptor: FontName: CUJHND+CMMI10 Flags: Symbolic FontBBox: -32, -250, 1048, 750 FontFile: true Font: BaseFont: PXBGHL+CMSY7 FontSubset: true FirstChar: 0 LastChar: 0 FontDescriptor: FontName: PXBGHL+CMSY7 Flags: Symbolic FontBBox: -15, -951, 1251, 782 FontFile: true Font: BaseFont: YSRBEV+CMR7 FontSubset: true FirstChar: 48 LastChar: 57 FontDescriptor: FontName: YSRBEV+CMR7 Flags: Symbolic FontBBox: -27, -250, 1122, 750 FontFile: true Font: BaseFont: KIRDKM+CMR6 FontSubset: true FirstChar: 40 LastChar: 51 FontDescriptor: FontName: KIRDKM+CMR6 Flags: Symbolic FontBBox: -20, -250, 1193, 750 FontFile: true XMP: application/pdf Alex G. Quinchia 1 *, Gianluca Falco 2, Emanuela Falletti 2, Fabio Dovis 2, Carles Ferrer 1 3 Advances in the development of micro-electromechanical systems (MEMS) have made possible the fabrication of cheap and small dimension accelerometers and gyroscopes, which are being used in many applications where the global positioning system (GPS) and the inertial navigation system (INS) integration is carried out, i.e., identifying track defects, terrestrial and pedestrian navigation, unmanned aerial vehicles (UAVs), stabilization of many platforms, etc. Although these MEMS sensors are low-cost, they present different errors, which degrade the accuracy of the navigation systems in a short period of time. Therefore, a suitable modeling of these errors is necessary in order to minimize them and, consequently, improve the system performance. In this work, the most used techniques currently to analyze the stochastic errors that affect these sensors are shown and compared: we examine in detail the autocorrelation, the Allan variance (AV) and the power spectral density (PSD) techniques. Subsequently, an analysis and modeling of the inertial sensors, which combines autoregressive (AR) filters and wavelet de-noising, is also achieved. Since a low-cost INS (MEMS grade) presents error sources with short-term (high-frequency) and long-term (low-frequency) components, we introduce a method that compensates for these error terms by doing a complete analysis of Allan variance, wavelet de-nosing and the selection of the level of decomposition for a suitable combination between these techniques. Eventually, in order to assess the stochastic models obtained with these techniques, the Extended Kalman Filter (EKF) of a loosely-coupled GPS/INS integration strategy is augmented with different states. Results show a comparison between the proposed method and the traditional sensor error models under GPS signal blockages using real data collected in urban roadways. A Comparison between Different Error Modeling of MEMS Applied to GPS/INS Integrated Systems Allan variance; power spectral density; INS/GPS; error modeling; MEMS; AR models; wavelet de-noising 2013-07-24T14:54:45+08:00 LaTeX with hyperref package 2013-07-24T15:01:11+08:00 2013-07-24T15:01:11+08:00 "Allan variance; power spectral density; INS/GPS; error modeling; MEMS; AR models; wavelet de-noising" pdfTeX-1.40.10 False This is MiKTeX-pdfTeX 2.8.3563 (1.40.10) uuid:5a37142c-7125-4c8b-9ea9-44d016bef216 uuid:d391d60a-6eec-44d1-adfe-c89ae1a33e3f Pages: Page: Label: 9549 Sequence: 1 Page: Label: 9550 Sequence: 2 Annotations: Annotation: Subtype: Link Rect: 91, 403, 99, 414 ActionDest: 1023 Annotation: Subtype: Link Rect: 251, 317, 259, 328 ActionDest: 1023 Annotation: Subtype: Link Rect: 129, 163, 137, 173 ActionDest: 1023 Annotation: Subtype: Link Rect: 141, 163, 149, 173 ActionDest: 1023 Annotation: Subtype: Link Rect: 83, 145, 91, 156 ActionDest: 1028 Annotation: Subtype: Link Rect: 291, 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