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We first study the impact of the GNSS noise inflation on the covariance of the EKF outputs so as to compute a least square estimate of the potential variance jumps .
 EKF outputs, covariance; least square estimate, variance jumps
Please list all entity pairs containing a certain relationship in the given options.Output format is "word1, word2; word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
Answer:
 EKF outputs, covariance; least square estimate, variance jumps