588
The GNSS/INS coupling is usually performed by an Extended Kalman Filter -LRB- EKF -RRB- which yields an accurate and robust localization .
 Extended Kalman Filter -LRB- EKF -RRB-, GNSS/INS coupling; Extended Kalman Filter -LRB- EKF -RRB-, accurate and robust localization
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:
 Extended Kalman Filter -LRB- EKF -RRB-, GNSS/INS coupling; Extended Kalman Filter -LRB- EKF -RRB-, accurate and robust localization