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In this paper , we propose a novel algorithm to detect/compensate on-line interference effects when integrating Global Navigation Satellite System -LRB- GNSS -RRB- and Inertial Navigation System -LRB- INS -RRB- .
 algorithm, on-line interference effects; Global Navigation Satellite System -LRB- GNSS -RRB-, Inertial Navigation System -LRB- INS -RRB-
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:
 algorithm, on-line interference effects; Global Navigation Satellite System -LRB- GNSS -RRB-, Inertial Navigation System -LRB- INS -RRB-