# A Comprehensive Review of GNSS/INS Integration Techniques for Land and Air Vehicle Applications
## 5 Conclusions and Future Directions
The approaches to the elimination of INS errors considered in various works are based on the exact construction of models and estimation of INS stochastic errors. For example, the autoregressive model or the Allan variance provide almost the same accuracy of the integrated system. The choice between one or another approach is determined by the computational capabilities of the designed system and the characteristics of the INS sensors. The lever arm effect makes sense to consider when an integrated system is used on objects with a complex trajectory. Conceptualization, N.B. and A.S.; methodology, D.A. and A.K. ; formal analysis, A.K. ; investigation, A.S.; resources, A.S.; data curation, A.R. and N.B. ; writing--original draft preparation, A.S.; writing--review and editing, N.B. ; supervision, D.A. ; project administration, N.B. ; funding acquisition, N.B. All authors have read and agreed to the published version of the manuscript. This research was funded by Ministry of higher education and science of the Republic of Kazakhstan, grant number AP09259684, Development of methods, hardware and software of improving the accuracy of satellite navigation without the use of differential correction. Not applicable. This research was funded by Ministry of higher education and science of the Republic of Kazakhstan, grant number AP09259684, Development of methods, hardware and software of improving the accuracy of satellite navigation without the use of differential correction. Not applicable. This research was funded by Ministry of higher education and science of the Republic of Kazakhstan, grant number AP0  
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