With the increase in the number of Global Navigation Satellite System (GNSS) satellites and their operating frequencies. richer observation data are provided for the tightly coupled Global Navigation Satellite System/Inertial Navigation System (GNSS/INS). In this paper. we propose an efficient and robust combined navigation scheme to address the key issues of system accuracy. https://www.nacrack.com/flash-offer-On-Cloudmonster-clearance/