The integration of Global Navigation Satellite Systems (GNSS) with Inertial Navigation Systems (INS) has been very actively researched for many years due to the complementary nature of the two systems. In particular. during the last few years the integration with micro-electromechanical system (MEMS) inertial measurement units (IMUs) has been investigated. In fact. https://www.nacrack.com/hot-savings-HiBoost-Home-15K-Smart-Link-F20G-5S-IoT-limited-super/