588
The GNSS/INS coupling is usually performed by an Extended Kalman Filter -LRB- EKF -RRB- which yields an accurate and robust localization .
 used for: Extended Kalman Filter -LRB- EKF -RRB-, GNSS/INS coupling; used for: Extended Kalman Filter -LRB- EKF -RRB-, accurate and robust localization
Given a phrase that describes the relationship between two words, extract the words and the lexical relationship between them. The output format should be "relation1: word1, word2; relation2: word3, word4". 
Option: conjunction, feature of, hyponym of, used for, part of, compare, evaluate for 
Text: {0} 
Answer:
 used for: Extended Kalman Filter -LRB- EKF -RRB-, GNSS/INS coupling; used for: Extended Kalman Filter -LRB- EKF -RRB-, accurate and robust localization