 This paper reviews different approaches to integrating inertial navigation systems, INS, and global navigation satellite system, GNSS, measurements. It also discusses the challenges associated with each approach and proposes solutions to address those challenges. The paper concludes that the best solution depends on the specific application and the desired accuracy requirements. This article was authored by Nerlin Boguspeyov, Dalit Akhmadov, Almat Raskalive, and others.