TY JOUR TI Methods of gnss and inertial systems integration, analysis of economics under satellite navigation degradation KW integrated navigation system KW GNSS KW inertial navigation KW signal degradation KW Kalman filter KW deep integration KW adaptive filtering JO Journal of Applied Research AU Sokolov, O.A. AU Maryaninov, S.E. AU Shurupov, A.V. PY 2026 IS PB ITBO University