GNSS	Global Navigation Satellite System
IMU	Inertial Measurement Unit
CNN	convolutional neural networks
BiLSTM	bidirectional long short-term memory
LiDAR	light detection and ranging
DOP	dilution of precision
HDOP	Horizontal Dilution of Precision
VDOP	Vertical Dilution of Precision
PDOP	Position Dilution of Precision
CNR	carrier-to-noise ratio
DCNR	difference in carrier-to-noise ratio
GNN	graph neural networks
WOA	whale optimization algorithm
TP	true positive
FN	false negative
FP	false positive
TN	true negative