| UAV | unmanned aerial vehicle |
| GNSS | global navigation satellite system |
| NLOS | non-line-of-sight |
| INS | inertial navigation system |
| SLAM | simultaneous localization and mapping |
| UWB | ultra wide band |
| probability density function | |
| TDOA | time difference of arrival |
| TWLS | two-step weighted least squares |
| RINNG | robut integrated navigation based on normal gamma distribution |
| RMSE | root mean square error |
| UKF | unscented Kalman filter |
| ANLS | augmented nonlinear least squares |
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