| LBS | location-based services |
| MEMS | micro-electro-mechanical systems |
| PDR | pedestrian dead reckoning |
| RACKF | robust adaptive cubature Kalman filter |
| RMSE | Root Mean Squared Error |
| GNSS | Global Navigation Satellite System |
| CF | complementary filter |
| KF | Kalman filter |
| EKF | Extended Kalman filter |
| UKF | unscented Kalman filter |
| CKF | cubature Kalman filter |
| ZUPT | Zero Velocity |
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