AUV	Autonomous underwater vehicle
CMNF	Conditionally minimax nonlinear filter
DOA	Direction of arrival
DVL	Doppler velocity log
EKF	Extended Kalman filter
INS	Inertial navigation system
PF	Particle filter
UAV	Unmanned autonomous vehicle
UKF	Unscented Kalman filter
UPMF	Unbiased pseudo-measurements filter
Notation
x	regular letters are used for scalar values
$\mathbf{x}$	bold letters are used for vectors and matrices
${\mathbf{x}}^T$	the transposition of the vector $\mathbf{x}$
$\parallel \mathbf{x}\parallel$	the Euclidean norm of the vector $\mathbf{x}$
${\mathbf{A}}^{+}$	Moore–Penrose inverse of matrix $\mathbf{A}$
$\mathbf{0}$	a zero vector of appropriate size
${\mathbf{I}}^{n\times n}$	identity matrix of size $n\times n$
$\mathbf{E}\left\{\mathbf{x}\right\}$	the expectation of the random vector $\mathbf{x}$
$\mathrm{cov}(\mathbf{x},\mathbf{y})$	the covariance matrix of two random vectors $\mathbf{x}$, $\mathbf{y}$
$\mathbf{x}\sim \mathcal{P}(\mathbf{m},\mathbf{S})$	random vector $\mathbf{x}$ has a distribution $\mathcal{P}$ with expectation $\mathbf{m}$ and covariance $\mathbf{S}$
$\mathcal{N}$	the Gaussian distribution
i.i.d.	independent and identically distributed random variables or vectors