| INS | Inertial Navigation System |
| GNSS | Global Navigation Satellite System |
| CNS | Celestial Navigation System |
| CINS | Celestial-Inertial Navigation System |
| LINS | Landmark-based Inertial Navigation System |
| li-frame | launch-point inertial coordinate frame |
| b-frame | missile body coordinate frame |
| s-frame | sensor coordinate frame |
| RMSE | root mean square error |
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