$r_{\mathrm{tp}/\mathrm{tm}}^{\mathrm{b}}$, $r_{\mathrm{dvl}/\mathrm{tm}}^{\mathrm{b}}$, $r_{\mathrm{pg}/\mathrm{tm}}^{\mathrm{b}}$	the lever arms vectors of the USBL transponder, DVL and pressure gauge
$p_{\mathrm{m}}^{\mathrm{n}}(t)$	the positions of AHRS in local navigation coordinate frame {n}
$C_{\mathrm{b}}^{\mathrm{m}}({\phi }_{\mathrm{bm}})$,$C_{\mathrm{m}}^{\mathrm{n}}({\phi }_{\mathrm{mn}}(t))$	the direction cosine matrix (DCM) from {b} to {m} and from {m} to {n}
${\phi }_{\mathrm{bm}}$	the attitude angle of {b} relative to {m} and form {m} to {n}
${\phi }_{\mathrm{mn}}$
$d_i(t)$	the distance between the transponder and the transducer
$v_{\mathrm{d}}^{\mathrm{m}}$	the velocity of the AHRS relative to fluid and angular velocity in {m}
${\omega }_{\mathrm{m}}^{\mathrm{m}}(t)$
$v_{\mathrm{c}}^{\mathrm{n}}(t)$	the ocean currents velocity in {n}
$p_{\mathrm{r}}^{\mathrm{n}}$	the position of the receiver in {n}
$p_{\mathrm{pg}}^{\mathrm{n}}$	the position of the pressure gauge in {n}
$z_{\mathrm{pg}}^{\mathrm{n}}$	the depth of the pressure gauge in {n}
$x$	the state parameters
${\widehat{x}}_k^{}$	the state parameters estimation