Simultaneous localization and mapping (SLAM) is an essential component for smart robot operations in unknown confined spaces such as indoors. tunnels and underground. This paper proposes a novel tightly-coupled ranging-LiDAR-inertial simultaneous localization and mapping framework. namely RLI-SLAM. https://www.jmannino.com/super-super-University-of-Arizona-Primary-Mark-iPhone-14-Plus-MagSafe-Case-p76978-deal-zone/