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.nacrack.com/mega-choice-2005-2006-NISSAN-ALTIMA-Radio-Receiver-AM-FM-stereo-single-CD-Player-G-mega-value/