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162 - ATPL - ICAO Annex 11 defines Area Navigation (RNAV) as a method of navigation which permits aircraft operation on any desired flight path:

Question 162 - Radio Navigation - ATPL - Airline Transport Pilot license

Outside the coverage of station-referenced navigation aids provided that it is equipped with a minimum of one serviceable self-contained navigation aid
Within the coverage of station-referenced navigation aids or within the limits of the capability of self-contained aids, or a combination of these
Outside the coverage of station-referenced navigation aids provided that it is equipped with a minimum of two serviceable self-contained navigation aids
Within the coverage of station-referenced navigation aids provided that it is equipped with a minimum of one serviceable self-contained navigation aid

Training tests and timed exam simulations ATPL - Airline Transport Pilot license