Plain English Meaning
Permission to fly a specific kind of GPS-based instrument approach. The permission depends on what your aircraft is certified for, what you are trained and approved to do, and what the approach chart requires.
Full Definition
The specific approval that permits a pilot and aircraft to fly a particular type of RNAV (Area Navigation) instrument approach procedure. Authorization depends on the aircraft's installed navigation equipment, the operator's training and operational approval, and any limitations published for the procedure. Different RNAV approach types — such as LNAV, LNAV/VNAV, , and RNP — each carry their own authorization requirements based on the equipment and approvals required to fly them.