In case it helps, a common misconception is that Guided_NoGPS should be used to control the vehicle in Non-GPS environments. This is partially true but the key difference between Guided mode and Guided_NoGPS is that in Guided_NoGPS the vehicle can only be controlled with the SET_ATTITUDE_TARGET mavlink message.
If you’re looking to do Non-GPS navigation where the vehicle controls its position but does not have a GPS then you can use regular Guided mode but the vehicle must still have some source of position information like an optical flow sensor, an Intel T265, etc. The possible methods are on the wiki here.