Deepening one’s understanding of yoga philosophy (as well as asana) often requires at least a minimum level of familiarity with sanskrit words and symbols. Not all of us have what it takes to learn the Devanāgarī (the divine script), so luckily we have the internet! Health and Yoga has published an online yoga glossary of terms and words
http://www.healthandyoga.com/yogaglossary.html
and Wikipedia (of course) has an excellent article with symbols, pronunciation and lots of external links