ResearchBenchmarks3D Navigation State Estimation on EuRoC difficult (Experiment 3)Follow0.1053Attitude RMSE (rad)DQUKF0.1001880.1346940.16920.203706Jun 8, 2026Evaluation ResultsMethodMethodLinksAttitude RMSE (rad)Position RMSE (m)Velocity RMSE (m/s)DQUKFFilter=Proposed DQUKFFilter=Proposed DQUKF2026.060.10530.25840.4237QUKFFilter=Quaternion UKF...Filter=Quaternion UKF (QUKF)2026.060.15190.33470.4748MEKFFilter=Multiplicative...Filter=Multiplicative EKF (MEKF)2026.060.23310.4340.4769