ResearchBenchmarks3D Navigation State Estimation on EuRoC Experiment 1 easyFollow0.2676Attitude RMSEQUKF0.2553360.3381180.42090.503682Jun 8, 2026Evaluation ResultsMethodMethodLinksAttitude RMSEPosition RMSEVelocity RMSEQUKFFilter=Quaternion UKF...Filter=Quaternion UKF (QUKF)2026.060.26761.62581.6084DQUKFFilter=Proposed DQUKFFilter=Proposed DQUKF2026.060.28931.0281.0261MEKFFilter=Multiplicative...Filter=Multiplicative EKF (MEKF)2026.060.57422.02462.4397