ResearchBenchmarks3D Navigation State Estimation on EuRoC Experiment 2 mediumFollow0.0806Attitude RMSE (rad)QUKF0.0778880.0961940.11450.132806Jun 8, 2026Evaluation ResultsMethodMethodLinksAttitude RMSE (rad)Position RMSE (m)Velocity RMSE (m/s)QUKFFilter=Quaternion UKF...Filter=Quaternion UKF (QUKF)2026.060.08060.27640.4459DQUKFFilter=Proposed DQUKFFilter=Proposed DQUKF2026.060.11120.28430.5011MEKFFilter=Multiplicative...Filter=Multiplicative EKF (MEKF)2026.060.14840.33460.6625