ResearchBenchmarks3D position estimation on Arazim Trajectory 5Follow2.67PRMSEANPMN-UKF2.66322.70912.7552.8009Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSEANPMN-UKF2026.032.67MB-AUKF2026.032.8ANPN-UKF2026.032.81UKF2026.032.84