ResearchBenchmarks3D Positioning on UrbanNav-HK-MediumUrban-1 (Loop 1)3D Positioning on UrbanNav-HK-MediumUrban-1 (Loop 1)Follow27.91RMSE (3D) [m]RTFGO27.69429.15230.6132.068Mar 3, 2026Evaluation resultsMethodMethodLinksRMSE (3D) [m]RTFGOConfiguration=Batch (m...Configuration=Batch (max τ)2026.0327.91GNSS-onlyConfiguration=via RTKLIBConfiguration=via RTKLIB2026.0329.2RTFGOConfiguration=RT (τ = 0)Configuration=RT (τ = 0)2026.0333.31