ResearchBenchmarks3D Positioning on UrbanNav-HK-MediumUrban-1 (Loop 2)3D Positioning on UrbanNav-HK-MediumUrban-1 (Loop 2)Follow9.33RMSE 3D (m)RTFGO9.173610.229311.28512.3407Mar 3, 2026Evaluation resultsMethodMethodLinksRMSE 3D (m)RTFGOConfiguration=Batch (m...Configuration=Batch (max τ)2026.039.33SFGO2026.039.89RTFGOConfiguration=RT (τ = 0)Configuration=RT (τ = 0)2026.0311.83GNSS-onlyConfiguration=via RTKLIBConfiguration=via RTKLIB2026.0313.24