ResearchBenchmarksDVL Self-calibration on AUV Trajectories Average across E1-E4DVL Self-calibration on AUV Trajectories Average across E1-E4Follow0.0323Avg. VRMSE (m/s)M30.0315760.0364630.041350.046237Jun 30, 2026Evaluation resultsMethodMethodLinksAvg. VRMSE (m/s)Improvement vs M2 (%)M3Model=M3Model=M32026.060.032320.12M4Model=M4Model=M42026.060.03786.65M2Model=M2Model=M22026.060.0405—M1Model=M1Model=M12026.060.0504—