ResearchBenchmarksHeading Estimation on Building02Follow0.48RMSE (°)WinTA-GIL0.4720.5260.580.634Jul 6, 2026Evaluation ResultsMethodMethodLinksRMSE (°)WinTA-GIL2026.070.48KF-GINS2026.070.51Fast-LIO2026.070.58Baseline*description=fundamenta...description=fundamental GNSS/IMU/LiDAR fusion framework that lacks optimization strategies2026.070.68