ResearchBenchmarksHeading Estimation on Seq. 002Follow1.88RMSE (°)WinTA-GIL1.63163.30834.9856.6617Jul 6, 2026Evaluation ResultsMethodMethodLinksRMSE (°)WinTA-GIL2026.071.88KF-GINS2026.072.65Baseline*description=fundamenta...description=fundamental GNSS/IMU/LiDAR fusion framework that lacks optimization strategies2026.073.11Fast-LIO2026.078.09