ResearchBenchmarksInertial Navigation on NaveGo Outage 2 (test)Inertial Navigation on NaveGo Outage 2 (test)Follow1.8Max East Position Error (m)BGFN-17.228111.211239.65368.089Jan 13, 2026Evaluation resultsMethodMethodLinksMax East Position Error (m)Max North Position Error (m)BGFN2026.011.84.2AT-LSTM2026.012.96MLP2026.015.69.3INS2026.0110.619.6BGFN2026.0147.632.7AT-LSTM2026.01112.362.1MLP2026.01258.7103INS2026.01477.5226