ResearchBenchmarksINS/DVL fusion for AUV navigation on Real-world recorded AUV dataset (test)Follow0.0922Velocity RMSE (m/s)ANUKF0.09120.097950.10470.11145Mar 7, 2025Evaluation ResultsMethodMethodLinksVelocity RMSE (m/s)Rate RMSE (rad)ANUKF Velocity RMSE Improvement (%)ANUKF Rate RMSE Improvement (%)ANUKF2025.030.09220.0106——ANEKF2025.030.10040.01568.232.1UKF2025.030.11720.011221.35.4