ResearchBenchmarksINS/GNSS Navigation on INSANE (Trajectory 1)INS/GNSS Navigation on INSANE (Trajectory 1)Follow2.509North Position Error (m)BLENDS2.460922.785463.113.43454Jun 21, 2026Evaluation resultsMethodMethodLinksNorth Position Error (m)East Position Error (m)Down Position Error (m)3D Position Error (m)BLENDS2026.062.5090.7573.7464.408EKF2026.063.6951.1343.8375.289RTSS2026.063.7081.0973.8745.36TFS2026.063.7111.1893.7555.293