ResearchBenchmarksINS/GNSS Navigation on INSANE Trajectory 2INS/GNSS Navigation on INSANE Trajectory 2Follow0.499North Position Error (m)BLENDS0.459520.726010.99251.25899Jun 21, 2026Evaluation resultsMethodMethodLinksNorth Position Error (m)East Position Error (m)Down Position Error (m)3D Position Error (m)BLENDS2026.060.4991.8031.7162.351RTSS2026.061.3322.2831.7963.078TFS2026.061.352.3441.7363.09EKF2026.061.4862.2892.0563.159