ResearchBenchmarksPosition Estimation on ArazimFollow2.56Average PRMSE (m)ANPMN-UKF2.54642.63822.732.8218Mar 12, 2026Evaluation ResultsMethodMethodLinksAverage PRMSE (m)ANPMN-UKF2026.032.56ANPN-UKF2026.032.7MB-AUKF2026.032.82UKF2026.032.9