ResearchBenchmarksPosition estimation on Hong-KongPosition estimation on Hong-KongFollow3.07Average PRMSE (m)ANPMN-UKF3.04123.23563.433.6244Mar 12, 2026Evaluation resultsMethodMethodLinksAverage PRMSE (m)PRMSE Improvement (%)ANPMN-UKF2026.033.07—ANPN-UKF2026.033.21—MB-AUKF2026.033.48—UKF2026.033.79—ANPMN-UKFComparison Baseline=UKFComparison Baseline=UKF2026.03—18.98ANPMN-UKFComparison Baseline=MB...Comparison Baseline=MB-AUKF2026.03—11.78ANPMN-UKFComparison Baseline=AN...Comparison Baseline=ANPN-UKF2026.03—4.15