ResearchBenchmarksPosition estimation on ROOADPosition estimation on ROOADFollow2.94Average PRMSE (m)ANPMN-UKF2.873.34253.8154.2875Mar 12, 2026Evaluation resultsMethodMethodLinksAverage PRMSE (m)ANPMN-UKF2026.032.94ANPMN-UKF2026.032.94ANPN-UKF2026.033.45ANPN-UKF2026.033.45MB-AUKF2026.033.55MB-AUKF2026.033.55UKF2026.034.69UKF2026.034.69