ResearchBenchmarksPosition Estimation on ROOAD Trajectory 1Position Estimation on ROOAD Trajectory 1Follow3.04PRMSE (m)ANPMN-UKF2.95163.54834.1454.7417Mar 12, 2026Evaluation resultsMethodMethodLinksPRMSE (m)ANPMN-UKF2026.033.04ANPN-UKF2026.034.69MB-AUKF2026.034.74UKF2026.035.25