ResearchBenchmarksPosition Estimation on ROOAD Trajectory 4Follow2.89PRMSE (m)ANPMN-UKF2.79443.43974.0854.7303Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSE (m)ANPMN-UKF2026.032.89ANPN-UKF2026.033.33MB-AUKF2026.033.77UKF2026.035.28