ResearchBenchmarksPosition Estimation on ROOAD Trajectory 6Follow2.91PRMSE (m)ANPMN-UKF2.883.08253.2853.4875Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSE (m)ANPMN-UKF2026.032.91ANPN-UKF2026.032.99MB-AUKF2026.033.02UKF2026.033.66