ResearchBenchmarksPositioning Accuracy on ROOADPositioning Accuracy on ROOADFollow37.2PRMSE ImprovementANPMN-UKF13.685619.790325.89531.9997Mar 12, 2026Evaluation resultsMethodMethodLinksPRMSE ImprovementANPMN-UKFComparison Baseline=UKFComparison Baseline=UKF2026.0337.2ANPMN-UKFComparison Baseline=MB...Comparison Baseline=MB-AUKF2026.0317.14ANPMN-UKFComparison Baseline=AN...Comparison Baseline=ANPN-UKF2026.0314.59