ResearchBenchmarksState Estimation on UrbanNav DeepFollow16.596CP95 Error (m)SW-FGO16.535416.9444517.353517.76255Oct 31, 2025Evaluation ResultsMethodMethodLinksCP95 Error (m)SW-FGOWindow size (w)=20Window size (w)=202025.1016.596SW-FGOWindow size (w)=5Window size (w)=52025.1017.021SW-FGOWindow size (w)=2Window size (w)=22025.1017.215SW-FGOWindow size (w)=10Window size (w)=102025.1017.286EKF2025.1018.11IEKF2025.1018.111Re-FGOWindow size (w)=1Window size (w)=12025.1018.111