ResearchBenchmarksState Estimation on UrbanNav HarshFollow38.151CP95 Error (m)IEKF37.47542.03846.60151.164Oct 31, 2025Evaluation ResultsMethodMethodLinksCP95 Error (m)IEKF2025.1038.151Re-FGOWindow size (w)=1Window size (w)=12025.1038.151SW-FGOWindow size (w)=2Window size (w)=22025.1040.053EKF2025.1046.959SW-FGOWindow size (w)=5Window size (w)=52025.1047.082SW-FGOWindow size (w)=20Window size (w)=202025.1050.785SW-FGOWindow size (w)=10Window size (w)=102025.1055.051