ResearchBenchmarksState Estimation on UrbanNav (Medium)Follow14.582CP95 Error (m)SW-FGO14.4749215.1977115.920516.64329Oct 31, 2025Evaluation ResultsMethodMethodLinksCP95 Error (m)SW-FGOWindow size (w)=5Window size (w)=52025.1014.582SW-FGOWindow size (w)=20Window size (w)=202025.1015.201SW-FGOWindow size (w)=2Window size (w)=22025.1015.249SW-FGOWindow size (w)=10Window size (w)=102025.1016.987EKF2025.1017.109IEKF2025.1017.259Re-FGOWindow size (w)=1Window size (w)=12025.1017.259