ResearchBenchmarksState Estimation on UrbanNav OpenFollow9.406CP95 Error (m)SW-FGO9.307649.9715710.635511.29943Oct 31, 2025Evaluation ResultsMethodMethodLinksCP95 Error (m)SW-FGOWindow size (w)=5Window size (w)=52025.109.406IEKF2025.109.407Re-FGOWindow size (w)=1Window size (w)=12025.109.407SW-FGOWindow size (w)=2Window size (w)=22025.109.617SW-FGOWindow size (w)=20Window size (w)=202025.109.826SW-FGOWindow size (w)=10Window size (w)=102025.1010.243EKF2025.1011.865