ResearchBenchmarksTrajectory Estimation on Hong Kong Trajectory 1Follow3.15PRMSEANPMN-UKF3.06323.64914.2354.8209Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSEANPMN-UKF2026.033.15ANPN-UKF2026.033.31MB-AUKF2026.034.45UKF2026.035.32