ResearchBenchmarksTrajectory Estimation on Quadrotor Traj. 12 (test)Trajectory Estimation on Quadrotor Traj. 12 (test)Follow2.226Positional Error (North)BLENDS2.178122.501312.82453.14769Mar 26, 2026Evaluation resultsMethodMethodLinksPositional Error (North)Positional Error (East)Positional Error (Down)Velocity Error (North)Velocity Error (East)Velocity Error (Down)Attitude Error (Roll)Attitude Error (Pitch)Attitude Error (Yaw)BLENDS2026.032.2262.1173.0010.1590.1620.2830.0340.0530.659RTSS2026.033.4222.6112.9770.1470.1650.2730.0340.0360.558TFS2026.033.4222.612.9770.1420.160.2250.0360.0380.542EKF2026.033.4232.6092.9790.2050.2810.2550.0370.050.406