ResearchBenchmarksTrajectory Estimation on Quadrotor Traj. 2 (val)Trajectory Estimation on Quadrotor Traj. 2 (val)Follow2.533Positional Error (North)BLENDS2.486162.802333.11853.43467Mar 26, 2026Evaluation resultsMethodMethodLinksPositional Error (North)Positional Error (East)Positional Error (Down)Velocity Error (North)Velocity Error (East)Velocity Error (Down)Attitude Error (Roll, ϕ)Attitude Error (Pitch, θ)Attitude Error (Yaw, ψ)BLENDS2026.032.5330.5863.8010.1840.1180.2760.0130.0120.426EKF2026.033.7031.13.8190.2870.1750.2750.0410.0240.408RTSS2026.033.7041.1013.8220.2830.1660.2920.0320.0120.179TFS2026.033.7041.1023.8220.3720.1760.3690.0280.0110.183