Attitude Estimation research benchmarks

Benchmarks

Dataset NameSOTA methodMetricTrendResultsLast Updated

Experimental Datasets Data A-1 to D-3 (test)

QAACF

0.914Roll RMSE

Jul 8, 2026

EuRoC MAV Average

Adaptive Qf-ES-EKF/UKF

0.794Roll RMSE (°)

Feb 26, 2026

EuRoC MAV (MH01)

Adaptive Qf-ES-EKF/UKF

0.893Roll RMSE (°)

Feb 26, 2026

EuRoC MAV (MH02)

Qf-ES-EKF/UKF

1.475Roll Error (°)

Feb 26, 2026

EuRoC MAV (MH03)

Adaptive Qf-ES-EKF/UKF

0.533Roll RMSE (°)

Feb 26, 2026

EuRoC MAV (MH04)

Adaptive Qf-ES-EKF/UKF

0.505Roll RMSE (°)

Feb 26, 2026

EuRoC MAV (MH05)

ESKF

0.394Roll RMSE (°)

Feb 26, 2026

Simulation Trajectory

IMU+DVL (CP)

0.23RMSE (deg)

Feb 26, 2026

Free-flight Yaw-offset scenario

Hierarchical SNN

4.53RMSE

May 20, 2026

Biomimetic joint dataset

DCML-inspired neural network

0.721Roll Error (°)

Apr 9, 2026

Simulated Data 50 Monte Carlo runs

RA-JAPE

1Final Estimate Error (0.001 deg)

Jun 5, 2026

Free-flight Pitch-offset scenario

Hierarchical SNN

5.22RMSE

May 20, 2026