Post on 01-Apr-2015
PROPRIETARY AND CONFIDENTIAL
The evolution of the Spirent LN-251 performance with Scenario 1 trajectory
LN-251 SimINERTIAL Performance
2PROPRIETARY AND CONFIDENTIAL
Results
Scenario 1: 2010_0317 vs 2011_0328 – SimINERTIAL 3.02 Baseline
Scenario 1: 2010_1104 vs 2011_0328 – SimINERTIAL 3.03 Baseline
Scenario 1: 2010_1202 vs 2011_0328 - Attitude Date Zeroed
Scenario 1: 2010_1203 vs 2011_0328 – Q-Qdot Mod Linear (10Hz)
Scenario 1: 2010_1203 vs 2011_0328 – Q-Qdot Mod Constant (10Hz)
Scenario 1: 2011_0112 vs 2011_0328 – Attitude Loop (100Hz)
Scenario 1: 2011_0210 vs 2011_0328 – RC03 Scenario 1: 2011_0215 vs 2011_0328 – RC04B Scenario 1: 2011_0306 vs 2011_0328 – RC05E
3PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2010_0317 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG Woodland Hills during our 3rd visit on 17 March 2010.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.84), SimINERTIAL (3.02) and 1PPS Inverter Box for GPST Sync
4PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
17 March 2010 28 March 2011
5PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
17 March 2010 28 March 2011
6PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
17 March 2010 28 March 2011
7PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
17 March 2010 28 March 2011
8PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
17 March 2010 28 March 2011
Note: Timescale off by 900 seconds
9PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
17 March 2010 28 March 2011
Note: Timescale off by 900 seconds
10PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
17 March 2010 28 March 2011
11PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
17 March 2010 28 March 2011
12PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2010_1104 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 1st visit on 04 November 2010.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: Constant?, Future, Disable Positive Residuals
13PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
04 November 2010 28 March 2011
14PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
04 November 2010 28 March 2011
15PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
04 November 2010 28 March 2011
Note: Timescale off by 900 seconds
16PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
04 November 2010 28 March 2011
Note: Timescale off by 900 seconds
17PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
04 November 2010 28 March 2011
18PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
04 November 2010 28 March 2011
19PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2010_1202 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 3rd visit on 30 November 2010.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 5000 hz Oversample, sync skip at start 1, Linear, Future, Enable only Positive Residuals, enable Q-Fix
Scenario 1 file had attitude zeroed throughout the entire run
20PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
02 December 2010 28 March 2011
21PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
02 December 2010 28 March 2011
22PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
02 December 2010 28 March 2011
23PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
02 December 2010 28 March 2011
24PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Attitude Error
02 December 2010 28 March 2011
25PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
02 December 2010 28 March 2011
26PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
02 December 2010 28 March 2011
27PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Attitude Error
02 December 2010 28 March 2011
28PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
02 December 2010 28 March 2011
29PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
02 December 2010 28 March 2011
30PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2010_1203 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 3rd visit on 30 November 2010.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03 Q-Qdot Mod) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 1000 hz Oversample, sync skip at start 1, Linear, Future, Enable only Positive Residuals, enable Q-Fix
31PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
03 December 2010 28 March 2011
32PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
03 December 2010 28 March 2011
33PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
03 December 2010 28 March 2011
34PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
03 December 2010 28 March 2011
35PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Attitude Error
03 December 2010 28 March 2011
36PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
03 December 2010 28 March 2011
37PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
03 December 2010 28 March 2011
38PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Attitude Error
03 December 2010 28 March 2011
39PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
03 December 2010 28 March 2011
40PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
03 December 2010 28 March 2011
41PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2010_1203 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 3rd visit on 30 November 2010.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03 Q-Qdot Mod) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 1000 hz Oversample, sync skip at start 1, Constant, Future, Enable only Positive Residuals, enable Q-Fix
42PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
03 December 2010 28 March 2011
43PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
03 December 2010 28 March 2011
44PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
03 December 2010 28 March 2011
45PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
03 December 2010 28 March 2011
46PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Attitude Error
03 December 2010 28 March 2011
47PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
03 December 2010 28 March 2011
48PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
03 December 2010 28 March 2011
49PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Attitude Error
03 December 2010 28 March 2011
50PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
03 December 2010 28 March 2011
51PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
03 December 2010 28 March 2011
52PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2011_0112 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal during our visit on 10 January 2011.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 Attitude Loop Mod) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 100Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix
scenario1_LinAJ__PAJ_AttAJ.umt dated 2010-12-2
NOTE: Used SimINERTIAL 500Hz Interpolated Truth for post-processing. This results in slightly reduced interpolation error spikes in the attitude. Presented to show the difference.
53PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
12 January 2011 28 March 2011
54PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
12 January 2011 28 March 2011
55PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
12 January 2011 28 March 2011
56PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
12 January 2011 28 March 2011
57PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Attitude Error
12 January 2011 28 March 2011
58PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
12 January 2011 28 March 2011
59PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
12 January 2011 28 March 2011
60PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Attitude Error
12 January 2011 28 March 2011
61PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
12 January 2011 28 March 2011
62PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
12 January 2011 28 March 2011
63PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2011_0210 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal during our visit on 10 January 2011.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 RC03) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 100Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix
Enabled INS only nav start
GEMT T3 8x8
64PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
10 February 2011 28 March 2011
65PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
10 February 2011 28 March 2011
66PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
10 February 2011 28 March 2011
67PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
10 February 2011 28 March 2011
68PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Attitude Error
10 February 2011 28 March 2011
69PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
10 February 2011 28 March 2011
70PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
10 February 2011 28 March 2011
71PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Attitude Error
10 February 2011 28 March 2011
72PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
10 February 2011 28 March 2011
73PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
10 February 2011 28 March 2011
74PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2011_0215 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal during our visit on 10 January 2011.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 RC04B) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 10Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix
Original Scenario 1 file from the customer converted to UMT. No modifications of data.
GEMT T3 8x8
75PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
15 February 2011 28 March 2011
76PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
15 February 2011 28 March 2011
77PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
15 February 2011 28 March 2011
78PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
15 February 2011 28 March 2011
79PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Attitude Error
15 February 2011 28 March 2011
80PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
15 February 2011 28 March 2011
81PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
15 February 2011 28 March 2011
82PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Attitude Error
15 February 2011 28 March 2011
83PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
15 February 2011 28 March 2011
84PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
15 February 2011 28 March 2011
85PROPRIETARY AND CONFIDENTIAL
Scenario 1: 2011_0306 vs 2011_0328
The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal on 06 March 2011.• Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta)
and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix
• Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 RC05E) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync
SimINERTIAL Configuration: 10Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix
GEMT T3 8x8
86PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Position Error
06 March 2011 28 March 2011
87PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – GPS Velocity Error
06 March 2011 28 March 2011
88PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Position Error
06 March 2011 28 March 2011
89PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Velocity Error
06 March 2011 28 March 2011
90PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Hybrid Attitude Error
06 March 2011 28 March 2011
91PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Position Error
06 March 2011 28 March 2011
92PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Velocity Error
06 March 2011 28 March 2011
93PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – INS Attitude Error
06 March 2011 28 March 2011
94PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Gyro Bias
06 March 2011 28 March 2011
95PROPRIETARY AND CONFIDENTIAL
NG Scenario 1 (FQT4) – Accel Bias
06 March 2011 28 March 2011