1. LN-251 SimINERTIAL Performance
The evolution of the Spirent LN-251 performance with Scenario 1 trajectory

2. Results Scenario 1: 2010_0317 vs 2011_0328 – SimINERTIAL 3.02 Baseline
Scenario 1: 2010_1202 vs 2011_ 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

3. 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

4. NG Scenario 1 (FQT4) – GPS Position Error
17 March 2010
28 March 2011

5. NG Scenario 1 (FQT4) – GPS Velocity Error
17 March 2010
28 March 2011

6. NG Scenario 1 (FQT4) – Hybrid Position Error
17 March 2010
28 March 2011

7. NG Scenario 1 (FQT4) – Hybrid Velocity Error
17 March 2010
28 March 2011

8. NG Scenario 1 (FQT4) – INS Position Error
17 March 2010
28 March 2011
Note: Timescale off by 900 seconds

9. NG Scenario 1 (FQT4) – INS Velocity Error
17 March 2010
28 March 2011
Note: Timescale off by 900 seconds

10. NG Scenario 1 (FQT4) – Gyro Bias
17 March 2010
28 March 2011

11. NG Scenario 1 (FQT4) – Accel Bias
17 March 2010
28 March 2011

12. 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

13. NG Scenario 1 (FQT4) – Hybrid Position Error
04 November 2010
28 March 2011

14. NG Scenario 1 (FQT4) – Hybrid Velocity Error
04 November 2010
28 March 2011

15. NG Scenario 1 (FQT4) – INS Position Error
04 November 2010
28 March 2011
Note: Timescale off by 900 seconds

16. NG Scenario 1 (FQT4) – INS Velocity Error
04 November 2010
28 March 2011
Note: Timescale off by 900 seconds

17. NG Scenario 1 (FQT4) – Gyro Bias
04 November 2010
28 March 2011

18. NG Scenario 1 (FQT4) – Accel Bias
04 November 2010
28 March 2011

19. 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: 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

20. NG Scenario 1 (FQT4) – GPS Position Error
02 December 2010
28 March 2011

21. NG Scenario 1 (FQT4) – GPS Velocity Error
02 December 2010
28 March 2011

22. NG Scenario 1 (FQT4) – Hybrid Position Error
02 December 2010
28 March 2011

23. NG Scenario 1 (FQT4) – Hybrid Velocity Error
02 December 2010
28 March 2011

24. NG Scenario 1 (FQT4) – Hybrid Attitude Error
02 December 2010
28 March 2011

25. NG Scenario 1 (FQT4) – INS Position Error
02 December 2010
28 March 2011

26. NG Scenario 1 (FQT4) – INS Velocity Error
02 December 2010
28 March 2011

27. NG Scenario 1 (FQT4) – INS Attitude Error
02 December 2010
28 March 2011

28. NG Scenario 1 (FQT4) – Gyro Bias
02 December 2010
28 March 2011

29. NG Scenario 1 (FQT4) – Accel Bias
02 December 2010
28 March 2011

30. 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: hz Oversample, sync skip at start 1, Linear, Future, Enable only Positive Residuals, enable Q-Fix

31. NG Scenario 1 (FQT4) – GPS Position Error
03 December 2010
28 March 2011

32. NG Scenario 1 (FQT4) – GPS Velocity Error
03 December 2010
28 March 2011

33. NG Scenario 1 (FQT4) – Hybrid Position Error
03 December 2010
28 March 2011

34. NG Scenario 1 (FQT4) – Hybrid Velocity Error
03 December 2010
28 March 2011

35. NG Scenario 1 (FQT4) – Hybrid Attitude Error
03 December 2010
28 March 2011

36. NG Scenario 1 (FQT4) – INS Position Error
03 December 2010
28 March 2011

37. NG Scenario 1 (FQT4) – INS Velocity Error
03 December 2010
28 March 2011

38. NG Scenario 1 (FQT4) – INS Attitude Error
03 December 2010
28 March 2011

39. NG Scenario 1 (FQT4) – Gyro Bias
03 December 2010
28 March 2011

40. NG Scenario 1 (FQT4) – Accel Bias
03 December 2010
28 March 2011

41. 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: hz Oversample, sync skip at start 1, Constant, Future, Enable only Positive Residuals, enable Q-Fix

42. NG Scenario 1 (FQT4) – GPS Position Error
03 December 2010
28 March 2011

43. NG Scenario 1 (FQT4) – GPS Velocity Error
03 December 2010
28 March 2011

44. NG Scenario 1 (FQT4) – Hybrid Position Error
03 December 2010
28 March 2011

45. NG Scenario 1 (FQT4) – Hybrid Velocity Error
03 December 2010
28 March 2011

46. NG Scenario 1 (FQT4) – Hybrid Attitude Error
03 December 2010
28 March 2011

47. NG Scenario 1 (FQT4) – INS Position Error
03 December 2010
28 March 2011

48. NG Scenario 1 (FQT4) – INS Velocity Error
03 December 2010
28 March 2011

49. NG Scenario 1 (FQT4) – INS Attitude Error
03 December 2010
28 March 2011

50. NG Scenario 1 (FQT4) – Gyro Bias
03 December 2010
28 March 2011

51. NG Scenario 1 (FQT4) – Accel Bias
03 December 2010
28 March 2011

52. 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
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.

53. NG Scenario 1 (FQT4) – GPS Position Error
12 January 2011
28 March 2011

54. NG Scenario 1 (FQT4) – GPS Velocity Error
12 January 2011
28 March 2011

55. NG Scenario 1 (FQT4) – Hybrid Position Error
12 January 2011
28 March 2011

56. NG Scenario 1 (FQT4) – Hybrid Velocity Error
12 January 2011
28 March 2011

57. NG Scenario 1 (FQT4) – Hybrid Attitude Error
12 January 2011
28 March 2011

58. NG Scenario 1 (FQT4) – INS Position Error
12 January 2011
28 March 2011

59. NG Scenario 1 (FQT4) – INS Velocity Error
12 January 2011
28 March 2011

60. NG Scenario 1 (FQT4) – INS Attitude Error
12 January 2011
28 March 2011

61. NG Scenario 1 (FQT4) – Gyro Bias
12 January 2011
28 March 2011

62. NG Scenario 1 (FQT4) – Accel Bias
12 January 2011
28 March 2011

63. 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

64. NG Scenario 1 (FQT4) – GPS Position Error
10 February 2011
28 March 2011

65. NG Scenario 1 (FQT4) – GPS Velocity Error
10 February 2011
28 March 2011

66. NG Scenario 1 (FQT4) – Hybrid Position Error
10 February 2011
28 March 2011

67. NG Scenario 1 (FQT4) – Hybrid Velocity Error
10 February 2011
28 March 2011

68. NG Scenario 1 (FQT4) – Hybrid Attitude Error
10 February 2011
28 March 2011

69. NG Scenario 1 (FQT4) – INS Position Error
10 February 2011
28 March 2011

70. NG Scenario 1 (FQT4) – INS Velocity Error
10 February 2011
28 March 2011

71. NG Scenario 1 (FQT4) – INS Attitude Error
10 February 2011
28 March 2011

72. NG Scenario 1 (FQT4) – Gyro Bias
10 February 2011
28 March 2011

73. NG Scenario 1 (FQT4) – Accel Bias
10 February 2011
28 March 2011

74. 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

75. NG Scenario 1 (FQT4) – GPS Position Error
15 February 2011
28 March 2011

76. NG Scenario 1 (FQT4) – GPS Velocity Error
15 February 2011
28 March 2011

77. NG Scenario 1 (FQT4) – Hybrid Position Error
15 February 2011
28 March 2011

78. NG Scenario 1 (FQT4) – Hybrid Velocity Error
15 February 2011
28 March 2011

79. NG Scenario 1 (FQT4) – Hybrid Attitude Error
15 February 2011
28 March 2011

80. NG Scenario 1 (FQT4) – INS Position Error
15 February 2011
28 March 2011

81. NG Scenario 1 (FQT4) – INS Velocity Error
15 February 2011
28 March 2011

82. NG Scenario 1 (FQT4) – INS Attitude Error
15 February 2011
28 March 2011

83. NG Scenario 1 (FQT4) – Gyro Bias
15 February 2011
28 March 2011

84. NG Scenario 1 (FQT4) – Accel Bias
15 February 2011
28 March 2011

85. 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

86. NG Scenario 1 (FQT4) – GPS Position Error
06 March 2011
28 March 2011

87. NG Scenario 1 (FQT4) – GPS Velocity Error
06 March 2011
28 March 2011

88. NG Scenario 1 (FQT4) – Hybrid Position Error
06 March 2011
28 March 2011

89. NG Scenario 1 (FQT4) – Hybrid Velocity Error
06 March 2011
28 March 2011

90. NG Scenario 1 (FQT4) – Hybrid Attitude Error
06 March 2011
28 March 2011

91. NG Scenario 1 (FQT4) – INS Position Error
06 March 2011
28 March 2011

92. NG Scenario 1 (FQT4) – INS Velocity Error
06 March 2011
28 March 2011

93. NG Scenario 1 (FQT4) – INS Attitude Error
06 March 2011
28 March 2011

94. NG Scenario 1 (FQT4) – Gyro Bias
06 March 2011
28 March 2011

95. NG Scenario 1 (FQT4) – Accel Bias
06 March 2011
28 March 2011