Table A3.

Summary of performance of the receivers being tested in Zone 2 (Urban Canyon).

Sensor Manufacturer		Custom-Board	Microstrain	NVS	NVS
Model		MPU-9150	3DM-Gx3-45	NV08C-CSM	NV08C-CSM
Nav Algorithm		Tightly-coupled	Loosely-coupled	GPS/GLONASS	GPS
	Mean, St. Dev, 95th PTCL
		0.12	0.1	1.02	2.50
Position North [m]		1.69	4.23	5.19	8.04
		2.13	6.98	8.39	10.16
		2.14	0.96	2.60	2.27
Position East [m]		2.10	4.85	4.10	13.29
		5.60	6.00	3.15	17.43
		8.90	19.08	N.A.*	N.A.
Heading [deg]		5.28	44.33	N.A.	N.A.
		18.66	68.05	N.A.	N.A
		0.22	0.25	N.A.	N.A.
Along Track [m]		1.80	4.47	N.A.	N.A.
		2.6	7.15	N.A.	N.A.
		2.08	1.16	N.A.	N.A.
Cross Track [m]		2.06	4.58	N.A.	N.A.
		5.24	5.51	N.A.	N.A.

N.A.* = Not Available.