We tested the receiver using Chan's car on the roof of an MIT parking lot. This plot shows the results from 4 trips around the parking lot at slow , medium , and high speed Note that there was no real attempt to follow the same course each time, so the tracks do not line up. Note the significant change in scale. The scatter in the static results are clearly evident. Note that the starts were in the same place, but the stops varied depending on the speed.
Plot focuses down in on the data at the start of each run.
Note the significant change in scale from the previous plot. The car was placed as closely as possible back at the same spot to start each run. The start point is very close to the reference receiver antenna. Data was collected for several seconds before the run started. Rapidly acquiring the biases after brief occulsions such as overpasses and bridges Validating the performance in the turns.