Kalmix Ground Truth
Specifications describe designed capability. Ground Truth records how a Kalmix GNSS solution performed in one defined field campaign—against a higher-grade reference trajectory, with route context and stated limitations kept visible.
Ground Truth at a Glance
Each Record compares one defined device under test with a higher-grade reference trajectory and documents the setup, full-route statistics, scene replays, degraded periods, and stated limitations.
Field Test Library
Each report documents one field campaign with route-level metrics and scene-by-scene replays. Test level, setup, route environments, scale, and stated limitations remain visible so the result can be read in context.
A four-configuration vehicle-route comparison of Kalmix K35 and K16 GNSS modules across highway, residential, urban canyon, and tunnel conditions.
A vehicle-route assessment of GUIDE-K35E across highway, residential streets, an urban canyon, and a tunnel, measured against a tactical-grade reference trajectory.
Why Ground Truth
Specifications are necessary, but engineering decisions are made in context.
A specification describes designed capability under stated conditions. A Ground Truth Record adds observed behavior from one defined field campaign, together with the setup and analysis rules needed to interpret it.
The same report structure, metric definitions, and test-level labels are used across Ground Truth Records.
Each Record identifies the setup, route environment, reference method, and analysis scope behind the result.
Loss of lock, Float, dead-reckoning, and difficult route segments remain visible unless an exclusion is stated.
Each new campaign adds another product, setup, environment, or version to the same public library.
Specifications describe intended capability under stated conditions. Ground Truth adds route-level evidence from a defined field campaign.
Declared accuracy under stated reference conditions.
Observed route behavior, including central error, tail behavior, and degraded periods.
Feature support stated at product or module level.
Actual solution-state behavior across the route: Fixed, Float, standalone, and DR.
Reference conditions summarized in a datasheet.
Test setup, reference method, analysis window, and stated limitations kept with the result.
Measurement Method
Each Record documents the comparison controls that determine whether a route-level result can be interpreted: the reference solution, shared antenna and RF topology, geometry, timing, correction context, DUT configuration, and analysis eligibility.
Each Record is compared against a time-stamped navigation trajectory from a tactical-grade FOG INS/GNSS reference system. The reference platform uses a 0.25°/h FOG and provides GNSS/INS position, velocity, and attitude output at up to 200 Hz.
Where the DUT accepts an external antenna, the DUT and reference system receive GNSS signals from the same survey-grade antenna through an RF splitter, minimizing differences in antenna placement and satellite visibility.
Where a device uses an integrated antenna, or a separate antenna position is unavoidable, the relevant antenna phase-center relationship is measured and the three-dimensional lever-arm offset is compensated before comparison.
Reference navigation output carries its own timestamps. DUT epochs are aligned frame by frame to the same time basis and comparison frame before route-level error metrics are calculated.
Each Record tracks correction age, delivery continuity, and observed correction-quality behavior so their relationship to solution changes can be reviewed without disclosing the correction service provider.
The DUT model, firmware, operating mode, output configuration, antenna or RF arrangement, analysis window, valid-epoch rules, and exclusions are recorded with the result.
Metrics Guide
Read accuracy, availability, and scene context together. No single metric describes GNSS performance or should be treated as a complete performance claim.
Accuracy
Root mean square horizontal error across the stated analysis window. It is sensitive to short periods of larger error.
Accuracy
Root mean square vertical error. Read it separately because vertical GNSS behavior often differs from horizontal error.
Accuracy
The radius containing 50% of reported horizontal errors. It describes the typical middle of the error distribution.
Accuracy
The radius containing 95% of reported horizontal errors. It shows the outer spread of route behavior beyond the typical middle.
Availability
The share of valid epochs reported as RTK Fixed under the Record’s stated rules. A high fixed rate does not by itself prove centimeter-level accuracy.
Availability
The share of expected epochs retained in the defined analysis window. It makes data gaps and interruptions visible.
Interpreting a Record
Ground Truth is intended to be read as engineering evidence. These questions clarify what each Record proves, what it does not, and how the comparison is controlled.
Apply the Evidence
Use a Ground Truth Record to assess fit for a route, operating environment, antenna architecture, or integration path. When satellite visibility changes, use the GNSS + IMU / DR guide to distinguish a short blackout from sustained degraded sky before choosing a system.
