KALMIX GROUND TRUTH

Real-World GNSS Performance, Measured Against Ground Truth

Specifications describe what a GNSS receiver is designed to do. Ground Truth shows how a Kalmix GNSS solution performed in a defined field campaign—measured against a higher-grade reference trajectory, reviewed across the full route and scene by scene, with degraded periods and test limitations kept visible.

Browse field tests ↓ How we measure ↓

Ground Truth at a Glance

A public evidence library for real-world GNSS performance.

Each Record compares one defined device under test with a higher-grade reference trajectory and documents the setup, full-route statistics, scene-by-scene replays, degraded periods, and stated limitations.
Report Unit One defined field campaign per Record
Reference Higher-grade reference trajectory
Evidence Scope Full-route metrics and scene replays
Record Disclosure Setup, processing rules, and stated limitations

Field Test Library

Real-World GNSS Field Test Reports

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.

58.8 km analyzed 70,801 valid epochs 4 environment replays
Route overview for the GUIDE-K35E GNSS Ground Truth field test
GT-01-K35E MODULE-LEVEL TESTED JUL 3, 2026 REPORT V1.0

GUIDE-K35E Vehicle Route Performance

A vehicle-route assessment of GUIDE-K35E across highway, residential streets, an urban canyon, and a tunnel, measured against a tactical-grade reference trajectory.

RTK + DR Vehicle route Survey-grade antenna
Highway Residential Urban Canyon Tunnel
58.8 km Route length
70,801 Valid epochs
1.5 cm CEP50 Typical center
6.1 m R95 95% coverage

Full-route analysis · 4 scene replays · Overall + per-environment metrics

View field test

Why Ground Truth

Why We Publish 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.

01

Repeatable reporting

The same report structure, metric definitions, and test-level labels are used across Ground Truth Records.

02

Context before claims

Each Record identifies the setup, route environment, reference method, and analysis scope behind the result.

03

Degraded periods included

Loss of lock, Float, dead-reckoning, and difficult route segments remain visible unless an exclusion is stated.

04

A growing evidence base

Each new campaign adds another product, setup, environment, or version to the same public library.

Specification vs. Field Evidence

Specifications describe intended capability under stated conditions. Ground Truth adds route-level evidence from a defined field campaign.

Specification

Declared accuracy under stated reference conditions.

Ground Truth

Observed route behavior, including central error, tail behavior, and degraded periods.

Specification

Feature support stated at product or module level.

Ground Truth

Actual solution-state behavior across the route: Fixed, Float, standalone, and DR.

Specification

Reference conditions summarized in a datasheet.

Ground Truth

Test setup, reference method, analysis window, and stated limitations kept with the result.

Measurement Method

How We Measure GNSS Performance

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.

01

Tactical-grade reference trajectory

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.

02

Shared antenna & RF splitter

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.

03

Integrated antenna & lever-arm compensation

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.

04

Frame-by-frame time alignment

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.

05

Correction age & continuity tracking

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.

06

Controlled DUT & analysis eligibility

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

How to Read the Performance Metrics

Read accuracy, availability, and scene context together. No single metric describes GNSS performance or should be treated as a complete performance claim.

Accuracy & Error Distribution

How far the reported position deviates from the reference trajectory across the defined analysis window.

Horizontal RMS

Root mean square horizontal error across the stated analysis window. It is sensitive to short periods of larger error.

Vertical RMS

Root mean square vertical error. Read it separately because vertical GNSS behavior often differs from horizontal error.

CEP50

The radius containing 50% of reported horizontal errors. It describes the typical middle of the error distribution.

R95

The radius containing 95% of reported horizontal errors. It shows the outer spread of route behavior beyond the typical middle.

Availability & Solution Behavior

How often the expected positioning solution and valid observations remained available on the route.

RTK Fixed Rate

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.

Valid-Epoch Completeness

The share of expected epochs retained in the defined analysis window. It makes data gaps and interruptions visible.

Read the full statistical explanation: GNSS Accuracy Decoded

Frequently Asked Questions

Frequently Asked Questions

Ground Truth is intended to be read as engineering evidence. These questions explain the comparison method, the limits of a Record, and how to interpret the results.

What is Ground Truth in GNSS testing?
Ground Truth in GNSS testing is a defined comparison between a device under test and a higher-grade reference trajectory over the same campaign. The Record keeps the test conditions, analysis rules, and route context visible with the result.
What makes the reference trajectory higher-grade?
The reference trajectory is generated by a tactical-grade FOG INS/GNSS system with tightly coupled navigation output. It provides a stronger comparison baseline than the DUT and is time-aligned to the same route.
Why do the DUT and reference use a shared antenna and RF splitter?
For devices that accept an external antenna, a shared survey-grade antenna and RF splitter help both systems receive the same GNSS signal environment. This reduces differences caused by antenna placement, sky visibility, and local multipath exposure.
How are integrated antennas and lever-arm offsets handled?
When a DUT uses an integrated antenna or cannot share the reference antenna, the antenna phase-center relationship is measured. The three-dimensional lever-arm offset is then compensated before position errors are calculated.
How are timestamps, correction age, and correction continuity tracked?
Reference output carries timestamps that are aligned frame by frame with DUT epochs. Each Record also tracks correction age, delivery continuity, and relevant correction-state behavior without disclosing the correction service provider.
Why can GNSS performance vary across one route?
Satellite visibility, multipath, signal blockage, correction continuity, motion, and local geometry can all change along a route. A complete route can therefore contain both stable and degraded conditions.
Why does RTK Fixed not guarantee centimeter-level accuracy?
RTK Fixed describes an ambiguity-resolution state, not verified position error. Accuracy still depends on signal conditions, antenna behavior, multipath, correction quality, and the comparison method.
What do CEP50, RMS, and R95 each describe?
CEP50 describes the typical middle of the horizontal error distribution. RMS reflects overall error energy and is sensitive to larger deviations, while R95 shows the outer spread containing 95% of reported horizontal errors.
Can results from different Records be compared directly?
Only with their test contexts intact. Hardware, antenna topology, route environment, correction conditions, reference method, and analysis rules may all affect the result.
Are Ground Truth results module-level or product-level?
Each Record identifies its test level and setup. A module-level result should not be interpreted as an automatic claim for every finished product integration without considering the antenna, RF design, installation, and system software.

Apply the Evidence

From Measured Performance to System Design

Use a Ground Truth Record to assess fit for a route, operating environment, antenna architecture, or integration path. Discuss a system decision with Kalmix before committing to a deployment.

Talk to an engineer → Read the Handbook →