Testing and analysis of OEM GPS sensor boards for AVL applications

Tests were conducted using several OEM GPS board sets, namely the Motorola PVT6, Magnavox Engine, Rockwell Navcore V, Trimble SVeeSix Plus and the Magellan GPS Module, in order to compare their relative performance. Position data were collected to compare both standalone and differential position computations over several days using both a zero baseline and a 10 km baseline. Experiments were also conducted to obtain the times required for initial acquisition and re-acquisition after various lengths of signal blockage. In kinematic tests, results were compared to a reference receiver, as well as overlaying the position results on a single line road network of Calgary. Data were also collected in urban canyons to assess the performance of the various board sets in areas of signal blockage due to buildings and trees. From this data, an analysis was done on the use of an all-in-view receiver versus the lower cost five and six channel board sets. The receivers were compared to either the reference receiver or known baseline values on the basis of the mean and standard deviation of their position errors. Histograms and scatter plots were also generated for these receiver position errors