Inertial+ Data
The following data is from a test in London. To view the file you must have Google Earth. You can get Google Earth for free from the link below.
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Inertial+ Data |
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Inertial+ Data from London in Google Earth format |  Download |
| This data file was collected on a drive through London, UK. The file has both the GPS and the Inertial+ measurements. The GPS was a Novatel OEM-V and used OmniStar VBS. A Corrsys-Datron L350 Optical sensor was used instead of Wheel Speed Encoder or DMI, see below for comments. The file is in Google Earth kmz format and can be viewed using Google Earth, which is free to download. | ||
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Inertial+ Data from London in CSV format, 10Hz | Download |
| This is the same data as the Google Earth kmz file, but it is only the Inertial+ measurements and it is in CSV format (suitable for loading in to Excel). Note that this was written with the list separator as a "comma" and it will not work if your computer is set to a the European standard where the "comma" is the decimal separator. The data is zipped to make it smaller. | ||
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Download Google Earth | Link |
| If you do not have Google Earth, you should! It is free software that contains aerial photos for most of the earth. | ||
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Comments on the data
You can turn on or turn off the GPS trace and the Inertial+ trace in Google Earth. Google Earth always joins up the GPS measurements with a line, so it can be hard to see some of the sections where there are no GPS measurements at all. The Inertial+, however, always has a measurement.
Comments on the L350
The L350 is a very convenient device for wheel speed however it does not give results that are as good as a wheel encoder. Wheel encoders are much harder to fit to the vehicle and the L350 is very convenient. The L350 scale factor varies depending on the road surface texture so that, on some roads it will be up to 0.5% high and on others it will be 0.5% low; 0.5% changes mean that you have errors of about 5m in 1km of travel. These can be seen in the data (if you know where to look).
These errors are the price that you pay for having a convenient sensor fitted.
