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Open-road groundtruthing

Ground truth reference data in all environments

Maximise the accuracy of groundtruth reference data across your test vehicle fleet.

To analyse whether your ADAS systems have triggered correctly – and if not, why – you’ll want an accurate picture of your vehicle-under-test’s (VUTs) true position, speed, heading, pitch and roll in real-life scenarios.

The most common groundtruth reference system is a GNSS-aided inertial navigation system (GNSS/INS). OxTS GNSS/INS combine cutting edge IMU technology with survey-grade GNSS receivers to deliver cm-level position accuracy alongside precise inertial measurements.

When combined with OxTS’ powerful software features, specifically designed for open-road data collection, users will experience more accurate data, for longer.


The OxTS solution for open-road groundtruth data collection

OxTS GNSS/INS devices for open-road groundtruth data collection

RT3000 v4

For when where matters most

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RT1003 v2

Ready for challenging GNSS environments

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Robust performance in an economical package
(Ethernet and Serial)

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Robust performance in an economical package
(Ethernet and CAN)

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Software Applications

OxTS GNSS/INS are supplemented by a range of software tools to help you collect and understand your data as well as improve your final deliverables. The software applications we recommend you use for open-road groundtruth data collection are mentioned here.


NAVsuite is a complimentary set of software applications that is included with every purchase of an OxTS GNSS/INS. The software allows you to:

+ Configure your OxTS GNSS/INS.

+ Monitor the navigation data from your GNSS/INS in real time.

+ Enhance your real-time test data, in post-process, with an automated command line tool.

+ Plot, analyse and export your test data.

LiDAR Inertial Odometry (LIO)

An optional software feature, OxTS LIO enhances data accuracy in urban canyons using velocity updates from a LiDAR. Compatible with a wide range of 360° field-of-view LiDAR sensors, LIO seamlessley integrates into your existing workflow through a command line tool.

Sensors from the following manufacturers are supported:

+ Velodyne

+ Hesai

+ Ouster

+ RoboSense

+ Riegl


OxTS NVIDIA DRIVE plug-in announcement



The NVIDIA DRIVE® NCOM plug-in is a tool developed by OxTS that gives DRIVE Linux users access, via DriveWorks, to GNSS and IMU measurements provided by the RT3000 v4 GNSS/INS. The data is used as a groundtruth for localisation validation of sensors and perception stack under test, as well as full vehicle localisation.

+ All data available over Ethernet in real-time

+ Convert NCOM log files into DriveWorks compatible logs to future replay

+ Combine the most advanced automotive AI platform with industry-leading localisation accuracy and scalability

Learn more about the NVIDIA DRIVE NCOM Plug-in or for a full list of compatible sensors visit the NVIDIA DRIVE supported sensor page.

Want to use the plug-in for your ADAS project? Then contact us today!

*Other OxTS devices that output OxTS’ proprietary data format NCOM can be used with the NVIDIA DRIVE platform. These however have not been tested or validated by NVIDIA.

GNSS/INS features for open-road groundtruth data collection

Standard Features

All OxTS GNSS/INS devices come pre-loaded with a number of important features as standard. Whichever device you choose for your data collection project, you will be able to take advantage of the following:


+ ITAR-free hardware – Streamline administration overheads when your hardware needs to be shipped overseas.

+ Dual antenna RTK capability – Achieve high-accuracy position, orientation and dynamics data, even at low speeds.

+ Built-in NTRIP client – Easily access real-time corrections for precise data collection.

+ Free-of-charge support – Every OxTS INS qualifies for complimentary support from our teams in the UK, USA, Germany and China.

+ Sensor fusion as standard – Incorporate data from your other sensors into the OxTS navigation engine with the OxTS Generic Aiding Data (GAD) Interface.

Optional open-road data collection features

To maintain accuracy during an open-road data collection project you will need to overcome an ever-changing set of GNSS and environmental conditions. We suggest the following optional features when collecting data on the open-road:


+ gx/ix tight-couplingSpeeds up RTK reaquisition after transient but complete GNSS outage meaning more accurate navigation data for longer (see example below).

+ OxTS LiDAR Inertial Odometry – Use LiDAR to constrain position drift and improve navigation performance in urban canyons.

+ PTP and gPTP time synchronisation – Master and client functionality makes it easier to integrate your GNSS/INS into an existing payload.

+ External raw data logging – Log all the raw GNSS and IMU data to an external logging device, alongside the data from third-party sensors for simplified accuracy enhancements in post-process.

+ CAN input/output – Gain richer test insights and simplified analysis by logging data to/from your GNSS/INS via CAN.

GNSS vs OxTS gx/ix tight-coupling technology…

gx/ix tight-coupling technology is an advanced GNSS processing engine and GNSS/IMU tight-coupling for enhanced urban performance in real-time and post-process.

The image comparison above shows the improvement in position data when using an OxTS GNSS/INS with gx/ix enabled vs a GNSS-only solution. Move the slider and see for yourself!

Open-Road Groundtruthing Solution Brief

Accurate groundtruth reference data needs a robust localisation solution; a tool that records the position, orientation and dynamics of your vehicle at anytime, anywhere.

This solution brief steps through the aspects that we recommend our customers consider when deciding on their source of localisation for open-road vehicle testing.

Read the solution brief to learn how you can use an OxTS GNSS/INS to validate how your ADAS/AV systems work in the real world.


Open-road groundtruthing

Speak to us about collecting accurate ground truth reference data on public roads

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