Drift Error - Results
Scenario 2 - Incremental Distancing
In Table 2 below, the average of six rounds of observations can be seen along with the true
design coordinates. The distance column indicates each point's distance from the start line (see
Figure 6 above for reference). Note, these observations are corrected for scale error as defined
under Drift Error - Methodology above. The observations for both the WLT and non-WLT
solutions were recorded under cloudy conditions with a light reading of 1637 lm/m
2
and 1640
lm/m
2
respectively.
Observations Actual Observed
Pt Name Distance X (m) Y (m) Z (m) X (m) Y (m) Z (m)
1 0 99.997 100.002 -0.144 99.983 100.004 -0.141
2 0 102.003 99.999 -0.191 101.996 100.002 -0.191
3 0 103.999 100.006 -0.254 103.995 100.014 -0.253
4 5 104.003 104.998 -0.207 103.994 105.018 -0.207
5 5 101.995 105.004 -0.153 101.983 105.026 -0.153
6 5 100.004 104.996 -0.053 99.995 105.015 -0.055
7 10 100.002 110.005 0.043 99.981 110.027 0.044
8 10 101.999 110.004 -0.029 101.980 110.033 -0.029
9 10 104.005 110.000 -0.091 103.992 110.034 -0.091
10 20 104.004 120.002 0.101 103.976 120.055 0.099
11 20 102.000 120.003 0.196 101.975 120.057 0.197
12 20 100.004 119.996 0.260 99.974 120.046 0.253
13 30 99.998 129.996 0.451 99.945 130.057 0.454
14 30 101.997 129.999 0.332 101.954 130.064 0.333
15 30 104.004 130.001 0.234 103.958 130.067 0.233
16 50 104.002 150.002 0.584 103.947 150.186 0.583
17 50 102.009 150.005 0.650 101.951 150.181 0.659
18 50 100.002 150.001 0.752 99.940 150.184 0.757
Table 2: Averaged Model Observations v. Plan Coordinates
Scenario 3 - Round Trip
Upon completing the above drift error testing, the final test conducted was to observe TCH's
ability to effectively recognize an anchor point after walking away and returning later. Table 3
below shows the observed model positions after conducting the round trip testing. All
observations were conducted under cloudy conditions, 1206 lm/m
2
.
9
