LN-251 SimINERTIAL Performance The evolution of the Spirent LN-251 performance with Scenario 1 trajectory

Results Scenario 1: 2010_0317 vs 2011_0328 – SimINERTIAL 3.02 Baseline Scenario 1: 2010_1202 vs 2011_0328 - Attitude Date Zeroed Scenario 1: 2010_1203 vs 2011_0328 – Q-Qdot Mod Linear (10Hz) Scenario 1: 2010_1203 vs 2011_0328 – Q-Qdot Mod Constant (10Hz) Scenario 1: 2011_0112 vs 2011_0328 – Attitude Loop (100Hz) Scenario 1: 2011_0210 vs 2011_0328 – RC03 Scenario 1: 2011_0215 vs 2011_0328 – RC04B Scenario 1: 2011_0306 vs 2011_0328 – RC05E

Scenario 1: 2010_0317 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG Woodland Hills during our 3rd visit on 17 March 2010. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.84), SimINERTIAL (3.02) and 1PPS Inverter Box for GPST Sync

NG Scenario 1 (FQT4) – GPS Position Error 17 March 2010 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 17 March 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 17 March 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 17 March 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 17 March 2010 28 March 2011 Note: Timescale off by 900 seconds

NG Scenario 1 (FQT4) – INS Velocity Error 17 March 2010 28 March 2011 Note: Timescale off by 900 seconds

NG Scenario 1 (FQT4) – Gyro Bias 17 March 2010 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 17 March 2010 28 March 2011

Scenario 1: 2010_1104 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 1st visit on 04 November 2010. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: Constant?, Future, Disable Positive Residuals

NG Scenario 1 (FQT4) – Hybrid Position Error 04 November 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 04 November 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 04 November 2010 28 March 2011 Note: Timescale off by 900 seconds

NG Scenario 1 (FQT4) – INS Velocity Error 04 November 2010 28 March 2011 Note: Timescale off by 900 seconds

NG Scenario 1 (FQT4) – Gyro Bias 04 November 2010 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 04 November 2010 28 March 2011

Scenario 1: 2010_1202 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 3rd visit on 30 November 2010. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 5000 hz Oversample, sync skip at start 1, Linear, Future, Enable only Positive Residuals, enable Q-Fix Scenario 1 file had attitude zeroed throughout the entire run

NG Scenario 1 (FQT4) – GPS Position Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Attitude Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Velocity Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Attitude Error 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Gyro Bias 02 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 02 December 2010 28 March 2011

Scenario 1: 2010_1203 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 3rd visit on 30 November 2010. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03 Q-Qdot Mod) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 1000 hz Oversample, sync skip at start 1, Linear, Future, Enable only Positive Residuals, enable Q-Fix

NG Scenario 1 (FQT4) – GPS Position Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Attitude Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Velocity Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Attitude Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Gyro Bias 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 03 December 2010 28 March 2011

Scenario 1: 2010_1203 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at NG San Bernardino during our 3rd visit on 30 November 2010. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91), SimINERTIAL (3.03 Q-Qdot Mod) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 1000 hz Oversample, sync skip at start 1, Constant, Future, Enable only Positive Residuals, enable Q-Fix

NG Scenario 1 (FQT4) – GPS Position Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Attitude Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Velocity Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – INS Attitude Error 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Gyro Bias 03 December 2010 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 03 December 2010 28 March 2011

Scenario 1: 2011_0112 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal during our visit on 10 January 2011. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 Attitude Loop Mod) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 100Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix scenario1_LinAJ__PAJ_AttAJ.umt dated 2010-12-2 NOTE: Used SimINERTIAL 500Hz Interpolated Truth for post-processing. This results in slightly reduced interpolation error spikes in the attitude. Presented to show the difference.

NG Scenario 1 (FQT4) – GPS Position Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Attitude Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Velocity Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Attitude Error 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – Gyro Bias 12 January 2011 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 12 January 2011 28 March 2011

Scenario 1: 2011_0210 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal during our visit on 10 January 2011. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 RC03) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 100Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix Enabled INS only nav start GEMT T3 8x8

NG Scenario 1 (FQT4) – GPS Position Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Attitude Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Velocity Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Attitude Error 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Gyro Bias 10 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 10 February 2011 28 March 2011

Scenario 1: 2011_0215 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal during our visit on 10 January 2011. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 RC04B) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 10Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix Original Scenario 1 file from the customer converted to UMT. No modifications of data. GEMT T3 8x8

NG Scenario 1 (FQT4) – GPS Position Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Attitude Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Velocity Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Attitude Error 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Gyro Bias 15 February 2011 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 15 February 2011 28 March 2011

Scenario 1: 2011_0306 vs 2011_0328 The following is a comparison of our current configuration from 28 March 2011 vs the configuration used at Spirent Federal on 06 March 2011. Current Configuration: PosApp (2.92 beta), SimINERTIAL (3.04 beta) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 0 Oversample, sync skip at start 0, Future, Disable Positive Residuals, enable Q-Fix Earlier Configuration: SimGEN (2.91 SR02 Attitude Loop Mod), SimINERTIAL (3.03 RC05E) and RTX SuperFSCC-01 and Amplicon PCI215 for timing and GPST Sync SimINERTIAL Configuration: 10Hz SIR, 0 Oversample, Constant, Future, Disable Positive Residuals, enable Q-Fix GEMT T3 8x8

NG Scenario 1 (FQT4) – GPS Position Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – GPS Velocity Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Position Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Velocity Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – Hybrid Attitude Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Position Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Velocity Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – INS Attitude Error 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – Gyro Bias 06 March 2011 28 March 2011

NG Scenario 1 (FQT4) – Accel Bias 06 March 2011 28 March 2011