FSL CPUPAk-4 system with NovAtel SPAN firmware was fitted into a Ford Focus Estate and driven through Cork, Eire. The pictures below show that SPAN gave a remarkable degree of positioning accuracy in urban areas when data was processed using Inertial Explorer. The green trail indicates position accuracies of better than a couple of centimeters in X and Y while the blue trails show accuracies generally better than five centimeters. The purple trail indicates sub-decimetre accuracy after the GPS antenna cable was removed for 180 seconds. 

Throughout the drive pitch and roll accuracies were in the order of 0.01 degrees (RMS) while heading was better than 0.04 degrees (RMS)