Update README.md

README.md

@@ -1,28 +1,29 @@
 ---
 license: mit
 language:
-- en
+  - en
 tags:
-- UAV
-- UWB
-- Ultra-Wideband
-- Positioning
-- Localization
-- Benchmark
-- Indoor
-- Outdoor
-- Machine Learning
-- Sensor Fusion
-- Robotics
+  - UAV
+  - UWB
+  - Ultra-Wideband
+  - Positioning
+  - Localization
+  - Benchmark
+  - Indoor
+  - Outdoor
+  - Machine Learning
+  - Sensor Fusion
+  - Robotics
 pretty_name: QDrone
 ---
-For additional details, please visit our website: https://benchmark.qdrone.ausmlab.com. 
+For additional details, please visit our website: [https://benchmark.qdrone.ausmlab.com](https://benchmark.qdrone.ausmlab.com).
 # Q-Drone UWB Benchmark Dataset
 ## Overview
-We present a unique UWB benchmark dataset, called Q-Drone UWB benchmark. Q-Drone system, a UAV with UWB network built at York University, was used for acquiring this benchmark over five different sites, which include an indoor, open sports field, near to a building with glasses, semi-open tunnel and underneath bridge. The benchmark data were acquired by flying for a total of 1 h 50 min 28 sec flight time and about 4.3 km traveling distances with different maneuvering patterns and spatial configuration between UAV and UWB anchors as shown in the following table.
+We present the Q-Drone UWB Benchmark, a unique dataset derived from experiments conducted using the Q-Drone system—a UAV equipped with a UWB network at York University. This dataset encompasses data from five different sites, including an indoor environment, an open sports field, an area near a glass building, a semi-open tunnel, and beneath a bridge. The benchmark data were collected over a total of 1 hour 50 minutes and 28 seconds of flight time, covering approximately 4.3 km with varying UAV maneuvers and spatial configurations between the UAV and UWB anchors.
+
 ## Environments and Locations
 The data were collected from the following sites:
-- **Indoor:** Indoor environment, 26m(w) x 33m(l), Oshawa, Ontario, Canada
+- **Indoor:** 26m(w) x 33m(l), Oshawa, Ontario, Canada
 - **Field:** Outdoor open sports field, 12m(w) x 13m(l), Uxbridge, Ontario, Canada
 - **Building:** Near a glass building, 7m(w) x 7m(l), Newmarket, Ontario, Canada
 - **Bridge:** Underneath a concrete-metal bridge, 10m(w) x 23m(l), Niagara, Ontario, Canada
@@ -40,40 +41,36 @@ The data were collected from the following sites:
 | **Total**  | **23**             | **253832**           | **6628**          | **4264.81**            | **789.4**                       | **0.902**         |
 
 ### Detailed Individual Dataset Information
-The specifics of data acquired per dataset include data points, IMU measurements, and precise coordinates of the UWB anchors for accurate localization.
+This section details the data acquired per dataset, including IMU measurements and precise coordinates of the UWB anchors for accurate localization.
 
 ## UAV Platform
-
-The UAV used in these experiments is the **DJI Matrice 100**, a professional UAV that supports mounting up to 2.4 kg payload. The payload includes a UWB tag, an Intel NUC computer, and a battery weighing 112, 728, and 542 grams, respectively. The DJI Matrice 100 is equipped with the following items:
-
+The UAV used is the **DJI Matrice 100**, a professional UAV capable of mounting up to 2.4 kg of payload. The payload consists of:
 - **UWB TIME DOMAIN™ P440 UWB tag**
 - **Intel NUC computer**
 - **Prism GRZ101, 360° mini prism**
 - **External battery**
 
 ## UWB Anchor System
-
-**TIME DOMAIN** previously developed an Ultra-Wideband (UWB) radio transceiver named P400. For this experiment, we used a total of 5 PulsON 440 (P440) modules, which belong to the P400 family. The UWB anchors consist of four UWB tags mounted on tripods at various heights arranged in a square on the ground. The Time-of-Flight (TOF) method provides distance measurements between two or more sensors with 2 cm accuracy and up to 125 Hz rate. It operates in temperatures ranging from above 40°C to below -85°C, suitable for high shock and vibration environments.
+Developed by TIME DOMAIN, the P400 is an Ultra-Wideband (UWB) radio transceiver. For this experiment, we utilized five PulsON 440 (P440) modules from the P400 family. The UWB anchor setup includes four UWB tags mounted on tripods at varying heights, arranged in a square. Using the Time-of-Flight (TOF) method, it provides 2 cm accuracy distance measurements at up to 125 Hz rate, operable from above 40°C to below -85°C, suitable for high shock and high vibration environments.
 
 ## Total Station
-
-To ensure reliable data for validating position methods, we used a robotic total station. A GRZ101, 360° mini prism is mounted on the UAV, and the total station tracks it using modulated infrared light waves. The GRZ101 offers excellent pointing accuracy of 1.5 mm. For indoor, bridge, and tunnel datasets, we utilized the Leica Nova MS60 MultiStation, which measures ranges up to 1000m with 1” (0.00027°) angle accuracy. For outdoor datasets, the Trimble VX Spatial Station measures up to 5,500 m with 4 mm accuracy and 0.4 sec measurement time.
+A robotic total station was used to ensure reliable data for validating positioning methods. The following instruments were used:
+- **Indoor, bridge, and tunnel datasets:** Leica Nova MS60 MultiStation, measuring up to 1000m with 1” (0.00027°) angle accuracy.
+- **Outdoor datasets:** Trimble VX Spatial Station, measuring up to 5,500 m with 4 mm accuracy and 0.4 sec measurement time.
 
 ## Communication System
-
-The flight platform of the DJI Matrice 100 is customizable through an onboard SDK. The mounted NUC computer is connected to the Micro-USB port on the UAV. The SDK enables communication between the computer and the flight controller, as well as onboard sensors. IMU data is fed online to the computer through this SDK. Other mounted sensors include a UWB tag connected via USB to the computer, transmitting data including ranges between the UAV-mounted UWB antenna and four ground antennas. A prism mounted on the UAV measures XYZ using the total station.
+The flight platform of the DJI Matrice 100 can be customized via an onboard SDK. Connected devices include:
+- **Intel NUC computer:** Connected via Micro-USB, managing communications with the flight controller and onboard sensors.
+- **UWB tag and prism:** Provide real-time data including IMU feeds and spatial measurements.
 
 ## Data Format
+Data are available in **csv** format, and include the following types of data:
+- **IMU:** Time(sec), angular velocity (x, y, z), linear acceleration (x, y, z), orientation quaternion (x, y, z, w), height value
+- **UWB:** Time(sec), Module ID, Range
 
-The data are available in **csv** format. Each file provides:
-
-- **IMU**: angular velocity -x, -y, -z; linear acceleration -x, -y, -z; orientation quaternion -x, -y, -z, -w; height value
-- **UWB**: Time(sec), Module ID, Range
-
-Calibration is not applied, and the data is raw in the UWB anchors coordination system. Each dataset includes optional correction coefficients. A preview of each trajectory is available. Synchronized video of most datasets helps visualize the effect of the environment and flight conditions on data variation.
-
-## Structure of Dataset:
+The data is provided raw, without calibration, within the UWB anchors' coordination system.
 
+## Structure of Dataset
 ### UWB Data
 - **[row 1]** 0
 - **[row 2]** Time(sec), Module ID, Range, Self-range error
@@ -86,16 +83,5 @@ Calibration is not applied, and the data is raw in the UWB anchors coordination
 - **[row 1]** 3
 - **[row 2]** Height value
 
-
-## Conclusion
-This comprehensive dataset aims to aid in the development of UWB technologies by providing diverse scenarios and extensive benchmark data for performance testing under different environmental conditions.
-
-## Citation: |
-
-**Please Cite Our Work**: If you use this dataset for your research, we kindly ask you to cite the following paper:
-  > @inproceedings{arjmandi2020uwb,
-  >   title={Benchmark Dataset of Ultra-Wideband Radio Based UAV Positioning},
-  >   author={Arjmandi, Zahra and Kang, Jungwon and Park, Sohn Kunwoo and Gunho},
-  >   booktitle={IEEE International Conference on Intelligent Transportation Systems},
-  >   year={2020}
-  > }
+## Citation
+If you use this dataset in your research, please cite our paper: