Hugging Face's logo

Datasets:
QDrone
/
UWB_IMU_GT_QDrone_Benchmark_Dataset

Languages:
English
Tags:
UAV
UWB
Ultra-Wideband
Positioning
Localization
Benchmark
License:
Dataset card Viewer Files Community
Zara Arj commited on
Commit
ae4fb6a
·
verified ·
1 Parent(s): b60bd35

Update README.md

Browse files
Files changed (1) hide show
  1. README.md +92 -3
README.md CHANGED
@@ -1,3 +1,92 @@
1
- ---
2
- license: mit
3
- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: mit
3
+ ---
4
+ ---
5
+ layout: page-fullwidth
6
+ title: Datasets
7
+ permalink: /datasets/
8
+ breadcrumb: true
9
+ header: false
10
+ ---
11
+ 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.
12
+
13
+
14
+ | **Site** | **Environment** | **Location** | **Area** |
15
+ |--------------|------------------------------------------------------|-------------------------------|---------------------|
16
+ | Indoor | Indoor | Oshawa, Ontario, Canada | 26m(w) x 33m(l) |
17
+ | Field | Outdoor, open sport field | Uxbridge, Ontario, Canada | 12m(w) x 13m(l) |
18
+ | Building | Outdoor, close to building | Newmarket, Ontario, Canada | 7m(w) x 7m(l) |
19
+ | Bridge | Semi-open outdoor, under a concrete-metal bridge | Niagara, Ontario, Canada | 10m(w) x 23m(l) |
20
+ | Tunnel | Semi-open outdoor, under a metal bridge | Oshawa, Ontario, Canada | 8m(w) x 30m(l) |
21
+
22
+ #### Data acquisition statistic characteristic of each category:
23
+
24
+ |**Name**|**Number of datasets**|**Number of Data (Average for each dataset)**||||**Flight time (sec)**|**Travelled distance (m)**|**Deployed UWB anchors area (m<sup>2</sup>)**|**UWB Range MAE (m)**|
25
+ | ^^ | ^^ |**Ranges**|**IMU Height**|**IMU Data**|**Ground Truth**|^^|^^|^^|^^|
26
+ |-|-|-|-|-|-|-|-|-|-|
27
+ | Indoor | 5 | 62194 | 84437 | 168879 | 9031 | 1687 | 1260.88 | 91.96 | 0.37 |
28
+ | Field | 5 | 92108 | 111079 | 222169 | 2182 | 2313 | 1780.52 | 158.74 | 0.17 |
29
+ | Building | 3 | 34007 | 37005 | 74004 | 732 | 823 | 388.92 | 50.10 | 2.02 |
30
+ | Bridge | 4 | 26359 | 28347 | 56702 | 3672 | 726 | 330.02 | 246.80 | 0.34 |
31
+ | Tunnel | 6 | 39164 | 41779 | 83557 | 5210 | 1079 | 504.47 | 241.80 | 1.61 |
32
+ | Total | 23 | 253832 | 302647 | 605311 | 20827 | 6628 | 4264.81 | 789.4 | 0.902 |
33
+
34
+ #### Detailed information about each dataset are presented in the following table:
35
+
36
+ | |**Number of Data**||||**Duration (sec)**|**Travelled distance(m)**|**x-min(m)**|**y-min(m)**|**z-max(m)**
37
+ ^^|**Ranges**|**Height**|**IMU**|**Ground Truth**|^^|^^|**x-max(m)**|**y-max(m)**|^^
38
+ :-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:
39
+ **Indoor**||||||||||
40
+ UWB0(0, 0, 0.62), UWB1(8.51, 0, 0.96), UWB2(-0.26, 10.77, 1.32), UWB3(8.25, 10.84 ,1.58)||||||||||
41
+ Indoor 1|10127|13359|26722|1458|267|167.18|2.592|1.779|6.91
42
+ ^^|^^|^^|^^|^^|^^|^^|4.745|12.689|^^
43
+ Indoor 2|11837|15418|30836|1217|308|210.075|-0.281|-1.356|6.087
44
+ ^^|^^|^^|^^|^^|^^|^^|8.164|13.082|^^
45
+ Indoor 3|15834|22067|44134|2511|441|297.976|-0.474|-0.03|7.164
46
+ ^^|^^|^^|^^|^^|^^|^^|7.916|9.97|^^
47
+ Indoor 4|7929|11387|22773|1222|227|138.659|-0.44|0.207|6.212
48
+ ^^|^^|^^|^^|^^|^^|^^|8.256|8.474|^^
49
+ Indoor 5|16467|22206|44414|2623|444|446.987|-1.403|-1.184|5.347
50
+ ^^|^^|^^|^^|^^|^^|^^|9.39|10.174|^^
51
+ **Outdoor Field**||||||||||
52
+ UWB0(0, 0, 0.99), UWB1(12.091, 0,1.60), UWB2(-0.66, 12.99,1.41), UWB3(11.62, 13.06,1.19)||||||||||
53
+ Field 1|12622|14551|29103|280|313|198.021|-0.467|3.442|21.963
54
+ ^^|^^|^^|^^|^^|^^|^^|11.528|7.525|^^
55
+ Field 2|20274|24201|48403|463|501|359.811|-0.06|-0.916|21.344
56
+ ^^|^^|^^|^^|^^|^^|^^|12.579|12.303|^^
57
+ Field 3|19651|23900|47804|474|479|324.853|-0.36|-1.599|21.391
58
+ ^^|^^|^^|^^|^^|^^|^^|12.327|13.498|^^
59
+ Field 4|19919|24800|49603|491|507|494.55|-3.464|0.842|20.782
60
+ ^^|^^|^^|^^|^^|^^|^^|12.49|30.253| ^^
61
+ Field 5|19642|23627|47256|474|513|403.288|-1.374|1.378|21.676
62
+ ^^|^^|^^|^^|^^|^^|^^|12.764|25.321|^^
63
+ **Outdoor Structure**||||||||||
64
+ UWB0(0, 0, 0.78), UWB1(7.19, 0, 1.58), UWB2(0.82, 7.31, 1.41), UWB3(7.92, 6.64, 1.33)||||||||||
65
+ Structure 1|10041|10902|21801|216|22|119.92|4.7649|2.082|21.22
66
+ ^^|^^|^^|^^|^^|^^|^^|14.077|12.421|^^
67
+ Structure 2|10951|11951|23902|234|257|120.889|4.365|2.26|20.866
68
+ ^^|^^|^^|^^|^^|^^|^^|13.586|12.894|^^
69
+ Structure 3|13015|14152|28301|282|341|148.108|1.62|-1.945|21.143
70
+ ^^|^^|^^|^^|^^|^^|^^|8.561|4.663|^^
71
+ **Bridge**||||||||||
72
+ UWB0(0, 0, 1.17), UWB1(10.73 0 0.54), UWB2(-0.27 23.61 0.52), UWB3(10.87 22.72 0.75)||||||||||
73
+ Bridge 1|3430|3700|7402|465|102.275|40.527|8.403|2.084|5.631
74
+ ^^|^^|^^|^^|^^|^^|^^|14.505|11.796|^^
75
+ Bridge 2|4640|5000|10002|647|132.285|54.91|4.967|2.362|5.468
76
+ ^^|^^|^^|^^|^^|^^|^^|14.788|11.644|^^
77
+ Bridge 3|9193|9800|19602|1286|249.289|122.686|2.255|0.105|5.712
78
+ ^^|^^|^^|^^|^^|^^|^^|15.057|13.017|^^
79
+ Bridge 4|9096|9847|19696|1274|242.281|111.901|2.581|-1.853|5.55
80
+ ^^|^^|^^|^^|^^|^^|^^|15.938|12.619|^^
81
+ **Tunnel**||||||||||
82
+ UWB0(0, 0, 1.134), UWB1(8.520, 0, 1.740), UWB2(-3.783, 23.080, 1.602), UWB3(5.433, 29.110, 1.129)||||||||||
83
+ Tunnel 1|9378|10147|20294|1298|212|104.398|3.521|-2.099|2.985
84
+ ^^|^^|^^|^^|^^|^^|^^|25.368|6.498|^^
85
+ Tunnel 2|4336|4600|9201|570|111|56.407|3.656|-4.542|3.139
86
+ ^^|^^|^^|^^|^^|^^|^^|25.169|4.205|^^
87
+ Tunnel 5|10571|11250|22500|1384|231|138.985|-3.584|-5.418|3.943
88
+ ^^|^^|^^|^^|^^|^^|^^|26.869|7.186|^^
89
+ Tunnel 7|8083|8582|17161|1073|228|71.361|-3.644|2.434|2.739
90
+ ^^|^^|^^|^^|^^|^^|^^|24.467|6.8|^^
91
+ Tunnel 8|6796|7200|14401|885|171|73.267|-0.901|-5.198|3.013
92
+ ^^|^^|^^|^^|^^|^^|^^|27.589|4.275|^^