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---
license: mit
language:
- en
tags:
- UAV
- UWB
- Ultra-Wideband
- Positioning
- Localization
- Benchmark
- Indoor
- Outdoor
- Machine Learning
- Sensor Fusion
- Robotics
pretty_name: QDrone
---
license: mit
---
# 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.
### Environments and Locations
The data were collected from the following sites:
- **Indoor:** Indoor environment, 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
- **Tunnel:** Under a metal bridge, 8m(w) x 30m(l), Oshawa, Ontario, Canada
### Data Acquisition and Statistics
#### Overall Dataset Characteristics
| Site | Number of Datasets | Avg Data per Dataset | Flight Time (sec) | Travelled Distance (m) | Deployed UWB Anchors Area (m²) | UWB Range MAE (m) |
|------------|--------------------|----------------------|-------------------|------------------------|---------------------------------|-------------------|
| Indoor | 5 | 62194 | 1687 | 1260.88 | 91.96 | 0.37 |
| Field | 5 | 92108 | 2313 | 1780.52 | 158.74 | 0.17 |
| Building | 3 | 34007 | 823 | 388.92 | 50.10 | 2.02 |
| Bridge | 4 | 26359 | 726 | 330.02 | 246.80 | 0.34 |
| Tunnel | 6 | 39164 | 1079 | 504.47 | 241.80 | 1.61 |
| **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.
### Example Dataset Detail: Indoor
- **UWB Anchors:**
- 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)
- **Datasets:**
- **Indoor 1:** 10,127 data points, 267 sec duration, traveled 167.18m, x-min: 2.592m, x-max: 4.745m, y-min: 1.779m, y-max: 12.689m, z-max: 6.91m
- **Indoor 2:** 11,837 data points, 308 sec duration, traveled 210.075m, coordinates range: [-0.281, 13.082]m, z-max: 6.087m
- **Indoor 3, 4, 5:** Additional datasets with varying data points, duration, and spatial coordinates.
[Additional tables and dataset specifics continue similarly for each site.]
## 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}
> } |