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--- |
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license: mit |
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language: |
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- en |
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tags: |
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- UAV |
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- UWB |
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- Ultra-Wideband |
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- Positioning |
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- Localization |
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- Benchmark |
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- Indoor |
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- Outdoor |
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- Machine Learning |
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- Sensor Fusion |
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- Robotics |
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pretty_name: QDrone |
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--- |
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license: mit |
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--- |
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# Q-Drone UWB Benchmark Dataset |
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## Overview |
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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. |
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### Environments and Locations |
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The data were collected from the following sites: |
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- **Indoor:** Indoor environment, 26m(w) x 33m(l), Oshawa, Ontario, Canada |
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- **Field:** Outdoor open sports field, 12m(w) x 13m(l), Uxbridge, Ontario, Canada |
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- **Building:** Near a glass building, 7m(w) x 7m(l), Newmarket, Ontario, Canada |
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- **Bridge:** Underneath a concrete-metal bridge, 10m(w) x 23m(l), Niagara, Ontario, Canada |
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- **Tunnel:** Under a metal bridge, 8m(w) x 30m(l), Oshawa, Ontario, Canada |
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### Data Acquisition and Statistics |
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#### Overall Dataset Characteristics |
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| Site | Number of Datasets | Avg Data per Dataset | Flight Time (sec) | Travelled Distance (m) | Deployed UWB Anchors Area (m²) | UWB Range MAE (m) | |
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|------------|--------------------|----------------------|-------------------|------------------------|---------------------------------|-------------------| |
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| Indoor | 5 | 62194 | 1687 | 1260.88 | 91.96 | 0.37 | |
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| Field | 5 | 92108 | 2313 | 1780.52 | 158.74 | 0.17 | |
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| Building | 3 | 34007 | 823 | 388.92 | 50.10 | 2.02 | |
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| Bridge | 4 | 26359 | 726 | 330.02 | 246.80 | 0.34 | |
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| Tunnel | 6 | 39164 | 1079 | 504.47 | 241.80 | 1.61 | |
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| **Total** | **23** | **253832** | **6628** | **4264.81** | **789.4** | **0.902** | |
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#### Detailed Individual Dataset Information |
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The specifics of data acquired per dataset include data points, IMU measurements, and precise coordinates of the UWB anchors for accurate localization. |
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### Example Dataset Detail: Indoor |
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- **UWB Anchors:** |
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- UWB0 (0, 0, 0.62) |
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- UWB1 (8.51, 0, 0.96) |
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- UWB2 (-0.26, 10.77, 1.32) |
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- UWB3 (8.25, 10.84, 1.58) |
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- **Datasets:** |
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- **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 |
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- **Indoor 2:** 11,837 data points, 308 sec duration, traveled 210.075m, coordinates range: [-0.281, 13.082]m, z-max: 6.087m |
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- **Indoor 3, 4, 5:** Additional datasets with varying data points, duration, and spatial coordinates. |
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[Additional tables and dataset specifics continue similarly for each site.] |
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## Conclusion |
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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. |
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## Citation: | |
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**Please Cite Our Work**: If you use this dataset for your research, we kindly ask you to cite the following paper: |
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> @inproceedings{arjmandi2020uwb, |
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> title={Benchmark Dataset of Ultra-Wideband Radio Based UAV Positioning}, |
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> author={Arjmandi, Zahra and Kang, Jungwon and Park, Sohn Kunwoo and Gunho}, |
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> booktitle={IEEE International Conference on Intelligent Transportation Systems}, |
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> year={2020} |
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> } |
