license: mit
Q-Drone UWB Benchmark Dataset
Overview
We introduce the Q-Drone UWB Benchmark Dataset, gathered using the Q-Drone system—a UAV equipped with an UWB network developed at York University. The data collection occurred over five diverse environments totaling a flight duration of 1 hour, 50 minutes, and 28 seconds and covered approximately 4.3 kilometers.
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.