Datasets:

QDrone
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UWB_IMU_GT_QDrone_Benchmark_Dataset

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 license: mit
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-title: Datasets
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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.
-|     **Site**     |     **Environment**                                      |     **Location**                  |     **Area**            |
-|--------------|------------------------------------------------------|-------------------------------|---------------------|
-|     Indoor   |     Indoor                                           | Oshawa, Ontario, Canada       |     26m(w) x 33m(l) |
-|     Field    |     Outdoor, open sport field                        | Uxbridge, Ontario, Canada     |     12m(w) x 13m(l) |
-|     Building |     Outdoor, close to building                       | Newmarket, Ontario, Canada    |     7m(w) x 7m(l)   |
-|     Bridge   |     Semi-open outdoor, under a concrete-metal bridge | Niagara, Ontario, Canada      |     10m(w) x 23m(l) |
-|     Tunnel   |     Semi-open outdoor, under a metal bridge          | Oshawa, Ontario, Canada       |     8m(w) x 30m(l)  |
-#### Data acquisition statistic characteristic of each category:
-|**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)**|
-|  ^^ |  ^^ |**Ranges**|**IMU Height**|**IMU Data**|**Ground Truth**|^^|^^|^^|^^|
-|-|-|-|-|-|-|-|-|-|-|
-|     Indoor |     5    |     62194    |     84437    |     168879    |     9031    |     1687    |     1260.88    |     91.96    |     0.37    |
-|     Field |     5    |     92108    |     111079    |     222169    |     2182    |     2313    |     1780.52    |     158.74    |     0.17    |
-|     Building |     3    |     34007    |     37005    |     74004    |     732    |     823    |     388.92    |     50.10    |     2.02    |
-|     Bridge |     4    |     26359    |     28347    |     56702    |     3672    |     726    |     330.02    |     246.80    |     0.34    |
-|     Tunnel |     6    |     39164    |     41779    |     83557    |     5210    |     1079    |     504.47    |     241.80    |     1.61    |
-|     Total |     23    |     253832    |     302647    |     605311    |     20827    |     6628    |     4264.81    |     789.4    |     0.902    |
-#### Detailed information about each dataset are presented in the following table:
- | |**Number of Data**||||**Duration (sec)**|**Travelled distance(m)**|**x-min(m)**|**y-min(m)**|**z-max(m)**
-^^|**Ranges**|**Height**|**IMU**|**Ground Truth**|^^|^^|**x-max(m)**|**y-max(m)**|^^
-:-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:|:-----:
-**Indoor**||||||||||
-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)||||||||||
-Indoor 1|10127|13359|26722|1458|267|167.18|2.592|1.779|6.91
- ^^|^^|^^|^^|^^|^^|^^|4.745|12.689|^^
-Indoor 2|11837|15418|30836|1217|308|210.075|-0.281|-1.356|6.087
-^^|^^|^^|^^|^^|^^|^^|8.164|13.082|^^
-Indoor 3|15834|22067|44134|2511|441|297.976|-0.474|-0.03|7.164
-^^|^^|^^|^^|^^|^^|^^|7.916|9.97|^^
-Indoor 4|7929|11387|22773|1222|227|138.659|-0.44|0.207|6.212
-^^|^^|^^|^^|^^|^^|^^|8.256|8.474|^^
-Indoor 5|16467|22206|44414|2623|444|446.987|-1.403|-1.184|5.347
-^^|^^|^^|^^|^^|^^|^^|9.39|10.174|^^
-**Outdoor Field**||||||||||
-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)||||||||||
-Field 1|12622|14551|29103|280|313|198.021|-0.467|3.442|21.963
-^^|^^|^^|^^|^^|^^|^^|11.528|7.525|^^
-Field 2|20274|24201|48403|463|501|359.811|-0.06|-0.916|21.344
-^^|^^|^^|^^|^^|^^|^^|12.579|12.303|^^
-Field 3|19651|23900|47804|474|479|324.853|-0.36|-1.599|21.391
-^^|^^|^^|^^|^^|^^|^^|12.327|13.498|^^
-Field 4|19919|24800|49603|491|507|494.55|-3.464|0.842|20.782
-^^|^^|^^|^^|^^|^^|^^|12.49|30.253| ^^
-Field 5|19642|23627|47256|474|513|403.288|-1.374|1.378|21.676
-^^|^^|^^|^^|^^|^^|^^|12.764|25.321|^^
-**Outdoor Structure**||||||||||
-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)||||||||||
-Structure 1|10041|10902|21801|216|22|119.92|4.7649|2.082|21.22
-^^|^^|^^|^^|^^|^^|^^|14.077|12.421|^^
-Structure 2|10951|11951|23902|234|257|120.889|4.365|2.26|20.866
-^^|^^|^^|^^|^^|^^|^^|13.586|12.894|^^
-Structure 3|13015|14152|28301|282|341|148.108|1.62|-1.945|21.143
-^^|^^|^^|^^|^^|^^|^^|8.561|4.663|^^
-**Bridge**||||||||||
-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)||||||||||
-Bridge 1|3430|3700|7402|465|102.275|40.527|8.403|2.084|5.631
-^^|^^|^^|^^|^^|^^|^^|14.505|11.796|^^
-Bridge 2|4640|5000|10002|647|132.285|54.91|4.967|2.362|5.468
-^^|^^|^^|^^|^^|^^|^^|14.788|11.644|^^
-Bridge 3|9193|9800|19602|1286|249.289|122.686|2.255|0.105|5.712
-^^|^^|^^|^^|^^|^^|^^|15.057|13.017|^^
-Bridge 4|9096|9847|19696|1274|242.281|111.901|2.581|-1.853|5.55
-^^|^^|^^|^^|^^|^^|^^|15.938|12.619|^^
-**Tunnel**||||||||||
-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)||||||||||
-Tunnel 1|9378|10147|20294|1298|212|104.398|3.521|-2.099|2.985
-^^|^^|^^|^^|^^|^^|^^|25.368|6.498|^^
-Tunnel 2|4336|4600|9201|570|111|56.407|3.656|-4.542|3.139
-^^|^^|^^|^^|^^|^^|^^|25.169|4.205|^^
-Tunnel 5|10571|11250|22500|1384|231|138.985|-3.584|-5.418|3.943
-^^|^^|^^|^^|^^|^^|^^|26.869|7.186|^^
-Tunnel 7|8083|8582|17161|1073|228|71.361|-3.644|2.434|2.739
-^^|^^|^^|^^|^^|^^|^^|24.467|6.8|^^
-Tunnel 8|6796|7200|14401|885|171|73.267|-0.901|-5.198|3.013
-^^|^^|^^|^^|^^|^^|^^|27.589|4.275|^^

 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.