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} }