---
license: mit
language:
  - en
tags:
  - UAV
  - UWB
  - Ultra-Wideband
  - Positioning
  - Localization
  - Benchmark
  - Indoor
  - Outdoor
  - Machine Learning
  - Sensor Fusion
  - Robotics
pretty_name: QDrone
---
For additional details, please visit our website: [https://benchmark.qdrone.ausmlab.com](https://benchmark.qdrone.ausmlab.com).
# Q-Drone UWB Benchmark Dataset
## Overview
We present the Q-Drone UWB Benchmark, a unique dataset derived from experiments conducted using the Q-Drone system—a UAV equipped with a UWB network at York University. This dataset encompasses data from five different sites, including an indoor environment, an open sports field, an area near a glass building, a semi-open tunnel, and beneath a bridge. The benchmark data were collected over a total of 1 hour 50 minutes and 28 seconds of flight time, covering approximately 4.3 km with varying UAV maneuvers and spatial configurations between the UAV and UWB anchors.

## Environments and Locations
The data were collected from the following sites:
- **Indoor:** 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
This section details the data acquired per dataset, including IMU measurements and precise coordinates of the UWB anchors for accurate localization.

## UAV Platform
The UAV used is the **DJI Matrice 100**, a professional UAV capable of mounting up to 2.4 kg of payload. The payload consists of:
- **UWB TIME DOMAIN™ P440 UWB tag**
- **Intel NUC computer**
- **Prism GRZ101, 360° mini prism**
- **External battery**

## UWB Anchor System
Developed by TIME DOMAIN, the P400 is an Ultra-Wideband (UWB) radio transceiver. For this experiment, we utilized five PulsON 440 (P440) modules from the P400 family. The UWB anchor setup includes four UWB tags mounted on tripods at varying heights, arranged in a square. Using the Time-of-Flight (TOF) method, it provides 2 cm accuracy distance measurements at up to 125 Hz rate, operable from above 40°C to below -85°C, suitable for high shock and high vibration environments.

## Total Station
A robotic total station was used to ensure reliable data for validating positioning methods. The following instruments were used:
- **Indoor, bridge, and tunnel datasets:** Leica Nova MS60 MultiStation, measuring up to 1000m with 1” (0.00027°) angle accuracy.
- **Outdoor datasets:** Trimble VX Spatial Station, measuring up to 5,500 m with 4 mm accuracy and 0.4 sec measurement time.

## Communication System
The flight platform of the DJI Matrice 100 can be customized via an onboard SDK. Connected devices include:
- **Intel NUC computer:** Connected via Micro-USB, managing communications with the flight controller and onboard sensors.
- **UWB tag and prism:** Provide real-time data including IMU feeds and spatial measurements.

## Data Format
Data are available in **csv** format, and include the following types of data:
- **IMU:** Time(sec), angular velocity (x, y, z), linear acceleration (x, y, z), orientation quaternion (x, y, z, w), height value
- **UWB:** Time(sec), Module ID, Range

The data is provided raw, without calibration, within the UWB anchors' coordination system.

## Structure of Dataset
### UWB Data
- **[row 1]** 0
- **[row 2]** Time(sec), Module ID, Range, Self-range error

### IMU Data
- **[row 1]** 2
- **[row 2]** Time(sec), angular velocity-x, angular velocity-y, angular velocity-z, linear acc-x, linear acc-y, linear acc-z, orientation quaternion-x, orientation quaternion-y, orientation quaternion-z, orientation quaternion-w

### Height
- **[row 1]** 3
- **[row 2]** Height value

## Citation
If you use this dataset in your research, please cite our 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}
  > }