Datasets
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 (m2)
|
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 | ||||||||