论文标题
UTIL：超宽带时间差异到达室内本地化数据集
UTIL: An Ultra-wideband Time-difference-of-arrival Indoor Localization Dataset
论文作者
论文摘要
超宽带（UWB）基于到达的时间差异（TDOA）的定位已成为一种有希望的，低成本和可扩展的室内定位解决方案，这特别适合多机器人应用。但是，缺乏在混乱的室内环境中研究和基准研究UWB TDOA定位技术的公共数据集。我们通过使用DeCawave的DWM1000 UWB模块提出一个综合数据集来填补这一空白。为了表征UWB TDOA测量性性能在各种视线（LOS）和非线（NLOS）条件下，我们在识别实验期间收集了信噪比（SNR），功率差值和RAW UWB TDOA测量值。我们还在定制的四极管平台上进行了大约150分钟的实际飞行实验，以对移动机器人进行UWB TDOA本地化性能进行基准测试。使用四个不同的UWB锚星星在无障碍物和混乱的环境中，命令四型四型在平均速度为0.45 m/s的飞行。在飞行过程中收集了包括UWB TDOA，惯性测量单元（IMU），光流，飞行时间（TOF）激光高度和毫米清理地面真相机器人姿势的原始传感器数据。数据集和开发套件可在https://utiasdsl.github.io/util-uwb-dataset/上找到。
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of public datasets to study and benchmark UWB TDOA positioning technology in cluttered indoor environments. We fill in this gap by presenting a comprehensive dataset using Decawave's DWM1000 UWB modules. To characterize the UWB TDOA measurement performance under various line-of-sight (LOS) and non-line-of-sight (NLOS) conditions, we collected signal-to-noise ratio (SNR), power difference values, and raw UWB TDOA measurements during the identification experiments. We also conducted a cumulative total of around 150 minutes of real-world flight experiments on a customized quadrotor platform to benchmark the UWB TDOA localization performance for mobile robots. The quadrotor was commanded to fly with an average speed of 0.45 m/s in both obstacle-free and cluttered environments using four different UWB anchor constellations. Raw sensor data including UWB TDOA, inertial measurement unit (IMU), optical flow, time-of-flight (ToF) laser altitude, and millimeter-accurate ground truth robot poses were collected during the flights. The dataset and development kit are available at https://utiasdsl.github.io/util-uwb-dataset/.
