Sensor data recorded with a quadrotor helicopter around the campus of the Karlsruhe Institute of Technology in challenging outdoor and indoor environments is provided. The following sensors are used:
- Inertial measurement unit (ADIS 16448)
- GPS receiver (u-blox LEA-M8T)
- Air pressure sensor (Freescale MP3H6115A)
- Magnetometer (Honeywell HMC5843)
- 2D laser rangefinder (Hokuyo UTM-30LX)
Bagfiles for three trajectories are given:
| Date and Time | Bagfile Name | Description |
| October 7, 2019 10:24 a.m. | 2019-10-07-10-24-03.bag | Start open sky; entering between two buildings of 40m height; short indoor section; transition to outdoor. |
| October 24, 2019 2:51 p.m. | 2019-10-24-14-51-02.bag | 2019-10-24-14-51-02.bag Start outdoor; trajectory continues between two buildings; indoor section of almost 2 minutes. |
| October 24, 2019 3:02 p.m. | 2019-10-24-15-02-22.bag | Start outdoor; difficult GPS conditions when entering between buildings: one is a high-rise building of 56m height; indoor part; end position equals start position. |
For each trajectory, two ROS bagfiles are provided: The original files and files with sensor data converted to standard ROS messages. When playing the bagfiles, please make sure the ROS /use_sim_time parameter is set. An exemplary ROS launch file is provided.
Bagfiles with standard ROS messages
These files are denoted by *_rosStandardFormat.bag. Due to using standard ROS messages, no pseudorange and Doppler measurements are included in these files. However, we included the GPS position and velocity estimations which were calculated using a weighted least squares estimation. For accurate time synchronization we provide the timestamps when GPS or laser measurements were taken as the data of these measurements is available only with delays. In these bagfiles, all topics are related to ROS time. The following messages are included in the bagfiles:
| Topic | Message Type | Description |
| /imu | sensor_msgs/Imu | IMU data |
| /fix | sensor_msgs/NavSatFix | GPS position |
| /gpsVelocity | geometry_msgs/TwistWithCovarianceStamped | GPS velocity |
| /gpsValid | std_msgs/Time | Timestamp of GPS measurement |
| /scan | sensor_msgs/LaserScan | Laser rangefinder data |
| /laserValid | std_msgs/Time | Timestamp of laser measurement |
| /barometerPressure | sensor_msgs/FluidPressure | Air pressure data |
| /magneticField | sensor_msgs/MagneticField | 3D magnetic field (body frame) |
| /navboardTime | sensor_msgs/TimeReference | Time reference relating the sensor board time to ROS time |
| /tf_static | tf2_msgs/TFMessage | Coordinate transformations between laser rangefinder, camera, and body frame. |
Original bagfiles
The original bagfiles include the sensor data with timestamps generated by a microcrontroller sensor board. Moreover, GPS pseudorange and Doppler measurements are included as well as ephemeris data and Klobuchar parameters. The following messages are included in the bagfiles:
| Topic | Message Type | Description |
| /scan | sensor_msgs/LaserScan | Laser scanner data |
| /tf_static | tf2_msgs/TFMessage | Coordinate transformations between laser rangefinder, camera, and body frame. |
| /mavlink/from | mavros_msgs/Mavlink | Mavlink messages with sensor data |
The Mavlink message definitions are given in the files
- mavlink_ite.xml
- gnssRaw.xml
- common.xml
The first two files are provided here, the common.xml file can be downloaded from mavlink. A brief overview is given in the following table:
| Mavlink Message Name | Description |
| IMU_ITE | IMU data (body frame coordinates) |
| MAG_3D_ITE | 3D magnetic field (body frame coordinates) |
| SCALED_PRESSURE | Air pressure data |
| LASER_MEASUREMENT_VALID | Timestamp of laser measurement |
| GNSS_MEASUREMENT_VALID | Timestamp of GPS measurement |
| GNSS_RAW_MEASUREMENTS | Pseudorange and Doppler measurements |
| GNSS_RAW_ION | Klobuchar parameters |
| GPS_HEALTH | GPS satellites health status |
| GPS_RAW_EPHEMERIS | GPS ephemeris data |
When processing pseudorange and Doppler measurements we recommend using the original files.
Coordinate frames
- Body frame: X: Forward, Y: Right, Z: Down
- Navigation frame: North, East, Down
Copyright
The datasets are licensed under a Creative Commons Attibution 4.0 International (CC BY 4.0) license. When using the dataset, please cite our paper.
@INPROCEEDINGS{MuellerAtman2020ITM, author = {Karsten Mueller and Jamal Atman and Nikolai Kronenwett and Gert F. Trommer} title = {A Multi-Sensor Navigation System for Outdoor and Indoor Environments} booktitle = {Proceedings of the 2020 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2020} year = {2020} }
For questions regarding the datasets please contact us (Karsten Müller, karsten.mueller@kit.edu and Jamal Atman, jamal.atman@kit.edu).