Dataset of Forklift-Deployed Multi-Sensor Setup for Indirect Tracking of Markerless Industrial Products

Dataset of the time-synchronized multisensor data, collected by a total of four sensors, deployed on the full-scale forklift, operating in the industrial environment. The dataset contains the experimentally collected data for the Indirect Tracking project, as well as its selective processing results. The following initial data is provided: Positioning data of the forklift, collected by using Eliko UWB RTLS system; Selective inertial data of the forklift heading (Z-axis angular velocity), collected by the gyroscope of the IMU unit Bosh bno055; Fork elevation data, collected by Miran MPS series draw wire encoder; Distance to the object in front of the forklift data, collected by ultrasonic distance sensor SEN0208.
The dataset also contains certain results of the initial data processing, used in the context of the Indirect Tracking project. The dataset is provided in the Indirect_Tracking_Dataset.csv file, and contains the following data sections: 
FORKLIFT POSITIONING DATA includes the initial forklift positioning data, including real-time 2D coordinates of the forklift: X [m] and Y [m], collected by the UWB RTLS system at the update rate of 5Hz, along with the corresponding time within the experimental campaign TIME.xy [s] and delta time of the dt.xy [s] between positioning data samples.
FORKLIFT IMU INPUT includes the angular velocity of the forklift heading GYR_Z [deg/s], collected by the onboard gyroscope at 100Hz update rate, along with the corresponding time within the test campaign TIME.xy [s] and delta time of the dt.xy [s] between the data samples.
FORKLIFT HEADING DATA includes the calculated forklift heading data ATKF.YAW [deg], based on the above-mentioned inertial and positioning data, by using the ATKF (Adaptive Tandem Kalman Filter) heading estimation algorithm. This section also includes the estimation of the expected true forklift heading TRU.YAW [deg].
ESTIMATED FORKLIFT FORK COORDINATES & FORK SENSORS' DATA includes the collected and calculated data, related to the fork (tynes) of the used forklift. The provided 2D coordinates of the fork area FORK.X [m] and FORK.Y [m] are calculated by using the above-mentioned forklift positioning and (ATKF estimated) heading data. This section also provides the initial measurement data of the fork elevation sensor (FORK.Z [m]), reflecting the Z coordinate of the fork, and the distance data collected by the ultrasonic Distance sensor [m], reflecting the occupancy of the fork area. Fork elevation and distance sensors' data were simultaneously collected by the onboard MCU with the appropriate update rate of 12Hz).
INTERACTION EVENT reflects the sequential number and the exact period of the forklift interaction with the payload (pick-up or drop-down event).
As in the tested indirect tracking method, the location of the payload pick-up or drop-down is formed over time from 2D (X&Y) and elevation (Z) coordinates, the INDIR.COORD.SAVED reflects the particular event coordinates part (X&Y, or Z), saved at the exact moment. The exact moment of the event coordinates saving is calculated by using the A-PDD (Automatic Pick-up & Drop-down Detection) algorithm, based on the initial data of the aforementioned fork elevation and distance sensors.
The collected data reflects the experimental positioning of two industrial payloads. Sections STATUS & POSITION OF INDIRECTLY TRACKED PAYLOAD 1 and STATUS & POSITION OF INDIRECTLY TRACKED PAYLOAD 2 separately provide the momentary status information PYLD1.STATUS & PYLD2.STATUS of each tracked payload. Each payload has one of four status values: Stored - payload is stored at the known coordinates; Transported - payload is being transported by the forklift and indirectly tracked in real-time; Pick-up - payload pick-up process (event) is ongoing and its coordinates are being defined; Drop-down - payload drop-down process (event) is ongoing and its coordinates are being defined. These sections also provide the corresponding indirectly tracked 3D coordinates of each payload (INDIR.PYLD1.X [m], INDIR.PYLD1.Y [m], INDIR.PYLD1.Z [m]) and (INDIR.PYLD2.X [m], INDIR.PYLD2.Y [m], INDIR.PYLD2.Z [m])
UWB INITIAL PERFORMANCE in INDIRECT METHOD section reflects the momentary positioning quality of the used UWB RTLS system in the initial forklift tracking, and therefore, in the indirect payload localization. The section provides the momentary number of UWB anchor units in the line of sight with the forklift onboard UWB tag INDIR.ANCH_in_LOS (min. required 3), and the momentary status INDIR.POS.SUCCESS of successful coordinates calculation by the UWB system (yes or no).
POSITION OF DIRECTLY TRACKED PAYLOAD 2 includes the real-time coordinates of payload 2 (DIR.PYLD2.X [m], DIR.PYLD2.Y [m], DIR.PYLD2.Z [m]), independently tracked by the directly attached UWB tag. 
UWB INITIAL PERFORMANCE in DIRECT METHOD section reflects the positioning quality of the used UWB RTLS system regarding the UWB tag, directly attached to the payload 2. The momentary number of UWB anchor units in the line of sight with the payload attached UWB tag DIR.ANCH_in_LOS (min. required 4 for 3D positioning) is provided in this section along with the momentary status DIR.POS.SUCCESS of successful coordinates calculation (yes or no).
Section TRUE COORDINATES OF INTERACTED PAYLOADS provides the manually measured true coordinates (PYLD.TRU.X [m], PYLD.TRU.Y [m], PYLD.TRU.Z [m]) of the interacted payload at the moment of the corresponding event.

本数据集包含部署于工业环境中运行的全尺寸叉车上的4个传感器采集的时间同步多传感器数据。该数据集涵盖间接跟踪项目的实验采集数据及其选择性处理结果。提供的初始数据如下：
- 叉车定位数据：由Eliko超宽带实时定位系统（UWB RTLS）采集；
- 叉车航向选择性惯性数据（Z轴角速度）：由博世（Bosh）bno055惯性测量单元（IMU）的陀螺仪采集；
- 货叉高度数据：由Miran MPS系列拉线编码器采集；
- 叉车前方物体距离数据：由超声波距离传感器SEN0208采集。

数据集还包含间接跟踪项目背景下使用的初始数据处理的特定结果，存储于Indirect_Tracking_Dataset.csv文件中，包含以下数据部分：

**叉车定位数据**：包含叉车的实时二维坐标X [m]和Y [m]（由UWB RTLS系统以5Hz更新率采集），以及实验期间对应的时间TIME.xy [s]和定位数据样本间的时间差dt.xy [s]。

**叉车IMU输入数据**：包含叉车航向角速度GYR_Z [deg/s]（由车载陀螺仪以100Hz更新率采集），以及测试期间对应的时间TIME.xy [s]和数据样本间的时间差dt.xy [s]。

**叉车航向数据**：包含通过自适应串联卡尔曼滤波（ATKF，Adaptive Tandem Kalman Filter）航向估计算法基于上述惯性数据和定位数据计算得到的叉车航向估计值ATKF.YAW [deg]，以及叉车期望真实航向的估计值TRU.YAW [deg]。

**估计的货叉坐标及货叉传感器数据**：包含与所用叉车货叉相关的采集及计算数据。货叉区域的二维坐标FORK.X [m]和FORK.Y [m]通过上述叉车定位数据和（ATKF估计的）航向数据计算得到；该部分还提供货叉高度传感器的初始测量数据（FORK.Z [m]，反映货叉的Z坐标）及超声波距离传感器采集的距离数据[m]（反映货叉区域的占用情况）。货叉高度和距离传感器数据由车载微控制单元（MCU）以12Hz的适当更新率同步采集。

**交互事件**：反映叉车与负载交互（拾取或放下事件）的序号及精确时段。

在测试的间接跟踪方法中，负载拾取或放下的位置由二维（X&Y）和高度（Z）坐标随时间形成；INDIR.COORD.SAVED反映事件发生时刻保存的特定事件坐标部分（X&Y或Z）。事件坐标保存的精确时刻通过自动拾取与放下检测（A-PDD，Automatic Pick-up & Drop-down Detection）算法计算得到，该算法基于前述货叉高度和距离传感器的初始数据。

采集的数据反映两个工业负载的实验定位情况。**间接跟踪负载1的状态与位置**和**间接跟踪负载2的状态与位置**部分分别提供每个跟踪负载的瞬时状态信息PYLD1.STATUS和PYLD2.STATUS。每个负载具有四种状态之一：存储（Stored）——负载存放于已知坐标处；运输（Transported）——负载由叉车运输并实时间接跟踪；拾取（Pick-up）——负载拾取过程（事件）正在进行且坐标待确定；放下（Drop-down）——负载放下过程（事件）正在进行且坐标待确定。这些部分还提供每个负载对应的间接跟踪三维坐标（INDIR.PYLD1.X [m]、INDIR.PYLD1.Y [m]、INDIR.PYLD1.Z [m]）和（INDIR.PYLD2.X [m]、INDIR.PYLD2.Y [m]、INDIR.PYLD2.Z [m]）。

**间接方法中的UWB初始性能**部分反映所用UWB RTLS系统在初始叉车跟踪及间接负载定位中的瞬时定位质量。该部分提供叉车车载UWB标签与视线内UWB锚点单元的瞬时数量INDIR.ANCH_in_LOS（最小需求3），以及UWB系统成功计算坐标的瞬时状态INDIR.POS.SUCCESS（是/否）。

**直接跟踪负载2的位置**：包含由直接附着的超宽带（UWB）标签独立跟踪的负载2实时坐标（DIR.PYLD2.X [m]、DIR.PYLD2.Y [m]、DIR.PYLD2.Z [m]）。

**直接方法中的UWB初始性能**部分反映所用UWB RTLS系统针对直接附着于负载2的UWB标签的定位质量。该部分提供负载附着UWB标签与视线内UWB锚点单元的瞬时数量DIR.ANCH_in_LOS（三维定位最小需求4），以及成功计算坐标的瞬时状态DIR.POS.SUCCESS（是/否）。

**交互负载的真实坐标**：提供对应事件时刻交互负载的手动测量真实坐标（PYLD.TRU.X [m]、PYLD.TRU.Y [m]、PYLD.TRU.Z [m]）。