RailDriVE February 2019 - Data Set for Rail Vehicle Positioning Experiments

<strong>Key facts</strong> <strong>Fields of application:</strong><br> railway positioning, sensor fusion, sensor models <strong>Available data:</strong><br> 2x GNSS, 2x IMU, 1x odometer, 2x speed sensors, camera images <strong>Available reference data:</strong><br> Open GNSS/IMU EKF-fusion solution (loosely coupled), Proprietary GNSS/IMU EKF-fusion solution (tightly coupled), Track-Map <strong>Structure:</strong><br> This data set follows the data sharing principles of the LRT (localization reference train) initiative that are available at lrt-initiative.org. <strong>About</strong> We provide a data set that can be used for various rail vehicle positioning experiments. The data were collected using the German Aerospace Center (DLR) research vehicle RailDriVE on a segment of the Braunschweig harbor railway in February 2019. Several sensors of the RailDriVE equipment and an additional self-sufficient system provided by Technische Universität Darmstadt (TU Darmstadt) were employed, including two GNSS receivers, two inertial measurement units (IMU), and several speed and distance sensors (radar, optical, odometer). Front-facing camera data has been included for documentation purposes. In order to simplify its use, some pre-processing steps were applied to the data, mainly to have common time and coordinate frames. Furthermore, example and reference positioning solutions as well as a track map have been included. The data can be used as a starting point for research work or student theses. Novel and established algorithms for many different sub-problems can be tested on the data, in order to facilitate their comparison and make results and insights more accessible. <strong>Companion paper</strong> For reference to the data set in your research, please cite the companion paper: M. Roth and H. Winter, "An Open Data Set for Rail Vehicle Positioning Experiments," 23rd International Conference on Intelligent Transportation Systems (ITSC), Sep. 2020