"CoPPIO dataset: Cooperative Pedestrian Positioning in Indoor\/Outdoor environment"

"The Cooperative Pedestrian Positioning in Indoor\/Outdoor environments (CoPPIO) dataset was collected in July 2025 in Vienna, Austria, at the Campus Freihaus building of the Vienna University of Technology. The dataset was collected as part of the joint effort of the FIG Working Group 5.7: Emerging Technologies for PNT, and IAG Working Group 4.1.5: Wireless positioning with terrestrial instruments. The data collection campaign aimed to create a cooperative multi-sensor dataset for pedestrian platforms (i.e., smartphones) in indoor and transition indoor\/outdoor environments where navigation systems cannot rely on GNSS. Data were collected for 4 platforms: the Husky robot platform and 3 user platforms mounted on poles with measured sensor offsets (smartphones + sensors not yet available on smartphones). Collected data include: GNSS data from smartphones, IMU data from smartphones, camera data from smartphones, UWB ranging data between user platforms and anchors, cooperative UWB ranging data between user platforms, Wi-Fi RTT data, Wi-Fi RSS data.Ground truth was collected for 1 dynamic user using a total station, and LiDAR data were used to determine the ground-truth trajectory for 4 dynamic users indoors. The network of anchor points and stop-and-go points was measured with a total station. "