USV_Swarm_Dataset

This dataset contains sensor data for 3 USVs executing cooperative maneuvers.It includes GNSS interference simulation during t=300s to t=600s. File Structure: - USVx_GroundTruth.csv: True Pose (t, x, y, z, r, p, y, vx, vy, vz) - USVx_IMU.csv: Raw IMU data (acc_x, ..., gyro_z) - USVx_GNSS.csv: Degraded GNSS position + Signal Indicators (meas_x, ..., hdop, snr) - USVx_Radar.csv: Relative observations (range, azimuth) to neighbor USVs - USVx_EOS.csv: Relative observations (range, azimuth, elevation) Note: All units are in SI (meters, radians, seconds). Coordinate system is NED.