Rail Vehicle Positioning Data Set: Lucy, October 2018

<strong>Key facts</strong> <strong>Fields of application:</strong><br> railway positioning, sensor fusion, sensor models <strong>Available data:</strong><br> 2x GNSS, 1x IMU <strong>Rail-track characteristics:</strong><br> ≈120 km on conventional and secondary line (tight curves, steep slopes, forested embankment) <strong>Available reference data:</strong><br> Open GNSS/IMU EKF-fusion solution (loosely coupled), high precision 3D 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> This data set can be used for rail vehicle positioning experiments. It contains measurements of an 6-DOF IMU and two GNSS receivers. The senors were mounted on a regular rail vehicle during a trip from Chemnitz (Germany, Saxony) to Schwarzenberg (Germany, Saxony) and back. The recorded data have been pre-processed to have common time and coordinate frames. Furthermore, a simple loosely coupled GNSS/IMU positioning solution is provided which can be used as a baseline for more advanced fusion approaches. All MATLAB scripts used to process the raw data and to calculate the GNSS/IMU positioning solution are provided within the data set. The data can be used as a starting point for own work. Special features of this data set are its covered terrain (tight curves, steep slopes, forest embankment), its test-track (often used as test-track for new railway equipment) and the availability of a high precision 3D track-map. <strong>Similar data sets</strong> https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2292.2 https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2529 <!-- .rvpds_tab { margin-left: 40px; } --> <strong>BibTex</strong> @Misc{WinterRailDataSetOctober2018,<br> title = {Rail Vehicle Positioning Data Set: Lucy, October 2018},<br> author = {Winter, Hanno},<br> doi = {10.25534/tudatalib-360},<br> publisher = {Technische Universität Darmstadt},<br> year = {2020},<br> }