MVRGD-MUE: Multi-vehicle Raw GNSS Dataset with Multipath in Urban Environment

This dataset comprises the supplementary material of the paper "Silva, I., Silva, H., Pereira, P., Botelho, F., & Pendão, C. (2026). Simulating GNSS multipath in urban environments using 3D ray tracing for automotive applications. Elsevier Pervasive and Mobile Computing" (10.1016/j.pmcj.2026.102238), which describes the simulation pipeline in order to obtain vehicles' sensor data as well as the raw GNSS measurements using a ray-tracing-based multipath model. 

The CARLA simulator was used to generate vehicles' trajectories, with Town03 scenario. 5 vehicles equipped with GNSS, IMU, and odometer sensors with a random motion were considered. Sensor sample rate is 20 Hz and simulation duration is 1200 s (20 minutes). 

To generate GNSS raw measurements with 3D scene-dependent multipath, satellites' orbits were considered during the CARLA simulation to compute the possible paths between the satellite and the receiver considering the 3D city model. Signal reflections were computed using a ray-tracing approach on the 3D city model from CARLA, represented by an octree. After computing LOS and NLOS signal components, we compute the received signal power, phase and delay to determine the multipath error at the receiver, caused by the city's urban structures. Finally the raw GNSS pseudoranges and carrier phases, considering this multipath error are obtained. GNSS raw measurements were generated with GPSoft SatNav Toolbox for Matlab, considering the multipath estimate from the proposed approach.

Full simulation configurations as well as the description of generated files are available in the readme file. 

Citation Request

If you would like to use the dataset provided please cite the two following items:

Paper: Silva, I., Silva, H., Pereira, P., Botelho, F., & Pendão, C. (2026). Simulating GNSS multipath in urban environments using 3D ray tracing for automotive applications. Pervasive and Mobile Computing, Article 102238. https://doi.org/10.1016/j.pmcj.2026.102238.

Dataset: Silva, I., Silva, H., Pereira, P., Botelho, F., & Pendão, C. (2025). MVRGD-MUE: Multi-vehicle raw GNSS dataset with multipath in urban environment. https://doi.org/10.5281/zenodo.14849950

Acknowledgement

This work has been supported by FCT – Fundação para a Ciência e Tecnologia within the R&D Unit Project Scope UID/00319/2025 - Centro ALGORITMI (ALGORITMI/UM)