Dataset for the paper "High Precision Localisation in Customised GNSS Receiver for Railway Applications"

In railway applications, global navigation satellite system (GNSS)-aided navigation is still an underdog and rarely applied nowadays. The reasons are the required high robustness in localisation availability and integrity, even in harsh environmental conditions. Our publication "High Precision Localisation in Customised GNSS Receiver for Railway Applications" shows the ongoing localisation filter developments for a new embedded GNSS-receiver, which is especially designed for railway applications. The targeted hardware includes an industrial-class inertial measurement unit (IMU) and an L1/L2 multi-frequency GNSS receiver, packed in a highly-integrated real-time hardware. In this paper, focus is put on the complete filter design methodology and its parameterisation for simulative and experimental testing. The present accompanying dataset includes the GPS and IMU measurements which were used during the discussion of the results of the proposed filter. Two measurement sets are provided, the first being one with overall good satellite perception and smooth driving, while the second includes sections of partial and complete satellite outages, multipath environments and still stands.