UWB Positioning and Tracking Data Set

# UWB Positioning and Tracking Data Set UWB positioning data set contains measurements from four different indoor environments. The data set contains measurements that can be used for range-based positioning evaluation in different indoor environments. # Measurement system The measurements were made using 9 DW1000 UWB transceivers (DWM1000 modules) connected to the networked RaspberryPi computer using in-house radio board SNPN_UWB. 8 nodes were used as positioning anchor nodes with fixed locations in individual indoor environment and one node was used as a mobile positioning tag. Each UWB node is designed arround the RaspberryPi computer and are wirelessly connected to the measurement controller (e.g. laptop) using Wi-Fi and MQTT communication technologies. All tag positions were generated beforehand to as closelly resemble the human walking path as possible. All walking path points are equally spaced to represent the equidistand samples of a walking path in a time-domain. The sampled walking path (measurement TAG positions) are included in a downloadable data set file under downloads section. # Folder structure Folder structure is represented below this text. Folder contains four subfolders named by the indoor environments measured during the measurement campaign and a folder raw_data where raw measurement data is saved. Each environment folder has a anchors.csv file with anchor names and locations, .json file data.json with measurements, file walking_path.csv file with tag positions and subfolder floorplan with floorplan.dxf (AutoCAD format), floorplan.png and floorplan_track.jpg. Subfolder raw_data contains raw data in subfolders named by the four indor environments where the measurements were taken. Each location subfolder contains a subfolder data where data from each tag position from the walking_path.csv is collected in a separate folder. There is exactly the same number of folders in data folder as is the number of measurement points in the walking_path.csv. Each measurement subfolder contains 48 .csv files named by communication channel and anchor used for those measurements. For example: ch1_A1.csv contains all measurements at selected tag location with anchor A1 on UWB channel ch1. The location folder contains also anchors.csv and walking_path.csv files which are identical to the files mentioned previously. The last folder in the data set is the technical_validation folder, where results of technical validation of the data set are collected. They are separated into 6 subfolders: - cir_min_max_mean - positioning_wls - range - range_error - range_error_histograms - rss The organization of the data set is the following: data_set + location0 - anchors.csv - data.json - walking_path.csv + floorplan - floorplan.dxf - floorplan.png - floorplan_track.jpg - walking_path.csv + location1 - ... + location2 - ... + location3 - ... + raw_data + location0 + data + 1.07_9.37_1.2 - ch1_A1.csv - ch7_A8.csv - ... + 1.37_9.34_1.2 - ... + ... + location1 + ... + location2 + ... + location3 + ... + technical validation + cir_min_max_mean + positioning_wls + range + range_error + range_error_histograms + rss - LICENSE - README # Data format Raw measurements are saved in .csv files. Each file starts with a header, where first line represents the version of the file and the second line represents the data column names. The column names have a missing column name. Actual column names included in the .csv files are: TAG_ID ANCHOR_ID X_TAG Y_TAG Z_TAG X_ANCHOR Y_ANCHOR Z_ANCHOR NLOS RANGE FP_INDEX RSS RSS_FP FP_POINT1 FP_POINT2 FP_POINT3 STDEV_NOISE CIR_POWER MAX_NOISE RXPACC CHANNEL_NUMBER FRAME_LENGTH PREAMBLE_LENGTH BITRATE PRFR PREAMBLE_CODE CIR (starts with this column; all columns until the end of the line represent the channel impulse response) # Availability of CODE Code for data analysis and preprocessing of all data available in this data set is published on GitHub: https://github.com/KlemenBr/uwb_positioning.git The code is licensed under the Apache License 2.0. # Authors and License Author of data set in this repository is Klemen Bregar, [e-mail]. Copyright (C) 2021 SensorLab, Jožef Stefan Institute, [e-mail]. This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License. # Funding The research leading to these results has received funding from the European Horizon 2020 Programme project eWINE under grant agreement No. 688116.

# 超宽带（UWB）定位与追踪数据集
本数据集包含来自四种不同室内环境的测量数据，可用于不同室内场景下基于测距的定位算法评估。

## 测量系统
本次测量采用9台DW1000超宽带（UWB）收发器（DWM1000模块），通过自研射频板SNPN_UWB连接至联网的树莓派（RaspberryPi）计算机。其中8个节点作为固定部署于各室内环境的定位锚节点，剩余1个节点作为移动定位标签。每台UWB节点基于树莓派计算机设计，通过Wi-Fi与MQTT通信技术无线连接至测量控制器（如笔记本电脑）。所有标签的预设行走路径尽可能贴近人类步行轨迹，路径上的采样点间距均等，以表征时域上等间隔的步行路径采样。采样得到的步行路径（即标签测量位置）已置于数据集下载板块的可下载文件中。

## 文件夹结构
数据集包含四个以本次测量场景命名的子文件夹，以及一个用于存储原始测量数据的raw_data文件夹。每个场景文件夹均包含：存储锚节点名称与位置的anchors.csv文件、存储测量数据的data.json文件、存储标签位置的walking_path.csv文件，以及包含floorplan.dxf（AutoCAD格式）、floorplan.png与floorplan_track.jpg的floorplan子文件夹。
raw_data文件夹下包含四个对应测量场景的子文件夹，文件夹名称以采集数据的室内场景命名。每个场景子文件夹内设有data子文件夹，其中的子文件夹数量与walking_path.csv中的测量点数完全一致，每个子文件夹以对应标签位置的坐标命名（例如1.07_9.37_1.2）。每个测量子文件夹内包含48个以通信信道与对应锚节点命名的.csv文件，例如ch1_A1.csv存储了在该标签位置下、使用锚节点A1与UWB信道ch1采集的全部测量数据。每个场景文件夹内同样包含与前文所述内容一致的anchors.csv与walking_path.csv文件。
数据集的最后一个文件夹为technical_validation（技术验证）文件夹，用于存储本数据集的技术验证结果，该文件夹下设6个子文件夹，分别为：cir_min_max_mean、positioning_wls、range、range_error、range_error_histograms与rss。
数据集的整体组织形式如下：

data_set
├─ location0
│ ├─ anchors.csv
│ ├─ data.json
│ ├─ walking_path.csv
│ ├─ floorplan
│ │ ├─ floorplan.dxf
│ │ ├─ floorplan.png
│ │ └─ floorplan_track.jpg
│ └─ walking_path.csv
├─ location1
│ └─ ...
├─ location2
│ └─ ...
├─ location3
│ └─ ...
├─ raw_data
│ ├─ location0
│ │ └─ data
│ │ ├─ 1.07_9.37_1.2
│ │ │ ├─ ch1_A1.csv
│ │ │ ├─ ch7_A8.csv
│ │ │ └─ ...
│ │ ├─ 1.37_9.34_1.2
│ │ └─ ...
│ ├─ location1
│ │ └─ ...
│ ├─ location2
│ │ └─ ...
│ └─ location3
│ └─ ...
└─ technical validation
├─ cir_min_max_mean
├─ positioning_wls
├─ range
├─ range_error
├─ range_error_histograms
└─ rss
├─ LICENSE
└─ README

## 数据格式
原始测量数据存储于.csv格式文件中。每个文件的首行为文件版本号，第二行为数据列名。部分.csv文件的列名存在一处缺失项，实际包含的列名如下：TAG_ID、ANCHOR_ID、X_TAG、Y_TAG、Z_TAG、X_ANCHOR、Y_ANCHOR、Z_ANCHOR、NLOS、RANGE、FP_INDEX、RSS、RSS_FP、FP_POINT1、FP_POINT2、FP_POINT3、STDEV_NOISE、CIR_POWER、MAX_NOISE、RXPACC、CHANNEL_NUMBER、FRAME_LENGTH、PREAMBLE_LENGTH、BITRATE、PRFR、PREAMBLE_CODE，以及信道冲激响应（CIR）列（从该列起至行末的所有列均为信道冲激响应数据）。

## 代码可用性
本数据集所有数据分析与预处理代码已发布于GitHub平台：https://github.com/KlemenBr/uwb_positioning.git，代码采用Apache许可证2.0进行授权。

## 作者与许可
本数据集的作者为Klemen Bregar，联系邮箱：[e-mail]。版权所有 © 2021 约热夫·斯特凡研究所（Jožef Stefan Institute）传感器实验室（SensorLab），联系邮箱：[e-mail]。本作品采用知识共享署名-非商业性使用-相同方式共享4.0国际许可协议进行许可。

## 资助信息
本研究成果的研发工作获得了欧盟地平线2020计划项目eWINE的资助，项目批准编号：688116。

搜集汇总

背景与挑战

背景概述

该数据集提供了四个室内环境下的UWB定位测量数据，包含固定锚节点和移动标签的测量信息，适用于室内定位算法的评估和研究。数据集结构清晰，包含原始数据、标签位置和详细的技术验证结果，并提供了配套的数据分析代码。