Tram's Positioning Dataset

This dataset proviodes measurements of the Next Generation Autononomous Positioning (NGAP) system in Tram 1013 operating in revenue service in Florence tramway. The NGAP system collects measurements related to vehicle dynamics from on-board sensors: RADAR, inertial measurement unit (IMU) and global navigation satellite system (GNSS). The dataset contains measurements relevant to sections of a tramway corridor in Florence.