AERPAW keysight N6841A RF sensor UAV localization measurements with LOS/NLOS information July 2024

This dataset supports research into UAV localization using Time Difference of Arrival (TDOA) measurements under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. It contains data collected from five UAV flight experiments conducted at varying altitudes (40 m, 70 m, 100 m) and bandwidths (1.25 MHz, 2.5 MHz, 5 MHz) using Keysight N6841A RF sensors on the AERPAW testbed. The dataset includes UAV position estimates, ground truth coordinates, LOS/NLOS indicators for each RF sensor, and localization performance metrics. The dataset is a valuable resource for studying the impacts of altitude, bandwidth, and NLOS biases on UAV localization in real-world environments.

Methods
The dataset was collected during five UAV flight experiments conducted at the Aerial Experimentation and Research Platform for Advanced Wireless (AERPAW) testbed. The experiments involved UAVs equipped with a software-defined radio (SDR) transmitting a 3.32 GHz signal with varying bandwidths (1.25 MHz, 2.5 MHz, and 5 MHz) at different altitudes (40 m, 70 m, and 100 m). Four Keysight N6841A RF sensors were deployed on towers LW2-LW5 at AERPAW's Lake Wheeler Road Field Labto capture time-stamped RF signals. The UAVs followed precise, repeatable flight trajectories designed to evaluate localization performance under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. Environmental factors, including trees and buildings, introduced signal obstructions to simulate realistic scenarios. The collected data includes time-difference-of-arrival (TDOA) measurements, LOS/NLOS indicators, and ground truth UAV positions.