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 8 subfolders: - cir_min_max_mean - los_nlos - positioning_wls - range - range_error - range_error_A6 - 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]. This work is licensed under a Creative Commons Attribution 4.0 International License. # Funding The research leading to the data collection has been partially funded from the European Horizon 2020 Programme project eWINE under grant agreement No. 688116, the Slovenian Research Agency under Grant numbers P2-0016, J2-2507 and bilateral project with Grant number BI-ME/21-22-007.

# 超宽带（UWB）定位与跟踪数据集
UWB定位数据集包含来自四种不同室内环境的测量数据。该数据集涵盖可用于不同室内环境下基于测距的定位评估的各类测量数据。
# 测量系统
本次测量采用9台DW1000 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，并通过Wi-Fi和MQTT通信技术无线连接至测量控制器（如笔记本电脑）。所有标签位置均预先规划，以尽可能贴合人类行走路径；所有行走路径点均等距分布，用于表征时域下行走路径的等间隔采样样本。采样得到的行走路径（即本次测量所用的标签位置）已收录至下载专区的可下载数据集文件中。
# 文件夹结构
数据集的文件夹结构如下所述。数据集包含四个以测量活动中覆盖的室内环境命名的子文件夹，以及一个用于存储原始测量数据的raw_data（原始数据）文件夹。每个环境文件夹均包含：anchors.csv（锚节点名称与位置信息文件）、data.json（测量数据文件）、walking_path.csv（标签位置信息文件），以及floorplan（平面图）子文件夹，该子文件夹内含floorplan.dxf（AutoCAD格式）、floorplan.png和floorplan_track.jpg三类平面图文件。raw_data子文件夹下包含四个以测量环境命名的子文件夹，每个环境子文件夹内设有data子文件夹，其中按walking_path.csv中的每个标签位置分别创建独立子文件夹，data文件夹中的子文件夹数量与walking_path.csv中的测量点数量完全一致。每个测量子文件夹内包含48个以通信信道和所用锚节点命名的.csv文件，例如：ch1_A1.csv包含了在选定标签位置下，使用锚节点A1在UWB信道ch1上采集的所有测量数据。该位置文件夹同时包含与前文所述内容一致的anchors.csv和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，用于收纳数据集的技术验证结果，该文件夹下设8个子文件夹：- cir_min_max_mean（信道冲激响应的最小/最大/均值）、- los_nlos（视距/非视距）、- positioning_wls（加权最小二乘定位）、- range（测距）、- range_error（测距误差）、- range_error_A6（锚节点A6的测距误差）、- range_error_histograms（测距误差直方图）、- rss（接收信号强度）。数据集的整体组织形式如下：
data_set（数据集根目录）
├─ location0（环境0）
│ ├─ anchors.csv
│ ├─ data.json
│ ├─ walking_path.csv
│ └─ floorplan
│ ├─ floorplan.dxf
│ ├─ floorplan.png
│ └─ floorplan_track.jpg
├─ location1（环境1）
│ └─ ...
├─ location2（环境2）
│ └─ ...
├─ location3（环境3）
│ └─ ...
├─ raw_data
│ ├─ location0
│ │ └─ data
│ │ ├─ 1.07_9.37_1.2（标签位置坐标子文件夹）
│ │ │ ├─ ch1_A1.csv
│ │ │ ├─ ch7_A8.csv
│ │ │ └─ ...
│ │ ├─ 1.37_9.34_1.2
│ │ │ └─ ...
│ │ └─ ...
│ ├─ location1
│ │ └─ ...
│ ├─ location2
│ │ └─ ...
│ └─ location3
│ └─ ...
└─ technical_validation（技术验证文件夹）
├─ 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文件中。每个文件均以文件版本作为首行，第二行为数据列名。部分列名存在缺失，实际.csv文件中包含的列名如下：TAG_ID（标签ID）、ANCHOR_ID（锚节点ID）、X_TAG、Y_TAG、Z_TAG（标签三维坐标）、X_ANCHOR、Y_ANCHOR、Z_ANCHOR（锚节点三维坐标）、NLOS（非视距标识）、RANGE（测距值）、FP_INDEX、RSS（接收信号强度）、RSS_FP、FP_POINT1、FP_POINT2、FP_POINT3、STDEV_NOISE（噪声标准差）、CIR_POWER（信道冲激响应功率）、MAX_NOISE、RXPACC、CHANNEL_NUMBER（信道编号）、FRAME_LENGTH（帧长）、PREAMBLE_LENGTH（前导码长度）、BITRATE（比特率）、PRFR、PREAMBLE_CODE（前导码码型）、CIR（从该列开始，直至行尾的所有列均代表信道冲激响应数据）
# 代码可用性
本数据集所有数据的分析与预处理代码已发布于GitHub：https://github.com/KlemenBr/uwb_positioning.git，代码采用Apache License 2.0开源许可协议。
# 作者与许可
本数据集的作者为Klemen Bregar，邮箱地址为[e-mail]。本作品采用知识共享署名4.0国际许可协议（Creative Commons Attribution 4.0 International License）进行授权。
# 资助信息
本数据集采集相关的研究工作获得了欧洲地平线2020计划（European Horizon 2020 Programme）eWINE项目（资助协议编号688116）、斯洛文尼亚研究署（Slovenian Research Agency）资助项目（编号P2-0016、J2-2507）以及双边合作项目（编号BI-ME/21-22-007）的部分资助。

搜集汇总

背景与挑战

背景概述

该数据集提供了四个不同室内环境下的UWB定位和跟踪测量数据，包含固定锚节点和移动标签的测量结果，适用于基于范围的室内定位评估。数据集结构清晰，包含原始数据、技术验证结果和详细的元数据文件。