Data underlying the publication: "A Computationally Efficient Moving Horizon Estimator for UWB Localization on Small Quadrotors""

This Dataset contains the data files used for simulations in the publication "A Computationally Efficient Moving Horizon Estimator for Ultra-Wideband Localization on Small Quadrotors" (2021) by S. Pfeiffer, C. de Wagter and G.C.H.E de Croon. <br><br>The logs were collected in two different UWB modes (TWR and TdoA) and on 6 different trajectories (Square, Triangle, Octagon, Hourglass, Star, Random). UWB data was gathered with 8 anchors positioned roughly in the corners of a cube. Two of the files do not contain complete UWB data and are marked with the suffix "_BAD".<br><br>The data was recorded on a Crazyflie 2.1 in the TU Delft "Cyberzoo" indoor flight arena using the scripts found at https://github.com/Huizerd/crazyflie-suite. The code used for the simulations in the paper can be found at https://github.com/SUPfeiffer/uwb-simulator.<br><br><br>This dataset contains the following files:- anchor_positions.yaml : This file contains the location of the UWB anchors in Cyberzoo coordinates<br>- date_time_mode_trajectory.csv : The log files<br><br><br>The log files contain the following fields:<br>- timeTick : timestamps in ms<br>- gyroX/gyroY/gyroZ: Gyroscope measurements in deg/s<br>- accX/accY/accZ: Accelerometer measurments in G (1G = 9.81m/s)<br>- twri: TWR distance measurement to anchor i<br>- tdoaij: TdoA measurement from anchors i and j<br>- otX/otY/otZ: Groundtruth measured by an optitrack motion capture system

本数据集包含S. Pfeiffer、C. de Wagter与G.C.H.E de Croon于2021年发表的论文《用于小型四旋翼无人机超宽带定位的计算高效移动视界估计器》（A Computationally Efficient Moving Horizon Estimator for Ultra-Wideband Localization on Small Quadrotors）中仿真实验所用的数据文件。

本次采集的日志数据覆盖两种超宽带（Ultra-Wideband, UWB）工作模式（双边飞行时间测距TWR与到达时间差TdoA），并对应6种不同飞行轨迹：方形、三角形、八边形、沙漏形、星形与随机轨迹。实验采用8个锚节点，大致布置在立方体的八个角落处采集UWB数据。另有2个文件未包含完整的UWB数据，以后缀"_BAD"标注。

本数据集的数据采集于代尔夫特理工大学（TU Delft）“Cyberzoo”室内飞行实验场内的Crazyflie 2.1无人机，数据录制使用了https://github.com/Huizerd/crazyflie-suite 仓库中的脚本。论文中仿真实验所用的代码可从https://github.com/SUPfeiffer/uwb-simulator 仓库获取。

本数据集包含以下文件：
- anchor_positions.yaml：该文件存储了Cyberzoo坐标系下的UWB锚节点位置信息
- date_time_mode_trajectory.csv：日志数据文件

日志文件包含以下字段：
- timeTick：以毫秒（ms）为单位的时间戳
- gyroX/gyroY/gyroZ：陀螺仪测量值，单位为度每秒（deg/s）
- accX/accY/accZ：加速度计测量值，单位为G（1G = 9.81m/s）
- twri：与第i个锚节点的双边飞行时间（TWR）距离测量值
- tdoaij：锚节点i与j之间的到达时间差（TdoA）测量值
- otX/otY/otZ：通过OptiTrack动作捕捉系统获取的真实位置数据