Time-Synchronized Multi-Sensor Drone Dataset (TSMS-Drone)

To provide a publicly available data set for developing robust drone detection and classification systems, a multi-sensor dataset composed of time-synchronized signals from Frequency-Modulated Continuous Wave (FMCW) radar, Continuous Wave (CW) radar, and Radio Frequency (RF) receiver is provided. The dataset includes raw and processed signals collected from four different types of commercial drones and one non-drone target, and signals for different sensors are collected simultaneously. Measurements were taken across distances ranging from 2 to 30 meters in 2-meter intervals, with repeated trials under controlled conditions to ensure consistency. It contains both raw signals and processed representations—range-Doppler maps, Doppler spectrum, and power spectral densities—facilitating signal-level and image-based analysis. This time-synchronized dataset offers a reliable resource for developing and evaluating multimodal sensor-fusion strategies, distance-aware classification models, and advanced Artificial Intelligence (AI)-based detection algorithms, including supervised and self-supervised learning methods.