2021年6月4日至6月29日天津市蓟州区金星书业仓库室内外复杂场景多源融合定位导航数据集

"这个数据集是一个复杂场景的多源融合定位导航数据集，收集了从自研多源融合板卡设备中获得的GPS（RTK）、微惯导、UWB数据、对地ToF激光等传感器数据。数据通过SD卡进行数据记录，保证了数据的精度和完整性。数据集的内容丰富，包括了经纬度、高度、速度等多种定位和导航信息。
这个数据集的意义在于，它提供了一份详细且全面的导航数据，并且场景区别于其它的车载数据集，它的载体是旋翼式无人机，且面向室内外混合复杂场景、室内走廊、室内单折梯、室内双折梯等场景下实际飞行过程中产生的自适应定位导航数据，能为类似多源融合定位导航设备的设计和优化提供参考。"

This dataset is a multi-source fusion positioning and navigation dataset tailored for complex scenarios, which collects multi-modal sensor data including GPS (RTK), micro inertial measurement unit (micro IMU), Ultra-Wideband (UWB), and downward-facing Time-of-Flight (ToF) LiDAR acquired from a self-developed multi-source fusion board device. The data is recorded via an SD card, which guarantees the accuracy and integrity of the collected dataset. It encompasses rich content covering diverse positioning and navigation information such as longitude, latitude, altitude, and velocity. The core value of this dataset lies in its provision of detailed and comprehensive navigation data. Distinct from prevalent vehicle-mounted datasets, this dataset is collected on a rotor-wing unmanned aerial vehicle (UAV) platform, and contains adaptive positioning and navigation data generated during actual flight in various scenarios including indoor-outdoor hybrid complex environments, indoor corridors, indoor single-flight stairs, and indoor double-flight stairs. It can provide valuable references for the design and optimization of similar multi-source fusion positioning and navigation devices.

搜集汇总

背景与挑战

背景概述

该数据集是一个多源融合定位导航数据集，采集于2021年6月4日至29日天津市蓟州区金星书业仓库的室内外复杂场景，包含GPS、微惯性导航、UWB和ToF激光等多种传感器数据，精度达厘米级，适用于复杂场景下的定位导航研究和设备优化。