Cooperative Localization in Vehicular Networks Dataset

Dataset of V2V (vehicle to vehicle communication), GPS, inertial and WiFi data collected during a road vehicle trip in the city of Porto, Portugal. Four cars were driven along the same route (approx. 12 km), facing everyday traffic conditions with regular driving behavior. No special environments or settings were chosen, other than keeping the vehicles in communication reach of each other for as long as possible while being safe and compliant with the road rules. Each vehicle was equipped with a purpose-built development platform for vehicle communication, NEC LinkBird MX, which implements 802.11p wireless standard (5.85–5.925 GHz) and has built-in beaconing functionality of 50 beacons per second. A GPS receiver was positioned on vehicle’s rooftop, connected to the LinkBird. Inside, two Nexus 4 or 5 smartphones fixed on the windshield or dashboard collect inertial, Wi-Fi and GPS measurements with the maximum possible sampling rates. The dataset was collected and used in order to develop a proof-of-concept for "Neighbor-Aided Localization in Vehicular Networks" (DOI: 10.1109/TITS.2017.2655146), an approach that fuses several information sources in a particle filter, leveraging RSSI from V2V communications to improve vehicle localization performance.本数据集采集自葡萄牙波尔图市城市道路行车过程中的车际通信（Vehicle to Vehicle Communication, V2V）、GPS、惯性测量与WiFi数据。四辆汽车沿约12公里的相同路线行驶，处于日常交通场景并采用常规驾驶行为。除在确保安全且符合道路法规的前提下，尽可能维持车辆间的通信覆盖范围外，未设置任何特殊环境或参数。 每辆车均搭载专为车辆通信定制的NEC LinkBird MX开发平台，该平台支持802.11p无线标准（工作频段5.85–5.925 GHz），并内置每秒50个信标的广播功能。GPS接收机安装于车辆车顶，与LinkBird平台相连。车内仪表台或挡风玻璃上固定有两部Nexus 4或5智能手机，以最高采样率采集惯性测量、WiFi及GPS数据。 本数据集的采集与应用，旨在为“车联网中的邻节点辅助定位”（Neighbor-Aided Localization in Vehicular Networks，DOI: 10.1109/TITS.2017.2655146）构建概念验证方案。该方案通过粒子滤波器融合多源信息，利用车际通信的接收信号强度指示（Received Signal Strength Indicator, RSSI）提升车辆定位性能。