A GNSS/INS Receiver Benchmark Dataset for Applications on Inland Waterways

This dataset contains positioning data collected using an AsteRx-i3 D Pro+ GNSS/INS receiver installed within the mobile Sensor Box developed at KU Leuven. The dataset includes measurements from static benchmarking experiments, bridge-passage experiments, and closed-loop path-following experiments. The detailed descriptions of the experiments and interpretation of the results are summarized in a paper accepted for presentation at the 10th IEEE Conference on Control Technology and Applications (CCTA 2026). Preprint available at: https://doi.org/10.48550/arXiv.2606.06358本数据集包含由安装于鲁汶大学（KU Leuven）研发的移动传感器盒内的AsteRx-i3 D Pro+全球导航卫星系统/惯性导航系统（GNSS/INS）接收机采集得到的定位数据。本数据集涵盖静态基准测试实验、桥梁通行实验以及闭环路径跟踪实验的测量数据。相关实验的详细说明与结果解读已汇总至一篇已被接收、将在第10届电气和电子工程师协会（IEEE）控制技术与应用会议（CCTA 2026）上发表的论文中。