AERPAW keysight N6841A RF sensor UAV localization measurements with LOS/NLOS information July 2024

This dataset supports research into UAV localization using Time Difference of Arrival (TDOA) measurements under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. It contains data collected from five UAV flight experiments conducted at varying altitudes (40 m, 70 m, 100 m) and bandwidths (1.25 MHz, 2.5 MHz, 5 MHz) using Keysight N6841A RF sensors on the AERPAW testbed. The dataset includes UAV position estimates, ground truth coordinates, LOS/NLOS indicators for each RF sensor, and localization performance metrics. The dataset is a valuable resource for studying the impacts of altitude, bandwidth, and NLOS biases on UAV localization in real-world environments., The dataset was collected during five UAV flight experiments conducted at the Aerial Experimentation and Research Platform for Advanced Wireless (AERPAW) testbed. The experiments involved UAVs equipped with a software-defined radio (SDR) transmitting a 3.32 GHz signal with varying bandwidths (1.25 MHz, 2.5 MHz, and 5 MHz) at different altitudes (40 m, 70 m, and 100 m). Four Keysight N6841A RF sensors were deployed on towers LW2-LW5 at AERPAW's Lake Wheeler Road Field Labto capture time-stamped RF signals. The UAVs followed precise, repeatable flight trajectories designed to evaluate localization performance under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. Environmental factors, including trees and buildings, introduced signal obstructions to simulate realistic scenarios. The collected data includes time-difference-of-arrival (TDOA) measurements, LOS/NLOS indicators, and ground truth UAV positions., , # AERPAW keysight N6841A RF sensor UAV localization measurements with LOS/NLOS information July 2024

[https://doi.org/10.5061/dryad.vq83bk44h](https://doi.org/10.5061/dryad.vq83bk44h)

## Description of the data and file structure

The experimental efforts for which this data was collected aimed to evaluate the performance of Time Difference of Arrival (TDOA)-based 3D localization of UAVs in real-world environments. A UAV equipped with a software-defined radio transmitted RF signals at varying bandwidths (1.25 MHz, 2.5 MHz, and 5 MHz) and altitudes (40 m, 70 m, and 100 m) over controlled flight trajectories. Four Keysight N6841A RF sensors were deployed on fixed towers to capture RF signals and process them using TDOA algorithms for position estimation. The experiments were conducted under mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions with the additional use of ray-tracing simulations to analyze LOS/NLOS effects. These efforts sought to understand how altitude, band...,

本数据集支持针对混合视距（Line-of-Sight, LOS）与非视距（Non-Line-of-Sight, NLOS）环境下，基于到达时间差（Time Difference of Arrival, TDOA）测量的无人机（Unmanned Aerial Vehicle, UAV）定位研究。数据集包含在先进无线空中实验与研究平台（Aerial Experimentation and Research Platform for Advanced Wireless, AERPAW）测试床开展的5次无人机飞行实验采集的数据，实验分别在不同高度（40 m、70 m、100 m）与带宽（1.25 MHz、2.5 MHz、5 MHz）条件下进行，使用部署于AERPAW测试床上的是德科技（Keysight）N6841A射频（RF）传感器完成数据采集。数据集包含无人机位置估计结果、地面真实坐标、各RF传感器的LOS/NLOS状态标识，以及定位性能评估指标。本数据集是研究高度、带宽与NLOS偏差对真实环境中无人机定位性能影响的宝贵资源。
该数据集采集自AERPAW测试床开展的5次无人机飞行实验。实验中，搭载软件定义无线电（Software-Defined Radio, SDR）的无人机发射3.32 GHz信号，信号带宽分别设置为1.25 MHz、2.5 MHz与5 MHz，飞行高度覆盖40 m、70 m与100 m。4台是德科技N6841A RF传感器部署于AERPAW莱克惠勒路野外实验室的LW2至LW5号塔架上，用于捕获带时间戳的RF信号。无人机沿精确且可重复的飞行轨迹飞行，以评估混合LOS与NLOS环境下的定位性能。实验通过树木与建筑物等环境因素引入信号遮挡，以模拟真实应用场景。采集得到的数据包括到达时间差（TDOA）测量值、LOS/NLOS状态标识，以及无人机的地面真实位置。

# 2024年7月 搭载LOS/NLOS信息的AERPAW是德科技N6841A RF传感器无人机定位测量数据
https://doi.org/10.5061/dryad.vq83bk44h

## 数据与文件结构描述
本数据集对应的实验旨在评估基于到达时间差（TDOA）的无人机三维定位技术在真实环境中的性能。实验中，搭载软件定义无线电的无人机沿可控飞行轨迹飞行，发射带宽分别为1.25 MHz、2.5 MHz与5 MHz的RF信号，飞行高度覆盖40 m、70 m与100 m。4台是德科技N6841A RF传感器部署于固定塔架上，用于捕获RF信号并通过TDOA算法完成位置估计。实验在混合LOS与NLOS环境下开展，并辅以射线追踪仿真以分析LOS/NLOS的影响，旨在探究高度、带宽对无人机定位性能的影响……