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Dataset of the UWB TDOA measurements from Bitcraze's Loco Positioning System

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UWB Time-difference-of-arrival (TDOA) dataset

We provide a UWB time-difference-of-arrival(TDOA) measurement dataset. We collected the UWB measurements based on the Loco Position System(LPS) from Bitcraze using TDOA2 mode. The groundtruth is provided by a motion capture system with 10 Vicon cameras. The TDOA measurements were logged from a Crazyflie 2.0 nano quadcopter. The groundtruth measurements from Vicon system were synchronized with the UWB TDOA measurements so as to compute the TDOA measurement biases. A training dataset was created with measurements collected from seven different UWB anchor constellations. A neural network is used to capture and correct the TDOA measurement bias for accurate state estimation.

Requirements

  • Python 3.x
  • matplotlib
  • numpy, panda
  • scipy, sklearn
  • joblib
  • pytorch (version 1.6.0)
  • tkinter

Show UWB measurements

Run meas_visual.py and select the measurement data csv

Show UWB measurement biases and neural network regression

Run bias_visual.py and select the UWB TDOA measurement bias data csv. To visualize the NN regression, set 'ShowNN' to 'True' and select network with/without anchor orientation by setting 'WithAn' to 'True' or 'False'.

Training Data

UWB TDOA measurement and Vicon groundtruth.

  • /training_csv/meas_data/#Date/#Trajectory

UWB TDOA measurement bias and Vicon groundtruth.

  • /training_csv/bias_data/#Data/#Trajectory

Testing Data

UWB TDOA measurement and Vicon groundtruth.

  • /testing_csv/meas_data/#Date/#Trajectory

UWB TDOA measurement bias and Vicon groundtruth.

  • /testing_csv/bias_data/#Data/#Trajectory
  • /testing_csv/bias_data/#Data/#Trajectory/AnchorPos_#Date.npy
  • /testing_csv/bias_data/#Data/#Trajectory/AnchorQuat_#Date.npy

anchor position data format

  • row i: position of UWB anchor i in the inertial frame x [m] | y [m] | z [m]

anchor quaternion data format

  • row i: unit quaternion of UWN anchor i in the inertial frame q.w | q.x | q.y | q.z

Measurement Data Format

1-6 columns

x [m] | y [m] | z [m] | Vicon measurement [m] | UWB TDOA measurement [m] | time [s]

Bias Data Format

1-6 columns

Delta x i [m] | Delta y i [m] | Delta z i [m] | Delta x j [m] | Delta y j [m] | Delta z j [m]

7-10 columns (relative angles in the crazyflie frame)

azimuth angle cf i [deg.] | elevation angle cf i [deg.] | azimuth angle cf j [deg.] | elevation angle cf j [deg.]

11-14 columns (relative angles in the UWB anchor frame)

azimuth angle an i [deg.] | elevation angle an i [deg.] | azimuth angle an j [deg.] | elevation angle an j [deg.]

15-16 columns

UWB TDOA bias [m] | time [s]

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Dataset of the UWB TDOA measurements from Bitcraze's Loco Positioning System

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