Navigating with ranging radios: Five data sets with ground truth

Abstract

Here we present five large data sets with range-only measurements between a mobile robot and stationary nodes. Each data set consists of range measurements, surveyed locations of the stationary radio nodes, dead-reckoned trajectory of the robot, and ground truth from a sophisticated inertial navigation system/global positioning system mounted on a robot traveling several kilometers at a time. Range measurements are made with two radio-based ranging systems: a RFID tag-based ranging system and an ultra-wide band ranging system. All the data are accurately time-stamped and presented in standard formats (i.e., text files). In addition to the raw data, we present some noise characteristics of the two different ranging systems to offer insight into the quality of the range data from each system.