RailDriVE February 2019 - Data Set for Rail Vehicle Positioning Experiments
Count of file(s): 1
Date
2021-02-15
Description
Key facts
- Fields of application:
railway positioning, sensor fusion, sensor models - Available data:
2x GNSS, 2x IMU, 1x odometer, 2x speed sensors, camera images - Available reference data:
Open GNSS/IMU EKF-fusion solution (loosely coupled), Proprietary GNSS/IMU EKF-fusion solution (tightly coupled), Track-Map - Structure:
This data set follows the data sharing principles of the LRT (localization reference train) initiative that are available at lrt-initiative.org.
About
We provide a data set that can be used for various rail vehicle positioning experiments. The data were collected using the German Aerospace Center (DLR) research vehicle RailDriVE on a segment of the Braunschweig harbor railway in February 2019.
Several sensors of the RailDriVE equipment and an additional self-sufficient system provided by Technische Universität Darmstadt (TU Darmstadt) were employed, including two GNSS receivers, two inertial measurement units (IMU), and several speed and distance sensors (radar, optical, odometer). Front-facing camera data has been included for documentation purposes.
In order to simplify its use, some pre-processing steps were applied to the data, mainly to have common time and coordinate frames. Furthermore, example and reference positioning solutions as well as a track map have been included.
The data can be used as a starting point for research work or student theses. Novel and established algorithms for many different sub-problems can be tested on the data, in order to facilitate their comparison and make results and insights more accessible.
Similar data sets
- https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2529
- https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2530
Scripts
Companion paper
For reference to the data set in your research, please cite the companion paper:
- M. Roth and H. Winter, "An Open Data Set for Rail Vehicle Positioning Experiments," 23rd International Conference on Intelligent Transportation Systems (ITSC), Sep. 2020
- BibTex:
@InProceedings{RothWinter2020OpenDataSet,
author = {Roth, Michael and Winter, Hanno},
title = {An Open Data Set for Rail Vehicle Positioning Experiments},
booktitle = {23rd International {IEEE} Conference on Intelligent Transportation Systems ({ITSC'20})},
doi = {10.1109/ITSC45102.2020.9294594},
year = {2020}
}
DFG subject classification
407-04 Verkehrs- und Transportsysteme, Intelligenter und automatisierter VerkehrURI
https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2292.3https://doi.org/10.48328/tudatalib-166.3
Related Resources
- Is described by: DOI:10.1109/ITSC45102.2020.9294594
Collections
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