RailDriVE February 2019 - Data Set for Rail Vehicle Positioning Experiments
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Date
2021-02-15
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**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](https://lrt-
initiative.org/2020_05_28_lrtdatasetguidelines_v1_2/).
**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**
* <https://github.com/tud-rmr/railway_dataset_bs_20190222>
**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}
}
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Except where otherwise noted, this license is described as CC BY 4.0 - Attribution 4.0 International