Rail Vehicle Positioning Data Set: Lucy, October 2018

Winter, Hanno

Open Access

Rail Vehicle Positioning Data Set: Lucy, October 2018

Files

2018-10-24_LucyOctober2018_v1.zip (2.47 GB)

Date

2020-11-27

Type

Dataset
Software

Authors

Winter, Hanno

Description

**Key facts** * **Fields of application:** railway positioning, sensor fusion, sensor models * **Available data:** 2x GNSS, 1x IMU * **Rail-track characteristics:** ≈120 km on conventional and secondary line (tight curves, steep slopes, forested embankment) * **Available reference data:** Open GNSS/IMU EKF-fusion solution (loosely coupled), high precision 3D 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** This data set can be used for rail vehicle positioning experiments. It contains measurements of an 6-DOF IMU and two GNSS receivers. The senors were mounted on a regular rail vehicle during a trip from Chemnitz (Germany, Saxony) to Schwarzenberg (Germany, Saxony) and back. The recorded data have been pre-processed to have common time and coordinate frames. Furthermore, a simple loosely coupled GNSS/IMU positioning solution is provided which can be used as a baseline for more advanced fusion approaches. All MATLAB scripts used to process the raw data and to calculate the GNSS/IMU positioning solution are provided within the data set. The data can be used as a starting point for own work. Special features of this data set are its covered terrain (tight curves, steep slopes, forest embankment), its test-track (often used as test-track for new railway equipment) and the availability of a high precision 3D track-map. **Similar data sets** * <https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2292.2> * <https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2529> **Scripts** * <https://github.com/tud-rmr/railway_dataset_c_20181024> **BibTex** @Misc{WinterRailDataSetOctober2018, title = {Rail Vehicle Positioning Data Set: Lucy, October 2018}, author = {Winter, Hanno}, doi = {10.25534/tudatalib-360}, publisher = {Technische Universität Darmstadt}, year = {2020}, }