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Open Access

Rail Vehicle Positioning Data Set: Lucy, March 2019

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Date

2020-11-27

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**Key facts** * **Fields of application:** railway positioning, sensor fusion, sensor models * **Available data:** 1x GNSS, 1x IMU * **Rail-track characteristics:** ≈870 km (on convetional lines) * **Available reference data:** Open GNSS/IMU EKF-fusion solution (loosely coupled) * **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 a GNSS receiver. The senors were mounted on a regular rail vehicle during a trip from Chemnitz (Germany, Saxony) to Neuffen (Germany, Baden-Württemberg) 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 overall length (870km, 16hrs) with continuous journey sections of over 1h and its test-track (conventional line). **Similar data sets** * <https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2292.2> * <https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2530> **Scripts** * <https://github.com/tud-rmr/railway_dataset_nt_20190311> **BibTex** @Misc{WinterRailDataSetMarch2019, title = {Rail Vehicle Positioning Data Set: Lucy, March 2019}, author = {Winter, Hanno}, doi = {10.25534/tudatalib-359}, publisher = {Technische Universität Darmstadt}, year = {2020}, }

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Except where otherwise noted, this license is described as CC BY 4.0 - Attribution 4.0 International