Hinweis
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RailDriVE February 2019 - Data Set for Rail Vehicle Positioning Experiments
Beschreibung
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.
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
Sammlungen
Die folgenden Lizenzbestimmungen sind mit dieser Ressource verbunden: