German Aerospace Center (DLR)
Institute of Communications and Navigation
Department Communications Systems
Broadband Systems Group

---

Reference Data Sets for Multisensor Pedestrian Navigation

---

Introduction

This page hosts a collection of data sets and utilities for evaluating multisensor pedestrian navigation algorithms.

Visit the place where the data sets were recorded at Google Earth [KMZ].

Download List

Measurement data

Please find detailed information on the dataformats here.

The files include measurement data from the IMUs (inertial measurement units), GPS, RFIDs, Altimeter, Compass, GTRP timestamps (reference points timestamps), GTRP names/sequence

Sensors	Data set	Comment
All sensors	March09Measurement03.zip	This data set starts from outside the building with good GPS coverage and already acquired GPS-receiver. After a short walk the person enters the office building. The person then walks through the corridor in the lower floor and subsequently climbs the stairs to the second floor. After a similar walk on the second floor, the person reaches the elevator. The elevator goes up to the third floor (picking up another passenger), then goes down to the garage level. The person leaves the elevator and then performs a short meandering walk in the garage. Finally the person leaves the garage via the ramp and returns to the starting position.
All sensors except for baro-altimeter	March09Measurement05.zip	This pure 1D data set starts from outside the building with good GPS coverage and already acquired GPS-receiver. After a short walk the person enters the office building. The person then walks two laps through the corridors in the ground floor whilst entering some of the offices. Finally the person leaves the building and returns to the starting position.

Infrastructure data (walls, positions of RFID-tags, positions of ground truth reference points)

Wall geometry Version 1.0

Level 0: walls_layout0_te01_v1.0.xml Level 1: walls_layout1_te01_v1.0.xml Level 2: walls_layout2_te01_v1.0.xml Level Garage: walls_layoutGarage_te01_v1.0.xml

RFID positions Version 1.0

All levels: RFIDtags-TE01_v1.0.xml

Ground truth reference points Version 1.0

All levels: referencePoints_v1.0.csv

Matlab utilities

Version 1.0

scripts_v1.0.zip

Results

Results by	Data set	File	Comment
DLR	March09Measurement03	DLR_Results_March09Measurement03_v1.0.zip	The results compare a particle filter and an extended Kalman filter using GPS, compass, baro-altimeter, one of the foot-mounted IMUs, and the floor plan. The results comprise the magnitude of the horizontal error at the passed GTRPs, the accompanying MATLAB script reads the data and plots it.
DLR	March09Measurement05	DLR_Results_March09Measurement05_v1.0.zip	The results compare a particle filter and an extended Kalman filter using GPS, compass, one of the foot-mounted IMUs, and the floor plan. The results comprise the magnitude of the horizontal error at the passed GTRPs, the accompanying MATLAB script reads the data and plots it.

HowTo get started

1. Create an arbitrary folder DIR
2. Create two subfolders DIR/DataInfrastructure and DIR/DataMeasurement
3. Download all infrastructure data files to DIR/DataInfrastructure
4. Download zipfile with measurement data and unzip to DIR/DataMeasurement
5. Download Matlab demo scripts and unzip to DIR. This will create subfolders DIR/Tools, DIR/@FileReader and several matlab files at DIR
6. Download and extract Guillaume Flandin's XML Parser from MatlabCentral into DIR
7. Start Matlab
8. Within Matlab change the Current Directory to DIR
9. Within Matlab start Demo.m from the command line. The demo file visualize floor plans, RFIDs locations, Reference Points locations, GPS measurements and a tick when each Reference Point is reached.

Hardware

Sensor	Type	Vendor/manufacturer website
GPS receiver	µBlox EVK-5	http://www.u-blox.com/
Compass	OceanServer OS-5000	http://www.ocean-server.com/
Baro-Altimeter	Intersema MS55490	http://www.intersema.ch/
RFID (tags & reader)	Identec i-CARD2 reader and tags	http://www.identecsolutions.com/
IMU	Xsens MTx-28A53G25	http://www.xsens.com/

FAQ

TBD

References

M. Angermann, A. Friese, M. Khider, B. Krach, K. Krack, P. Robertson
A Reference Measurement Data Set for Multisensor Pedestrian Navigation with Accurate Ground Truth [PDF]
European Navigation Conference (ENC-GNSS 2009), Naples, Italy, May 2009

Disclaimer

DLR and the authors of this software accept no responsibility for damages resulting from the use of this product and make no warranty or representation, either express or implied, including but not limited to, any implied warranty of merchantability or fitness for a particular purpose. This software is provided "AS IS", and you, its user, assume all risks when using it.