German Aerospace Center (DLR)
Institute of Communications and Navigation
Department Communications Systems
Broadband Systems Group
Institute of Communications and Navigation
Department Communications Systems
Broadband Systems Group
High Precision Reference Data Set for Pedestrian Navigation using Foot-Mounted Inertial Sensors
Introduction
This reference data is intended for the analysis and verification of algorithms based on foot mounted inertial sensors
Each zip-file holds
Michael Angermann, Patrick Robertson, Thomas Kemptner, and Mohammed Khider
A High Precision Reference Data Set for Pedestrian Navigation using Foot-Mounted Inertial Sensors [PDF]
International Conference on Indoor Positioning and Indoor Navigation (IPIN) 2010, 15-17 September 2010, Zόrich, Switzerland
Available Data
| ID | Name | Duration | Description | Data (zipped) | Video |
|---|---|---|---|---|---|
| 1 | walk 2D - rectangle | 60 sec | Walk: Rectangular shape | download data | download video |
| 2 | walk 2D - rectangle other direction | 60 sec | Walk: Rectangular shape in opposite direction to ID1 | download data | download video |
| 3 | walk 2D - straight | 60 sec | Walk: Straight segments up and down | download data | download video |
| 4 | walk 2D - 8 | 60 sec | Walk: 8 shaped pattern | download data | download video |
| 5 | walk 2D straight fast | 60 sec | Walk: Straight segments up and down fast walking | download data | download video |
| 6 | walk 2D on table | 60 sec | Walk: On hard-surfaced table in half circular shape | download data | download video |
| 7 | run 2D straight | 60 sec | Running straight segments up and down | download data | download video |
| 8 | run 2D circle | 60 sec | Running in a circular pattern | download data | download video |
| 9 | run 2D circle other direction | 60 sec | Running a circular pattern in other direction to ID8 | download data | download video |
| 10 | walk 2D carpet straight | 60 sec | Walk: Straight segments up and down on carpet | download data | download video |
| 11 | walk 2D carpet only | 60 sec | Walk: Straight segments up and down without leaving carpet | download data | download video |
| 12 | run 2D carpet running | 60 sec | Running across carpet | download data | download video |
| 13 | walk 2D ID10 carpet shape, no carpet | 60 sec | Walk: Same shape as ID10, but without carpet | download data | download video |
| 14 | walk 2D Patrick long | 300 sec | Long walk with different patterns | download data | download video |
| 15 | walk 2D Patrick mixed | 300 sec | Long mixed walking and running with different patterns | download data | download video |
| 16 | walk 2D Mercedes mixed | 300 sec | Long walk with different patterns | download data | download video |
What's in the zip-files?
Each zip-file is associated with one experiment - see table, above.Each zip-file holds
- a folder with the holodeck data called HolodeckOutput (the reference system data) in both raw and synchronized versions (naming!)
- a file called IMURaw.txt - the raw IMU data
- a folder with the outputs of our EKF Nav Shoe type odometry including a ZUPT file
- two folders with screenshots and documentation on the experiment
How to cite this work?
If you find the data useful and use it for your own work, please cite the following publication:Michael Angermann, Patrick Robertson, Thomas Kemptner, and Mohammed Khider
A High Precision Reference Data Set for Pedestrian Navigation using Foot-Mounted Inertial Sensors [PDF]
International Conference on Indoor Positioning and Indoor Navigation (IPIN) 2010, 15-17 September 2010, Zόrich, Switzerland