The International Journal of Robotics Research Study, Ahead of Publish.
Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has actually become an appealing, affordable, and scalable interior localization service, which is specifically fit for multi-robot applications. Nonetheless, there is an absence of public datasets to examine and benchmark UWB TDOA placing modern technology in messy interior settings. We fill out this void by providing a thorough dataset making use of Decawave’s DWM1000 UWB components. To identify the UWB TDOA dimension efficiency under numerous line-of-sight (LOS) and non-line-of-sight (NLOS) problems, we accumulated signal-to-noise proportion (SNR), power distinction worths, and raw UWB TDOA dimensions throughout the recognition experiments. We additionally performed a collective total amount of around 150 minutes of real-world trip experiments on a personalized quadrotor system to criteria the UWB TDOA localization efficiency for mobile robotics. The quadrotor was regulated to fly with an ordinary rate of 0.45 m/s in both obstacle-free and messy settings making use of 4 various UWB support constellations. Raw sensing unit information consisting of UWB TDOA, inertial dimension system (IMU), optical circulation, time-of-flight (ToF) laser elevation, and millimeter-accurate ground fact robotic presents were accumulated throughout the trips. The dataset and growth set are readily available at https://utiasdsl.github.io/util-uwb-dataset/.
发布者：Wenda Zhao，转转请注明出处：https://robotalks.cn/util-an-ultra-wideband-time-difference-of-arrival-indoor-localization-dataset/
