UWB Time-difference-of-arrival (TDOA) dataset

We provide a UWB time-difference-of-arrival(TDOA) measurement dataset. We collected the UWB measurements based on the Loco Position System(LPS) from Bitcraze using TDOA2 mode. The groundtruth is provided by a motion capture system with 10 Vicon cameras. The TDOA measurements were logged from a Crazyflie 2.0 nano quadcopter. The groundtruth measurements from Vicon system were synchronized with the UWB TDOA measurements so as to compute the TDOA measurement biases. A training dataset was created with measurements collected from seven different UWB anchor constellations. A neural network is used to capture and correct the TDOA measurement bias for accurate state estimation.

Requirements

• Python 3.x
• matplotlib
• numpy, panda
• scipy, sklearn
• joblib
• pytorch (version 1.6.0)
• tkinter

Show UWB measurements

Run meas_visual.py and select the measurement data csv

Show UWB measurement biases and neural network regression

Run bias_visual.py and select the UWB TDOA measurement bias data csv. To visualize the NN regression, set 'ShowNN' to 'True' and select network with/without anchor orientation by setting 'WithAn' to 'True' or 'False'.

Training Data

UWB TDOA measurement and Vicon groundtruth.

• /training_csv/meas_data/#Date/#Trajectory

UWB TDOA measurement bias and Vicon groundtruth.

• /training_csv/bias_data/#Data/#Trajectory

Testing Data

UWB TDOA measurement and Vicon groundtruth.

• /testing_csv/meas_data/#Date/#Trajectory

UWB TDOA measurement bias and Vicon groundtruth.

• /testing_csv/bias_data/#Data/#Trajectory
• /testing_csv/bias_data/#Data/#Trajectory/AnchorPos_#Date.npy
• /testing_csv/bias_data/#Data/#Trajectory/AnchorQuat_#Date.npy

anchor position data format

• row i: position of UWB anchor i in the inertial frame x [m] | y [m] | z [m]

anchor quaternion data format

• row i: unit quaternion of UWN anchor i in the inertial frame q.w | q.x | q.y | q.z

Measurement Data Format

1-6 columns

x [m] | y [m] | z [m] | Vicon measurement [m] | UWB TDOA measurement [m] | time [s]

Bias Data Format

1-6 columns

Delta x i [m] | Delta y i [m] | Delta z i [m] | Delta x j [m] | Delta y j [m] | Delta z j [m]

7-10 columns (relative angles in the crazyflie frame)

azimuth angle cf i [deg.] | elevation angle cf i [deg.] | azimuth angle cf j [deg.] | elevation angle cf j [deg.]

11-14 columns (relative angles in the UWB anchor frame)

azimuth angle an i [deg.] | elevation angle an i [deg.] | azimuth angle an j [deg.] | elevation angle an j [deg.]

15-16 columns

UWB TDOA bias [m] | time [s]