List of Datasets

Marine underwater

AUV Navigation Dataset

Underwater inertial/DVL navigation

AUV inertial, Doppler velocity and depth measurements from natural lake, reservoir and offshore navigation, with surface RTK positions.

Metadata: Partial Metadata needs review

Primary places to inspect, download, read about, or reproduce the dataset.

Website

Not reported

Code

Not reported

Supplementary

Not reported

Quick facts

Vehicle type
Marine underwater
Environment
Outdoor
Data origin
Real-world
Sensor count
1
Ground truth
Available
Calibration
Not reported
Annotations
Available

Sensor overview

High-level sensor availability before the detailed sensor records below.

Cameras

Not reported

IMUs

1 reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Magnetometers

Not reported

Barometers

Not reported

UWB

Not reported

Ground truth

Reference scope, method, rate, coverage, and provenance.

Scope Method Reference system Count Rate Coverage Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
2D RTK GNSS Differential RTK with land-based base stations Not reported Not reported Partial · Surface Operation and Surfacing Positions Reference provenance
External
Measured using equipment independent of the platform’s normal onboard sensor pipeline.
Derived
Computed primarily from the dataset’s own recorded sensors.
Hybrid
Combines independent reference equipment with onboard measurements.
External
Reference notes
GPS is unavailable underwater. Waypoint-derived onboard latitude and longitude are estimates rather than navigation-error truth.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Not reported
Processed parameters
Not reported
Raw calibration data
Not reported
Calibration targets
Not reported

Calibration data

Calibration reproducibility details are not reported.

Notes

Sensors are rigidly fixed; the paper describes sensor-based rotational transformations but does not establish a downloadable calibration package.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

No continuous underwater GPS reference; onboard position estimates must not be treated as ground truth.

Recording intervals are not fixed.

The scope of water-flow-related data withheld from disclosure is unclear.

Cameras

Not reported

IMUs

Fiber-optic inertial navigation system

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Pitot tube

Not reported

Additional sensors

Other sensor

Name
Doppler Velocity Log
Count
1
Notes
Released DVL velocity in CSV; the 300 kHz specification is acoustic frequency, not output cadence.

Other sensor

Name
Depth sensor
Count
1
Notes
Depth information is included in CSV. Pressure-range specification omitted pending clarification.

Annotations

Reported annotation availability and task support.

Availability
Available
Format
Not reported
Class count
Not reported
Semantic segmentation Not reported
Instance segmentation Not reported
Object detection Not reported
Optical flow Not reported
Depth ground truth Not reported

Citation

Citation key and BibTeX kept at the end of the page for reference.

Citation key
wang2023auv

BibTeX

@article{wang2023auv,
  author = {Wang, Can and Cheng, Chensheng and Yang, Dianyu and Pan, Guang and Zhang, Feihu},
  title = {Underwater AUV Navigation Dataset in Natural Scenarios},
  journal = {Electronics},
  year = {2023},
  volume = {12},
  pages = {3788},
  doi = {10.3390/electronics12183788}
}

Dataset corrections

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