List of Datasets

Fixed wing, UAV

Fixed-Wing Micro UAV Open Data

UAV photogrammetry, calibration, and raw INS/GNSS fusion

Three open UAV mapping and calibration missions with panchromatic imagery, dual IMUs, raw GNSS and processed navigation; one calibration mission uses a copter.

Metadata: Complete Metadata source documented Released 2021

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

Code

Not reported

Quick facts

Vehicle type
Fixed wing, UAV
Environment
Outdoor
Data origin
Real-world
Sensor count
5
Ground truth
Available
Calibration
Partial Raw Data
Annotations
Not reported

Sensor overview

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

Cameras

1 reported

IMUs

2 reported

GNSS

2 reported

LiDAR

Not reported

Radar

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.
3D position RTK GNSS Topcon/Javad differential GNSS Not reported Not reported Unknown 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.
Hybrid
Reference notes
Post-processed GPS-PPK antenna positions reuse the released rover/base observations tied to AGNES. The canonical differential-GNSS method label does not imply a real-time RTK solution. Exact output cadence and validated coverage remain unverified.
6DoF GNSS / INS GNSS/INS Kalman smoothing Not reported Not reported Unknown 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.
Derived
Reference notes
Smoothed GNSS/INS camera exterior orientation reuses released navigation measurements. This is a processed trajectory product, not an independent six-DoF tracking system; per-mission coverage and accuracy are not quantified here.
Other Surveyed markers AGNES-tied differential-GNSS survey of ground targets Not reported Not reported Partial · Surveyed Ground Control and Image Observations at Discrete Target Locations 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
About 40 surveyed ground targets are reported for the wider test field. Released GCP coordinates and image measurements are static scene references, not a platform-position trajectory; an exact per-release target count is not asserted.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Partial Raw Data
Processed parameters
Available
Raw calibration data
Available
Calibration targets
Surveyed ground-control targets and image measurements

Reproducible calibration data

Raw calibration data is reported, so users can reproduce or inspect the calibration process.

Notes

Measured lever arms, boresight and Brown–Conrady camera parameters accompany raw/corrected IMU data and a released calibration flight. This does not establish reproducibility of every calibration: ignCal1 contributes to the reported camera calibration but is outside the three open missions. The paper cites ignCal2 at DOI 10.5281/zenodo.4705423; current access to that archive was not confirmed.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

This entry groups the three paper-defined releases: ignCal2 (75 selected images, copter calibration), ign8 (440 selected images, fixed-wing block) and ign6xl (290 selected images, fixed-wing corridor). Eight other missions in the wider series are not marked open.

Access is split across deposits. Download opens ign8 and Supplementary opens ign6xl; neither link represents the complete collection. The calibration-flight DOI is 10.5281/zenodo.4705423, whose current archive access remains unconfirmed.

Processed PPK positions and smoothed GNSS/INS exterior orientation depend on released input measurements. Surveyed ground control is a separate static reference, not a dense vehicle trajectory.

The source describes approximately 14 m/s typical fixed-wing speed, a camera storage interval and a dual-IMU rate limit; these are not asserted as collection-wide maximum speed or uniform native sampling rates.

Some raw calibration material is documented, but complete reproducibility of camera and IMU calibration is not established. Ground-truth product cadence, per-mission coverage and numerical accuracy remain unknown.

Cameras

Camera 1

Model
IGN digiCAM
Setup
Mono
Count
1
Effective cameras
1
Modality
Grayscale
Resolution
5120 x 3840
Rate
Not reported
Shutter
Not Reported
Lens type
Not Reported
HFOV
Not reported
VFOV
Not reported
Notes
12-bit panchromatic full-frame CMOS with a Zeiss Biogon 35 mm f/2.8 lens. The approximately 1.3 s minimum image interval is a storage limit, not a uniform released frame rate.

IMUs

Dual navigation IMUs

Model
Navchip
Count
2
Accel / gyro
Not reported

GNSS

Topcon B110

Model or name
Topcon B110
Count
1
Rate
10 Hz
GNSS type
NOT REPORTED
Position output
Not reported
Velocity output
Not reported
Heading output
Not reported

Javad Triumph-2

Model or name
Javad Triumph-2
Count
1
Rate
10 Hz
GNSS type
NOT REPORTED
Position output
Not reported
Velocity output
Not reported
Heading output
Not reported

LiDAR

Not reported

Radar

Not reported

Additional sensors

Not reported

Annotations

Reported annotation availability and task support.

Availability
Not reported
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
skaloud2021fixedwing

BibTeX

@Article{skaloud2021fixedwing,
AUTHOR = {Skaloud, J. and Cucci, D. A. and Joseph Paul, K.},
TITLE = {FIXED-WING MICRO UAV OPEN DATA WITH DIGICAM AND RAWINS/GNSS},
JOURNAL = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
VOLUME = {V-1-2021},
YEAR = {2021},
PAGES = {105--111},
URL = {https://isprs-annals.copernicus.org/articles/V-1-2021/105/2021/},
DOI = {10.5194/isprs-annals-V-1-2021-105-2021}
}

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