UAV
FlightMagNav
Magnetic field-based positioning and map learning
Eight quadcopter flights with raw and synchronized scalar/vector magnetometry, inertial measurements and GNSS-aided navigation for magnetic map learning and height-dependent validation.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UAV
- Environment
- Outdoor
- Data origin
- Real-world
- Sensor count
- 10
- Ground truth
- Not reported
- Calibration
- Not reported
- Annotations
- Not reported
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
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
Vector magnetic and inertial measurements remain in their sensor frames; no common-frame rotation is applied in the parsed dataset.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
MAGPIE timestamp configuration required offline alignment with approximately 50 ms accuracy.
Local magnetic reference is unusable for Flight 1 and disturbed for Flights 2 and 7.
Parsed vector and inertial streams retain different sensor coordinate frames.
Validation evaluates height generalization inside the mapped horizontal area.
Cameras
Not reported
IMUs
Front and rear MAGPIE integrated IMUs
- Model
- ICM-20948
- Count
- 2
- Accel / gyro
- 62.5 / 62.5 Hz
Xsens MTi-680 integrated inertial measurements
- Model
- Not reported
- Count
- 1
- Accel / gyro
- 100 / 100 Hz
GNSS
Front and rear MAGPIE built-in GNSS receivers
- Model or name
- Front and rear MAGPIE built-in GNSS receivers
- Count
- 2
- Rate
- 1 Hz
- GNSS type
- NOT REPORTED
- Position output
- Available
- Velocity output
- Not reported
- Heading output
- Not reported
Xsens MTi-680
- Model or name
- Xsens MTi-680
- Count
- 1
- Rate
- 100 Hz
- GNSS type
- GPS_IMU
- Position output
- Available
- Velocity output
- Available
- Heading output
- Not reported
LiDAR
Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Magnetometer
- Model
- QuSpin MAGPIE with vector add-on
- Count
- 2
- Rate
- 125 Hz
- Notes
- Front and rear modules; raw scalar total-field rate is 125 Hz, vector rate is 125/3 Hz. Parsed scalar data are low-pass filtered at 45 Hz and resampled to 100 Hz; parsed vector data retain 125/3 Hz. Flights 1–8 are supplied.
Magnetometer
- Model
- QuSpin QTFM Gen-2
- Count
- 1
- Rate
- 125 Hz
- Notes
- Stationary local temporal-field reference stream, not platform-pose ground truth. Raw data cover Flights 2–8; usable reference data cover Flights 3–6 and 8. Parsed data are aligned/resampled to the INS grid.
Magnetometer
- Count
- 1
- Notes
- Released Uppsala geomagnetic reference-station measurements; approximately 270 km away. Daily files cover Flights 1–3 and 4–8, respectively; physical sensor model, count and native rate are not established.
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.
@misc{skog2026flightmagnav,
title={FlightMagNav: An Open Dataset and Probabilistic Map Learning and Validation Framework for Outdoor Magnetic Field-Based Positioning},
author={Skog, Isaac and Ramos Galrinho, Miguel and Gelin, Martin},
year={2026},
eprint={2610.08982},
archivePrefix={arXiv},
primaryClass={eess.SP}
}
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