List of Datasets

UAV

In-flight Energy Use

Package delivery

Outdoor DJI Matrice 100 dataset with 209 flights testing energy use across commanded speeds, altitudes, and payloads up to 500 g.

Metadata: Complete Metadata source documented Released 2021

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

Quick facts

Vehicle type
UAV
Environment
Outdoor
Data origin
Real-world
Sensor count
2
Ground truth
Available
Calibration
Not reported
Annotations
Not reported

Sensor overview

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

Cameras

Not reported

IMUs

1 reported

GNSS

1 reported

LiDAR

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.
6DoF GNSS / INS Not reported Not reported 10 Hz 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
Accuracy and notes
Orientation accuracy
2°
Accuracy notes
Manufacturer specifications report ±2 m horizontal position, ±5 m vertical position, ±0.1 m/s velocity, and ±2 degrees roll, pitch, and heading.
Reference notes
The fused GNSS/INS state reports position, velocity, orientation, angular rate, and linear acceleration.

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

Not reported

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

Onboard anemometer wind direction is considered accurate, but wind-magnitude measurements have a positive bias that is more pronounced at lower UAV speeds and require ego-motion correction.

The data should not be extrapolated to different drone models or operation outside the tested 4–12 m/s commanded speed, 25–100 m altitude, and 0–500 g payload ranges.

The synchronized output is approximately 5 Hz and varies because measurements are associated without interpolation.

Cameras

Not reported

IMUs

LORD MicroStrain 3DM-GX5-45 GNSS/INS

Model
LORD MicroStrain 3DM-GX5-45 GNSS/INS
Count
1
Accel / gyro
Not reported

GNSS

LORD MicroStrain 3DM-GX5-45

Model or name
LORD MicroStrain 3DM-GX5-45
Count
1
Rate
10 Hz
GNSS type
GPS_IMU
Position output
Available
Velocity output
Available
Heading output
Available

LiDAR

Not reported

Additional sensors

Other sensor

Model
FT Technologies FT205
Name
Ultrasonic anemometer
Count
1
Outputs
wind_speed, wind_direction
Rate
10 Hz
Notes
Factory-calibrated sensor; raw readings are preserved in the released rosbags.

Other sensor

Model
Mauch Electronics PL-200
Name
Voltage and current sensor
Count
1
Notes
Uses an Allegro ACS758-200U Hall current sensor and an MCP3424 analog-to-digital converter; voltage and current are included in the synchronized records.

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
Rodrigues2021

BibTeX

@article{Rodrigues2021,
  title = {In-Flight Positional and Energy Use Data Set of a {{DJI Matrice}} 100 Quadcopter for Small Package Delivery},
  author = {Rodrigues, Thiago A. and Patrikar, Jay and Choudhry, Arnav and Feldgoise, Jacob and Arcot, Vaibhav and Gahlaut, Aradhana and Lau, Sophia and Moon, Brady and Wagner, Bastian and Matthews, H. Scott and Scherer, Sebastian and Samaras, Constantine},
  year = {2021},
  month = jun,
  journal = {Scientific Data},
  volume = {8},
  number = {1},
  pages = {155},
  issn = {2052-4463},
  doi = {10.1038/s41597-021-00930-x},
  urldate = {2023-10-07},
  langid = {english}
}

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