List of Datasets

UAV

Q-Drone UWB Benchmark

UWB-based UAV positioning in GNSS-denied environments

UWB ranging and flight-controller inertial data across five UAV test environments, with calibration and a later release of partial total-station position references.

Metadata: Complete Metadata source documented Released 2020

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

Code

Not reported

Quick facts

Vehicle type
UAV
Environment
Indoor, Outdoor
Data origin
Real-world
Sensor count
6
Ground truth
Available
Calibration
Parameters Only
Annotations
Not reported

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

Magnetometers

Not reported

Barometers

Not reported

UWB

5 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 Total station Robotic total stations tracking a GRZ101 prism · Leica Nova MS60 / Trimble VX Not reported Not reported Partial · Ground-Truth Downloads Cover Selected Portions of All Five Environments 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 notes
Prism pointing and total-station device specifications are not a validated error bound for the released trajectory. Tracking gaps were spline-interpolated in the paper pipeline.
Reference notes
The 2023 ground-truth update adds XYZ reference rows for selected data portions. Direct total-station points are external measurements; the paper also describes spline interpolation of tracking gaps, so the combined reference is conservatively classified as hybrid. Exact released membership and interpolation flags remain unverified.

Calibration and synchronization

Reported calibration level, reproducibility signals, and supporting notes.

Level
Parameters Only
Processed parameters
Available
Raw calibration data
Not reported
Calibration targets
Not reported

Parameters only

Processed calibration parameters are reported, but raw calibration data is not reported.

Notes

The release supplies displacement relationships and optional linear UWB range-correction coefficients. Raw ranges are uncorrected; raw calibration-session packaging is not established.

Known or intentional limitations

Reported constraints and characteristics to check before using the dataset.

The 2020 paper and dataset overview report 23 flights, 6,628 seconds and 4,264.81 m. The download portal lists a different tunnel count and describes over seven hours; these conflicting scopes are not used as current release totals.

The 2023 update releases reference positions only for selected portions. The portal lists 3 indoor, 3 field, 2 building, 2 bridge and 3 tunnel ground-truth datasets; this is not full coverage of the original flight collection.

Total-station tracking gaps were spline-interpolated in the paper pipeline. Do not interpret every reference row as a direct external measurement or infer a uniform millimeter trajectory accuracy from device specifications.

UWB measurements suffer multipath, obstruction and missing ranges, especially near building facades and metal structures. The 125 Hz figure is a system capability, not an established native rate for every released stream.

The exact flight-controller IMU model, separate component rates and downloadable ground-truth membership remain unverified. No independently usable GNSS or camera stream is established.

Cameras

Not reported

IMUs

DJI Matrice 100 flight-controller IMU

Model
Not reported
Count
1
Accel / gyro
Not reported

GNSS

Not reported

LiDAR

Not reported

Radar

Not reported

Additional sensors

UWB

Model
Time Domain PulsON 440
Name
Onboard UWB tag
Count
1
Coverage
indoor, outdoor
Placement
platform
Role
tag
Notes
System capability is up to 125 Hz; exact release rate is not established.

UWB

Model
Time Domain PulsON 440
Name
Ground UWB anchors
Count
4
Coverage
indoor, outdoor
Placement
environment
Role
anchor
Notes
Rectangular layout dimensions vary by site.

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
arjmandi2020benchmark

BibTeX

@inproceedings{arjmandi2020benchmark,
  author = {Arjmandi, Zahra and Kang, Jungwon and Park, Kunwoo and Sohn, Gunho},
  title = {Benchmark Dataset of Ultra-Wideband Radio Based {UAV} Positioning},
  booktitle = {2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)},
  year = {2020},
  doi = {10.1109/ITSC45102.2020.9294440}
}

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