UAV
TIERS UWB Drone Dataset
UWB-based UAV localization
Nineteen indoor UAV flights across seven configurations, varying fixed UWB-anchor layouts and platform-tag counts inside and outside the anchor convex envelope.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- UAV
- Environment
- Indoor
- Data origin
- Real-world
- Sensor count
- 11
- Ground truth
- Available
- Calibration
- Not reported
- Annotations
- Not available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
| Scope | Method | Reference system | Count | Rate | Coverage |
Reference provenance
|
|---|---|---|---|---|---|---|
| 3D position | Motion capture | OptiTrack | Not reported | Not reported | Full |
Reference provenance
External
Accuracy and notes
|
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
Public UWB data use Decawave RTLS firmware; custom anchor-autopositioning firmware is provided separately.
Known or intentional limitations
Reported constraints and characteristics to check before using the dataset.
All reported experiments maintained line of sight.
Passive-tag ground-station acquisition has a delay relative to the motion-capture reference.
A compact four-anchor configuration produced unstable localization and required further filtering.
Cameras
Not reported
IMUs
Not reported
GNSS
Not reported
LiDAR
Benewake TF Mini
- Model or name
- Benewake TF Mini
- Count
- 1
- Dimensions
- 1
- Rate
- Not reported
- Channels
- Not reported
- Range
- Not reported
Additional sensors
UWB
- Model
- Decawave DWM1001
- Name
- Platform tags
- Count
- 4
- Placement
- platform
- Rate
- 10 Hz
- Role
- tag
- Notes
- Count records the highest documented configuration; one to four tags are attached to the UAV depending on the configuration.
UWB
- Model
- Decawave DWM1001
- Name
- Environmental anchors
- Count
- 6
- Placement
- environment
- Rate
- 10 Hz
- Role
- anchor
- Notes
- Count records the highest documented configuration; three to six fixed anchors are used depending on the configuration.
Annotations
Reported annotation availability and task support.
- Availability
- Not 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.
@inproceedings{queralta2020uwb, title={UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset}, author={Peña Queralta, Jorge and Martínez Almansa, Carmen and Schiano, Fabrizio and Floreano, Dario and Westerlund, Tomi}, booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages={4521--4528}, year={2020}, doi={10.1109/IROS45743.2020.9341042}}Dataset corrections
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