IPIN2021

The environment consists of an area of approximately 300 m² with a partial enclosure by reflecting walls (consisting of the walls of the measurement hall, including metal gates and artificially included reflector/absorber wall elements) and various metal objects that are typical for industrial indoor environments, such as industrial vehicles or metal shelves.

We provide two different environment states for the dataset

The transmitter device is carried by a human/worker and regularly transmits UWB signals received by the anchors. Receiving anchors are placed around the recording area at ~1.5 m height. The data is recorded using a platform based on the Decawave DW1000 UWB chip. The ground truth of the transmitter position is collected using a millimeter-accurate Qualisys motion tracking system. The data is collected and synchronized by an NTP server and pre-processed (corrupted datapoints are removed and RF and positioning reference data are synchronized).

The anchor positions are the following:

The dataset is provided as an HDF5 file, that contains the CIRs and reference positions in a dataset ds that has:

• rec_time (float): the timestamp in s at which the CIR was received at the receiver node. This is the "global time index" of the tracking problem.
• burst_id (int): the transmitter time index. This can be used for synchronization. At each burst ID, the transmitter (i.e., the mobile node) transmits an impulse that is received by a subset of the receivers (i.e., anchors). The complete set of CIRs from all anchors is not available at all time steps, as at some receivers the detection was not successful due to an insufficient channel and/or data corruption.
• cir_real (int[366]) and cir_imag (int[366]): the real and imaginary parts of the CIR. The CIR is centered around the first distinct peak and contains 366 samples each, which can be set in relation to distance or time-of-flight by using cir_time.
• cir_time (float[366]): the timestamps corresponding to the real and imaginary parts of the CIR in s. This is the "local time index" that can be used to assign a distance to the CIR values.
• anch_id (string): the anchor ID of the receiving anchor.
• ref_x, ref_y (float): the positions of the agent (i.e. the mobile tag, the transmitter). The reference positions correspond to the receiver timestamp rec_time.

An additional file (hallmeasurements.csv) containing the corner coordinates of the absorber/reflector walls is also available. It contains:

• x1, y1, x2, y2 (float): the corner coordinates of the walls.
• description: a short description of the type of wall.

If you use our dataset for your research, please consider citing:

This work is licensed under a CC BY-SA 4.0 license, see https://creativecommons.org/licenses/by-sa/4.0/