IPIN2022

The environment consist of a warehouse area of approx 1,200m with an enclosure by reflecting walls (consisting of the walls of the warehouse, including metal gates.) The environment contains various metal objects, like e.g. industrial vehicles or metal shelves.

Receiving anchors are placed around the recording area at approximately 1.5 m height. The transmitter device is carried by the mobile agent and regularly transmits UWB signals, which are received by the anchors. During data collection, the transmitter is attached to a mobile robot, while during evaluation it is carried as a handheld device by a human worker.

The system is based on the Decawave DW1000 UWB chip, operating at a bandwidth of 499.2 MHz and center frequencies of 4–6 GHz. Ground truth positioning data is collected using a millimeter-accurate motion tracking system. Data is synchronized via an NTP server and pre-processed to remove corrupted datapoints and align RF and positioning reference data.

The receivers are placed at the following locations:

The dataset is stored as an HDF5 file containing a single dataset named ds. Each entry corresponds to one Channel Impulse Response (CIR) measurement received at an anchor node and contains the following fields:

• rec_time (int64): The timestamp in nanoseconds at which the CIR was received at the anchor node. This serves as the global time index of the tracking problem.
• burst_id (int32): The transmitter time index, used for synchronization. At each burst ID, the mobile node transmits an impulse that is received by a subset of anchors. The complete set of CIRs from all anchors is not available at every time step, as detection may fail at some anchors due to insufficient channel quality or data corruption.
• cir_real (int32[366]) and cir_imag (int32[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 related to distance or time-of-flight using the corresponding cir_time values.
• cir_time (float64[366]): The timestamps corresponding to the CIR samples in seconds. This local time index can be used to assign a distance or time-of-flight value to each CIR sample.
• anch_id (int8): The ID of the receiving anchor node.
• ref_x, ref_y (float64): The ground truth position of the mobile agent at the time of reception, corresponding to rec_time. These reference positions are obtained from the millimeter-accurate motion tracking system.

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

@misc{kram2022track7,
  author       = {Kram, Sebastian and Nickel, Christian and Mutschler, Christopher},
  title        = {IPIN2022 Challenge Track 7: Channel Impulse Responses},
  year         = {2022},
  howpublished = {\url{https://iis.fraunhofer.de/ipin2022}},
  note         = {Fraunhofer Institute for Integrated Circuits IIS}
}

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