Fraunhofer Institute for Integrated Circuits IIS
Fraunhofer Institute for Integrated Circuits IIS

IPIN2025

Environment

The measurement environment consists of a warehouse area of approximately 1,200 m², enclosed by reflecting walls including warehouse walls and metal gates. The environment contains various metal objects such as industrial vehicles and metal shelves. The environment features heterogeneous radio propagation conditions, with non-line-of-sight (NLOS) areas between shelves and close to absorber walls, as well as more open sections with line-of-sight (LOS) to most basestations.

Measurement Setup

Four receiving basestations are placed along the walls of the environment. The smartphone is carried by a person at a height of approximately 1.05 m and regularly transmits 5G uplink signals received by the basestations. The system operates at a bandwidth of 100 MHz and a center frequency of 3.75 GHz. Additionally, sensor data from the smartphone is provided, including acceleration, rotation, magnetic field and orientation, recorded at 100 Hz. Ground truth positions are collected using a sub-centimeter-accurate tracking system. Data is synchronized via an NTP server and pre-processed so that all CIRs are aligned to their first signal peak.

The receivers are placed at

bs_id pos_x pos_y pos_z
0 0.5509 9.8690 3.5126
1 9.8147 29.6786 3.5233
2 21.6747 29.7855 3.7845
6 21.6532 0.7110 3.6580

Dataset Description

The dataset is stored as an HDF5 file containing a single dataset named ds. Each entry corresponds to one snapshot of CIR measurements and smartphone sensor data and contains the following fields:

  • timestamp (float64): The timestamp in seconds of the measurement. This serves as the global time index of the tracking problem.
  • reference (float32[2]): The ground truth position of the mobile agent at the time of the measurement, obtained from the sub-centimeter-accurate tracking system.
  • cir (float32[2, 4, 43]): The Channel Impulse Responses received at all basestations. The first dimension contains the real and imaginary parts, the second dimension corresponds to the individual basestations, and the third dimension contains the CIR samples. All CIRs are aligned to their first signal peak.
  • acc (float32[3]): The three-axis acceleration measured by the smartphone in m/s².
  • rot (float32[3]): The three-axis rotation rate measured by the smartphone in rad/s.
  • mag (float32[3]): The three-axis magnetic field measured by the smartphone in µT.
  • quat (float32[4]): The orientation of the smartphone represented as a quaternion (w, x, y, z)

Download

train

test 1

test 2

test 3 

This dataset was reformed to be easier to use. The original files used during the competition can be downloaded here (Test3.h5 contains the data from the experimental trial): 

annex

training

training_ref

trial1

trial1_ref

trial2

trial2_ref

experimental_trial

experimental_trial_ref

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


@misc{eidloth2025track7,
  author       = {Eidloth, Andreas and Pirkl, Jonas and Stahlke, Maximilian and Bauer, Jan Niklas and Karbownik, Piotr and Mutschler, Christopher},
  title        = {IPIN2025 Challenge Track 7: Channel Impulse Responses},
  year         = {2025},
  howpublished = {\url{https://iis.fraunhofer.de/ipin2025}},
  note         = {Fraunhofer Institute for Integrated Circuits IIS}
}