---
license: mit
language:
- en
tags:
- UAV
- UWB
- Ultra-Wideband
- Positioning
- Localization
- Benchmark
- Indoor
- Outdoor
- Machine Learning
- Sensor Fusion
- Robotics
pretty_name: QDrone
---
license: mit
---
# Q-Drone UWB Benchmark Dataset
## Overview
We present a unique UWB benchmark dataset, called Q-Drone UWB benchmark. Q-Drone system, a UAV with UWB network built at York University, was used for acquiring this benchmark over five different sites, which include an indoor, open sports field, near to a building with glasses, semi-open tunnel and underneath bridge. The benchmark data were acquired by flying for a total of 1 h 50 min 28 sec flight time and about 4.3 km traveling distances with different maneuvering patterns and spatial configuration between UAV and UWB anchors as shown in the following table.
### Environments and Locations
The data were collected from the following sites:
- **Indoor:** Indoor environment, 26m(w) x 33m(l), Oshawa, Ontario, Canada
- **Field:** Outdoor open sports field, 12m(w) x 13m(l), Uxbridge, Ontario, Canada
- **Building:** Near a glass building, 7m(w) x 7m(l), Newmarket, Ontario, Canada
- **Bridge:** Underneath a concrete-metal bridge, 10m(w) x 23m(l), Niagara, Ontario, Canada
- **Tunnel:** Under a metal bridge, 8m(w) x 30m(l), Oshawa, Ontario, Canada

### Data Acquisition and Statistics
#### Overall Dataset Characteristics
| Site       | Number of Datasets | Avg Data per Dataset | Flight Time (sec) | Travelled Distance (m) | Deployed UWB Anchors Area (m²) | UWB Range MAE (m) |
|------------|--------------------|----------------------|-------------------|------------------------|---------------------------------|-------------------|
| Indoor     | 5                  | 62194                | 1687              | 1260.88                | 91.96                           | 0.37              |
| Field      | 5                  | 92108                | 2313              | 1780.52                | 158.74                          | 0.17              |
| Building   | 3                  | 34007                | 823               | 388.92                 | 50.10                           | 2.02              |
| Bridge     | 4                  | 26359                | 726               | 330.02                 | 246.80                          | 0.34              |
| Tunnel     | 6                  | 39164                | 1079              | 504.47                 | 241.80                          | 1.61              |
| **Total**  | **23**             | **253832**           | **6628**          | **4264.81**            | **789.4**                       | **0.902**         |

#### Detailed Individual Dataset Information
The specifics of data acquired per dataset include data points, IMU measurements, and precise coordinates of the UWB anchors for accurate localization.

### Example Dataset Detail: Indoor
- **UWB Anchors:** 
  - UWB0 (0, 0, 0.62)
  - UWB1 (8.51, 0, 0.96)
  - UWB2 (-0.26, 10.77, 1.32)
  - UWB3 (8.25, 10.84, 1.58)
- **Datasets:**
  - **Indoor 1:** 10,127 data points, 267 sec duration, traveled 167.18m, x-min: 2.592m, x-max: 4.745m, y-min: 1.779m, y-max: 12.689m, z-max: 6.91m
  - **Indoor 2:** 11,837 data points, 308 sec duration, traveled 210.075m, coordinates range: [-0.281, 13.082]m, z-max: 6.087m
  - **Indoor 3, 4, 5:** Additional datasets with varying data points, duration, and spatial coordinates.

[Additional tables and dataset specifics continue similarly for each site.]

## Conclusion
This comprehensive dataset aims to aid in the development of UWB technologies by providing diverse scenarios and extensive benchmark data for performance testing under different environmental conditions.

## Citation: |

**Please Cite Our Work**: If you use this dataset for your research, we kindly ask you to cite the following paper:
  > @inproceedings{arjmandi2020uwb,
  >   title={Benchmark Dataset of Ultra-Wideband Radio Based UAV Positioning},
  >   author={Arjmandi, Zahra and Kang, Jungwon and Park, Sohn Kunwoo and Gunho},
  >   booktitle={IEEE International Conference on Intelligent Transportation Systems},
  >   year={2020}
  > }