DOI: 10.5281/zenodo.17347695
title: Bluetooth Channel Sounding IQ Dataset Across Diverse Scenarios

description: This dataset contains over 250 labeled scenarios of phase-based ranging as defined by the Bluetooth 6.0 standard, specifically under Bluetooth Channel Sounding. The data was collected using multiple Nordic nRF54L15-DK development kits.

Scenarios

The dataset includes a wide variety of settings:



Indoor and outdoor environments

Line-of-sight and non-line-of-sight conditions

Different device heights and orientations

Various transmit power levels

Multiple Bluetooth PHY configurations

Different subsets of used channels


Measurement Setup

Each measurement was performed between a static initiator and a static reflector, with no moving objects nearby. Multiple measurements were taken per scenario, as detailed in the accompanying documentation. Each measurement includes 160 steps, corresponding to 160 Bluetooth channels (each channel is sampled approximately 2.22 times).

Outdoor data was collected in an open field, with the nearest building at least 50 meters away at all times. Distances were labeled using a measuring wheel, which introduces some imprecision compared to indoor measurements.

Indoor data was collected in the Industrial IoT Lab (IIoTLab) in Ghent, Belgium. IIoT Lab is an advanced testbed designed to accelerate R&D in production and warehousing IoT technologies. The lab features a 240 m² warehouse-like environment equipped with a Motion Capture system for precise 3D localization.

Data Format

Each row in the dataset represents a single measurement. Within each row, steps are comma-separated. Each step contains IQ data in the following format:



initiator_quality;reflector_quality;channel;antenna;initiator_I;initiator_Q;reflector_I;reflector_Q


A short sample is included with 20 measurements at 1-meter distance, namedsample_1_meter.csv.

Dataset Structure

Distance measurements are kept in mapping files:



outdoor_mapping.csv: measured distances for outdoor scenarios (measuring wheel).

mapping.csv: 3D coordinates of the initiator and reflector (motion capture system).


The dataset itself is organized into subfolders withindata.zip, grouped by scenario type:

data.zip/
├── channel_map/                # Variation of selected channel maps
│   ├── LOS/
│   └── NLOS/
├── distance/                   # Multiple distances
│   ├── LOS/
│   └── NLOS/
├── distance_2/                 # More distances, some repeated
│   ├── LOS/
│   └── NLOS/
├── orient_mix/                 # Vertical and horizontal orientation of devices, but same height
│   ├── LOS/
│   └── NLOS/
├── orientation/                # Rotations and height variations
│   ├── 45angle/                # Same height, rotated around Y-axis by 45°
│   │   ├── LOS/
│   │   └── NLOS/
│   └── height/                 # Variable height, rotated around Y-axis by 90°
│       ├── LOS/
│       └── NLOS/
├── outdoor/                    # Outdoor measurements
├── phy/                        # Using several supported BLE PHYs
│   ├── LOS/
│   └── NLOS/
├── phy_2/                      # Additional PHY measurements
│   ├── LOS/
│   └── NLOS/
├── power/                      # Different power levels
│   ├── LOS/                    # NLOS could not support all the same low-power settings as LOS
│   └── NLOS/