DOI: 10.5281/zenodo.15433859
title: RPSC Test Data in University of Vigo: Trajectories, Positioning, and Navigation

description: Overview

This dataset contains data collected during tests of the Remotely Piloted Safety Cone (RPSC) system under various operational conditions. The files are organized into three main sections: Grand Truth, Navigation, and Positioning, each containing relevant data for trajectory analysis, positioning, and system configuration.




1. Grand Truth

This section contains reference files used for planning and executing tests:





GNSS_points_football_field: Contains GNSS points collected at the football field using the Trimble R8 receiver. These points represent the locations where the RPSCs were positioned for positioning tests.





Files: fotball_filed.csv, fotball_filed.png, fotball_filed_formated.csv.






Navigation_waypoints: Files in .waypoints format containing the waypoints used during tests. These files can be directly loaded into the Pixhawk system for autonomous route execution.





Files: path_fotball_field.waypoints, path_laps_fotball_field.waypoints.








2. Navigation

This section contains recorded trajectories captured in rosbag format, organized into subfolders according to test configuration:





Trajectory1: Cruising speed at 60% with RTK and encoder.




Trajectory2: Cruising speed at 80% with RTK and encoder.




Trajectory3: Cruising speed at 80% with RTK without encoder.




Trajectory4: Cruising speed at 80% with RTK using the encoder as the primary positioning source.




Trajectory5: Cruising speed at 80% with RTK using the encoder as the primary velocity source.




Trajectory6: Cruising speed at 100% with RTK and encoder, without PID and EKF deactivated.




Trajectory7: Cruising speed at 80% without RTK and encoder.




Trajectory8: Cruising speed at 80% with RTK and encoder, starting the route without prior stabilization.




Trajectory9: Cruising speed at 80% with RTK and encoder, performing three laps of the route.



Each folder contains rosbag files (.db3) and metadata describing test conditions.




3. Positioning

This section contains static positioning data of RPSCs (1, 3, and 4) obtained using RTK correction networks:





IGN: Data collected using the Spanish National Geographic Institute (IGN) reference network.




SmartNet: Data collected using the commercial SmartNet network.



Each file contains 12 columns representing positions measured in different coordinate systems. Files ending in m contain coordinates in the WGS84 format, ready for use. During each test, the system was restarted after configuring the network to record stabilization time.




File Formats

The files are presented in accessible and specific formats for analysis:





ROS Bag Files (.db3): Log files for trajectory analysis using ROS2.




CSV Files (.csv): Positioning and GNSS point data in tabular format.




Waypoint Files (.waypoints): Pixhawk-compatible files for route loading.




Images (.png): GNSS point maps from the football field.






Purpose and Usage

This dataset allows for performance analysis of the RPSC system under various operational conditions, verifying positioning accuracy in real scenarios, and evaluating response capabilities with different speed configurations and sensor utilization. The results support the development of safe autonomous systems for road work area delimitation.