DOI: 10.48726/zmv9c-p1e64
title: Dataset of Forklift-Deployed Multi-Sensor Setup for Indirect Tracking of Markerless Industrial Products

description: Dataset of the time-synchronized multisensor data, collected by a total of four sensors, deployed on the full-scale forklift, operating in the industrial environment. The dataset contains the experimentally collected data for the Indirect Tracking project, as well as its selective processing results. The following initial data is provided: Positioning data of the forklift, collected by using Eliko UWB RTLS system; Selective inertial data of the forklift heading (Z-axis angular velocity), collected by the gyroscope of the IMU unit Bosh bno055; Fork elevation data, collected by Miran MPS series draw wire encoder; Distance to the object in front of the forklift data, collected by ultrasonic distance sensor SEN0208.
The dataset also contains certain results of the initial data processing, used in the context of the Indirect Tracking project. The dataset is provided in the Indirect_Tracking_Dataset.csv file, and contains the following data sections: 
FORKLIFT POSITIONING DATA includes the initial forklift positioning data, including real-time 2D coordinates of the forklift: X [m] and Y [m], collected by the UWB RTLS system at the update rate of 5Hz, along with the corresponding time within the experimental campaign TIME.xy [s] and delta time of the dt.xy [s] between positioning data samples.
FORKLIFT IMU INPUT includes the angular velocity of the forklift heading GYR_Z [deg/s], collected by the onboard gyroscope at 100Hz update rate, along with the corresponding time within the test campaign TIME.xy [s] and delta time of the dt.xy [s] between the data samples.
FORKLIFT HEADING DATA includes the calculated forklift heading data ATKF.YAW [deg], based on the above-mentioned inertial and positioning data, by using the ATKF (Adaptive Tandem Kalman Filter) heading estimation algorithm. This section also includes the estimation of the expected true forklift heading TRU.YAW [deg].
ESTIMATED FORKLIFT FORK COORDINATES & FORK SENSORS' DATA includes the collected and calculated data, related to the fork (tynes) of the used forklift. The provided 2D coordinates of the fork area FORK.X [m] and FORK.Y [m] are calculated by using the above-mentioned forklift positioning and (ATKF estimated) heading data. This section also provides the initial measurement data of the fork elevation sensor (FORK.Z [m]), reflecting the Z coordinate of the fork, and the distance data collected by the ultrasonic Distance sensor [m], reflecting the occupancy of the fork area. Fork elevation and distance sensors' data were simultaneously collected by the onboard MCU with the appropriate update rate of 12Hz).
INTERACTION EVENT reflects the sequential number and the exact period of the forklift interaction with the payload (pick-up or drop-down event).
As in the tested indirect tracking method, the location of the payload pick-up or drop-down is formed over time from 2D (X&Y) and elevation (Z) coordinates, the INDIR.COORD.SAVED reflects the particular event coordinates part (X&Y, or Z), saved at the exact moment. The exact moment of the event coordinates saving is calculated by using the A-PDD (Automatic Pick-up & Drop-down Detection) algorithm, based on the initial data of the aforementioned fork elevation and distance sensors.
The collected data reflects the experimental positioning of two industrial payloads. Sections STATUS & POSITION OF INDIRECTLY TRACKED PAYLOAD 1 and STATUS & POSITION OF INDIRECTLY TRACKED PAYLOAD 2 separately provide the momentary status information PYLD1.STATUS & PYLD2.STATUS of each tracked payload. Each payload has one of four status values: Stored - payload is stored at the known coordinates; Transported - payload is being transported by the forklift and indirectly tracked in real-time; Pick-up - payload pick-up process (event) is ongoing and its coordinates are being defined; Drop-down - payload drop-down process (event) is ongoing and its coordinates are being defined. These sections also provide the corresponding indirectly tracked 3D coordinates of each payload (INDIR.PYLD1.X [m], INDIR.PYLD1.Y [m], INDIR.PYLD1.Z [m]) and (INDIR.PYLD2.X [m], INDIR.PYLD2.Y [m], INDIR.PYLD2.Z [m])
UWB INITIAL PERFORMANCE in INDIRECT METHOD section reflects the momentary positioning quality of the used UWB RTLS system in the initial forklift tracking, and therefore, in the indirect payload localization. The section provides the momentary number of UWB anchor units in the line of sight with the forklift onboard UWB tag INDIR.ANCH_in_LOS (min. required 3), and the momentary status INDIR.POS.SUCCESS of successful coordinates calculation by the UWB system (yes or no).
POSITION OF DIRECTLY TRACKED PAYLOAD 2 includes the real-time coordinates of payload 2 (DIR.PYLD2.X [m], DIR.PYLD2.Y [m], DIR.PYLD2.Z [m]), independently tracked by the directly attached UWB tag. 
UWB INITIAL PERFORMANCE in DIRECT METHOD section reflects the positioning quality of the used UWB RTLS system regarding the UWB tag, directly attached to the payload 2. The momentary number of UWB anchor units in the line of sight with the payload attached UWB tag DIR.ANCH_in_LOS (min. required 4 for 3D positioning) is provided in this section along with the momentary status DIR.POS.SUCCESS of successful coordinates calculation (yes or no).
Section TRUE COORDINATES OF INTERACTED PAYLOADS provides the manually measured true coordinates (PYLD.TRU.X [m], PYLD.TRU.Y [m], PYLD.TRU.Z [m]) of the interacted payload at the moment of the corresponding event.