cometadata/datacite-titles-descriptions-related-identifiers huggingface dataset:
DOI: 10.5281/zenodo.13145214
title: Multi-Vehicle and Multi-Sensory Dataset with 3D Scene-Dependent GNSS Multipath
title: Supplementary Material for GNSS Simulation for Automotive: Introducing 3D Scene-Dependent Multipath With CARLA

description: This dataset comprises the supplementary material of the paper GNSS Simulation for Automotive: Introducing 3D Scene-Dependent Multipath With CARLA (https://doi.org/10.1109/ACCESS.2025.3543752), which describes the simulation pipeline in order to obtain vehicles' sensor data as well as the raw GNSS measurements considering dynamic multipath. 

The CARLA simulator was used to generate vehicles' trajectories, with Town03 scenario. 5 vehicles equipped with GNSS, IMU, and odometer sensors with a random motion were considered. Sensor sample rate is 20 Hz and simulation duration is 1200 s (20 minutes). 

To generate GNSS raw measurements with scene-dependent multipath, satellites' orbits were considered during the CARLA simulation to detect when the satellite signals are obstructued by the obstacles in the city. This allowed us to estimate the multipath in urban areas, thus providing GNSS pseudoranges considering the 3D environment of the simulated environment in CARLA. GNSS raw measurements were generated with GPSoft SatNav Toolbox for Matlab, considering the multipath estimate from the proposed approach.

Full simulation configurations as well as the description of generated files are available in the readme.pdf file. 

Citation Request

If you would like to use the dataset provided please cite the two following items::



C. Pendão, I. Silva, F. Botelho, and H. Silva, ‘‘GNSS Simulation for Automotive: Introducing 3D Scene-Dependent Multipath With CARLA’’,  in IEEE Access, 2025, doi: 10.1109/ACCESS.2025.3543752.

C. Pendão, I. Silva, F. Botelho, and H. Silva, ‘‘Multi-Vehicle and Multi-Sensory Dataset with 3D Scene-Dependent GNSS Multipath,’’, Zenodo, doi: 10.5281/zenodo.13145215.
description: This work was supported by European Union under the NextGenerationEU, through a grant of the Portuguese Republic’s Recovery and Resilience Plan (PRR) Partnership Agreement, within the scope of the project BE.NEUTRAL—‘‘Agenda da Mobilidade para a neutralidade carbónica das cidades,’’ aiming at the development, industrialization, and operation of new carbon-zero mobility cyber-physical products that will accelerate the transition to carbon-neutral cities by 2030, under Project 35-C644874240-00000016 (Total project investment: 221.376.867,63 Euros; Total Grant: 128.619.400,50 Euros).
DOI: 10.5281/zenodo.13145215
title: Multi-Vehicle and Multi-Sensory Dataset with 3D Scene-Dependent GNSS Multipath
title: Supplementary Material for GNSS Simulation for Automotive: Introducing 3D Scene-Dependent Multipath With CARLA

description: This dataset comprises the supplementary material of the paper GNSS Simulation for Automotive: Introducing 3D Scene-Dependent Multipath With CARLA (https://doi.org/10.1109/ACCESS.2025.3543752), which describes the simulation pipeline in order to obtain vehicles' sensor data as well as the raw GNSS measurements considering dynamic multipath. 

The CARLA simulator was used to generate vehicles' trajectories, with Town03 scenario. 5 vehicles equipped with GNSS, IMU, and odometer sensors with a random motion were considered. Sensor sample rate is 20 Hz and simulation duration is 1200 s (20 minutes). 

To generate GNSS raw measurements with scene-dependent multipath, satellites' orbits were considered during the CARLA simulation to detect when the satellite signals are obstructued by the obstacles in the city. This allowed us to estimate the multipath in urban areas, thus providing GNSS pseudoranges considering the 3D environment of the simulated environment in CARLA. GNSS raw measurements were generated with GPSoft SatNav Toolbox for Matlab, considering the multipath estimate from the proposed approach.

Full simulation configurations as well as the description of generated files are available in the readme.pdf file. 

Citation Request

If you would like to use the dataset provided please cite the two following items::



C. Pendão, I. Silva, F. Botelho, and H. Silva, ‘‘GNSS Simulation for Automotive: Introducing 3D Scene-Dependent Multipath With CARLA’’,  in IEEE Access, 2025, doi: 10.1109/ACCESS.2025.3543752.

C. Pendão, I. Silva, F. Botelho, and H. Silva, ‘‘Multi-Vehicle and Multi-Sensory Dataset with 3D Scene-Dependent GNSS Multipath,’’, Zenodo, doi: 10.5281/zenodo.13145215.
description: This work was supported by European Union under the NextGenerationEU, through a grant of the Portuguese Republic’s Recovery and Resilience Plan (PRR) Partnership Agreement, within the scope of the project BE.NEUTRAL—‘‘Agenda da Mobilidade para a neutralidade carbónica das cidades,’’ aiming at the development, industrialization, and operation of new carbon-zero mobility cyber-physical products that will accelerate the transition to carbon-neutral cities by 2030, under Project 35-C644874240-00000016 (Total project investment: 221.376.867,63 Euros; Total Grant: 128.619.400,50 Euros).
DOI: 10.15468/dl.m9gj2y
title: Occurrence Download

description: A dataset containing 35536 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Cortaderia selloana (Schult. & Schult.f.) Asch. & Graebn.",
 "HasGeospatialIssue is false",
 "HasCoordinate is true",
 "OccurrenceStatus is Present",
 {
 "not" : {
 "BasisOfRecord" : [
 "is one of (Fossil, Living Specimen)"
 ]
 }
 },
 {
 "or" : [
 "CoordinateUncertaintyInMeters is less than 10000",
 "CoordinateUncertaintyInMeters is null"
 ]
 }
 ]
}

 The dataset includes 35536 records from 795 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0002257-250218110819086/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.qcf7sz
title: Occurrence Download

description: A dataset containing 27290 species occurrences available in GBIF matching the query:
{
 "DatasetKey" : [
 "is Bird Monitoring Data"
 ]
}

 The dataset includes 27290 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0002258-250218110819086/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.zf99fe
title: Occurrence Download

description: A dataset containing 1332 species occurrences available in GBIF matching the query:
{
 "and" : [
 "BasisOfRecord is Human Observation",
 "CoordinateUncertaintyInMeters 1060.0-1000000.0",
 "Geometry POLYGON((-126.32983 24.06534,-63.94324 24.06534,-63.94324 50.4961,-126.32983 50.4961,-126.32983 24.06534))",
 "TaxonKey is Ligustrum sinense Lour."
 ]
}

 The dataset includes 1332 records from 2 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0002259-250218110819086/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.5519/qd.tbh51lzc
title: Query on the Natural History Museum Data Portal (data.nhm.ac.uk) (163 records)
DOI: 10.5517/ccdc.csd.cc2lcjs9
title: CCDC 2394371: Experimental Crystal Structure Determination

description: Related Article: Xinglong Deng, Dong Li, Boyang Fu, Yu Liu, Weilong He, Shourui Li, Weizhao Cai|2025|Phys.Chem.Chem.Phys.(PCCP)|27|3375|doi:10.1039/D4CP04470C
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2ld3gl
title: CCDC 2394919: Experimental Crystal Structure Determination

description: Related Article: Prabhuodeyara M Gurubasavaraj|2024|CSD Communication|||
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2ld719
title: CCDC 2395030: Experimental Crystal Structure Determination

description: Related Article: Iswara Lestanto|2024|CSD Communication|||
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2ld72b
title: CCDC 2395031: Experimental Crystal Structure Determination

description: Related Article: Iswara Lestanto|2024|CSD Communication|||
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2ld8jt
title: CCDC 2395076: Experimental Crystal Structure Determination

description: Related Article: Iswara Lestanto|2024|CSD Communication|||
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2ld90b
title: CCDC 2395091: Experimental Crystal Structure Determination

description: Related Article: Brent Allen Junior, Marcus R. Bond|2024|CSD Communication|||
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2lntfj
title: CCDC 2403288: Experimental Crystal Structure Determination

description: Related Article: Yannick Kraemer, Alexander M. Stephens, Jón Atiba Buldt, Aurelius Young, Connor P. McLoughlin, James C. Fettinger, Lauren M. Holder, Cody Ross Pitts|2025|Chem.Commun.|61|3159|doi:10.1039/D4CC06616B
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2lvlbd
title: CCDC 2408834: Experimental Crystal Structure Determination

description: Related Article: Novan A. G. Gray, James F. Britten, David J. H. Emslie|2025|Chem.Commun.|61|3143|doi:10.1039/D4CC06539E
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2lvlcf
title: CCDC 2408835: Experimental Crystal Structure Determination

description: Related Article: Novan A. G. Gray, James F. Britten, David J. H. Emslie|2025|Chem.Commun.|61|3143|doi:10.1039/D4CC06539E
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2lvldg
title: CCDC 2408836: Experimental Crystal Structure Determination

description: Related Article: Novan A. G. Gray, James F. Britten, David J. H. Emslie|2025|Chem.Commun.|61|3143|doi:10.1039/D4CC06539E
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2lvlfh
title: CCDC 2408837: Experimental Crystal Structure Determination

description: Related Article: Novan A. G. Gray, James F. Britten, David J. H. Emslie|2025|Chem.Commun.|61|3143|doi:10.1039/D4CC06539E
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2m2f5b
title: CCDC 2415401: Experimental Crystal Structure Determination

description: Related Article: S. Rahimisheikh, A. Hajizadeh, M. Quintelier, S. Stulens, A. Hardy, J. Hadermann|2025|Acta Crystallogr.,Sect.C:Cryst.Struct.Chem.|81|56|doi:10.1107/S2053229625000130
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.15468/dl.n2jkwc
title: Occurrence Download

description: A dataset containing 9707 species occurrences available in GBIF matching the query:
{
 "and" : [
 "BasisOfRecord is Human Observation",
 "CoordinateUncertaintyInMeters 0.0-1000.0",
 "Geometry POLYGON((-128.90732 26.12643,-68.09421 26.12643,-68.09421 52.87058,-128.90732 52.87058,-128.90732 26.12643))",
 "TaxonKey is Carduus nutans L."
 ]
}

 The dataset includes 9707 records from 7 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0002261-250218110819086/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.tcexcw
title: Occurrence Download

description: A dataset containing 4902 species occurrences available in GBIF matching the query:
{
 "and" : [
 "BasisOfRecord is Human Observation",
 "CoordinateUncertaintyInMeters 0.0-1000.0",
 "Geometry POLYGON((-128.57899 20.39056,-54.99601 20.39056,-54.99601 53.64625,-128.57899 53.64625,-128.57899 20.39056))",
 "TaxonKey is Elaeagnus angustifolia L."
 ]
}

 The dataset includes 4902 records from 4 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0002262-250218110819086/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.7pntfz
title: Occurrence Download

description: A dataset containing 16858 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Cotoneaster franchetii Boiss.",
 "HasGeospatialIssue is false",
 "HasCoordinate is true",
 "OccurrenceStatus is Present",
 {
 "not" : {
 "BasisOfRecord" : [
 "is one of (Fossil, Living Specimen)"
 ]
 }
 },
 {
 "or" : [
 "CoordinateUncertaintyInMeters is less than 10000",
 "CoordinateUncertaintyInMeters is null"
 ]
 }
 ]
}

 The dataset includes 16858 records from 256 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0002263-250218110819086/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.5281/zenodo.15178526
title: Consent Form Template for Research in Commercial Buildings

description: This document is a customisable consent form template designed for researchers conducting studies in commercial buildings. It facilitates informed consent from building owners or authorised representatives by clearly outlining the project description, purpose and type of data collection, data storage and retention, confidentiality and data sharing policies, and participants' rights, including voluntary participation and the right to withdraw. The form also includes contact information for questions or withdrawal and a section on participants’ rights under GDPR. In addition, it emphasises the potential for collected data to be reused in future research, supporting data reusability and repurposing. This maximises the utility of a single dataset by enabling it to support diverse research outcomes, while also reducing the environmental footprint associated with repeated data collection and processing. This template ensures ethical compliance, transparency, and sustainability in research involving commercial properties.

 This consent form was created as part of the PREDICT project at TU Dublin by (Dr. Ciara Ahern, Dr. Gerard Obasi and Dr. Aimee Byrne), funded under The SEAI National Energy Research Development and Demonstration (RD&D) Funding Programme 23/RDD/1046. 

Disclaimer: This guide is meant to act as a template for commonality across projects and allow projects to share data in line with GDPR projection laws. However, the data controller who is using the template is responsible for the content of the consent form (not just the text in brackets), and how it is edited to suit their project and ensuring it is in line with GDPR data protection laws. Your consent form should get approval / sign off from the data protection officer of the data controller’s respective organisation.
DOI: 10.5281/zenodo.15178527
title: Consent Form Template for Research in Commercial Buildings

description: This document is a customisable consent form template designed for researchers conducting studies in commercial buildings. It facilitates informed consent from building owners or authorised representatives by clearly outlining the project description, purpose and type of data collection, data storage and retention, confidentiality and data sharing policies, and participants' rights, including voluntary participation and the right to withdraw. The form also includes contact information for questions or withdrawal and a section on participants’ rights under GDPR. In addition, it emphasises the potential for collected data to be reused in future research, supporting data reusability and repurposing. This maximises the utility of a single dataset by enabling it to support diverse research outcomes, while also reducing the environmental footprint associated with repeated data collection and processing. This template ensures ethical compliance, transparency, and sustainability in research involving commercial properties.

 This consent form was created as part of the PREDICT project at TU Dublin by (Dr. Ciara Ahern, Dr. Gerard Obasi and Dr. Aimee Byrne), funded under The SEAI National Energy Research Development and Demonstration (RD&D) Funding Programme 23/RDD/1046. 

Disclaimer: This guide is meant to act as a template for commonality across projects and allow projects to share data in line with GDPR projection laws. However, the data controller who is using the template is responsible for the content of the consent form (not just the text in brackets), and how it is edited to suit their project and ensuring it is in line with GDPR data protection laws. Your consent form should get approval / sign off from the data protection officer of the data controller’s respective organisation.
DOI: 10.15468/dl.yzexv8
title: Occurrence Download

description: A dataset containing 1059659 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Crataegus monogyna Jacq.",
 "HasCoordinate is true"
 ]
}

 The dataset includes 1059659 records from 3920 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0017576-250402121839773/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.5517/ccxw2hb
title: CCDC 860172: Experimental Crystal Structure Determination

description: Related Article: J.A.Birrell, J.-N.Desrosiers, E.N.Jacobsen|2011|J.Am.Chem.Soc.|133|13872|doi:10.1021/ja205602j
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccxw2qk
title: CCDC 860179: Experimental Crystal Structure Determination

description: Related Article: M.Baidya, H.Yamamoto|2011|J.Am.Chem.Soc.|133|13880|doi:10.1021/ja206736q
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccxw2rl
title: CCDC 860180: Experimental Crystal Structure Determination

description: Related Article: M.Baidya, H.Yamamoto|2011|J.Am.Chem.Soc.|133|13880|doi:10.1021/ja206736q
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccxw2sm
title: CCDC 860181: Experimental Crystal Structure Determination

description: Related Article: M.Baidya, H.Yamamoto|2011|J.Am.Chem.Soc.|133|13880|doi:10.1021/ja206736q
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccxw340
title: CCDC 860192: Experimental Crystal Structure Determination

description: Related Article: Shun Su, R.A.Rodriguez, P.S.Baran|2011|J.Am.Chem.Soc.|133|13922|doi:10.1021/ja206191g
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.