Data Format

These data sets were used to analyze three localization algorithms. The blue path represents ground truth and the green path represents the path estimate from dead reckoning alone. We will use range measurements to stationary RF beacons in the robot's environment to correct the error in the dead reckoning estimate.

Each data set given below contains the following:

    Variable Name

    Variable Format

    Algorithm

    GT -- Ground Truth

    [timestamp, x, y, heading]

    Kalman Filter

    DR -- Dead Reckoning

    [timestamp, distance traveled, heading change]

    Kalman Filter

    TD -- Tag Data

    [timestamp, antenna ID, tag ID, range (ft)]

    Kalman Filter

    TL -- Tag Locations

    [tag ID, x, y]

    Kalman Filter, Particle Filter, Sliding Batch

    DR_proc -- Integrated Dead Reckoning

    [timestamp, x, y, heading]

    Kalman Filter

    PDF -- PDF of Tag Data(TD)

    [range, mean, variance]

    Kalman Filter, Particle Filter, Sliding Batch

    GTX -- Extracted Ground Truth

    [timestamp, x, y, heading]

    Particle Filter, Sliding Batch

    TDX -- Extracted Tag Data

    [timestamp, antenna ID, tag ID, range (ft)]

    Particle Filter, Sliding Batch

    TDC -- Corrected Tag Data

    [timestamp, antenna ID, tag ID, range (ft)]

    Particle Filter

    TDP -- Perfect Tag Data

    [timestamp, antenna ID, tag ID, range (ft)]

    Particle Filter

    DRX -- Extracted Integrated Dead Reckoning

    [timestamp, x, y, heading]

    Particle Filter, Sliding Batch

    dm -- Distance Travelled

    [distance travelled]

    Sliding Batch

    am -- Heading Change

    [heading change]

    Sliding Batch

All x,y coordinates are given in meters, as are the distance-travelled measurements, and all headings are in radians. The X in the variable names is for 'extracted,' since we extract only the pertinent points from GT and DR.

All ranges in TD, TDX, TDC, and TDP are in feet. The ranges in TDX, TDC, and TDP are expressed with reference to the robot's reference point (point 'G' described in the problem geometry page). The ranges in TD are the ranges acquired from the antennas directly (unprocessed data) and so are in feet and are expressed with respect to the antennas' reference point.

We also provide a dataset TDP, which contains a modified 'perfect' set of tag data. This allows us to see what would happen if there were no noise in the range measurements. The ranges in TDC are the 'corrected' data that have been adjusted for the bias in the range measurements.