1 research outputs found
Rail Vehicle Positioning Data Set: Lucy, October 2018
No full text**Key facts**
* **Fields of application:**
railway positioning, sensor fusion, sensor models
* **Available data:**
2x GNSS, 1x IMU
* **Rail-track characteristics:**
≈120 km on conventional and secondary line (tight curves, steep slopes,
forested embankment)
* **Available reference data:**
Open GNSS/IMU EKF-fusion solution (loosely coupled), high precision 3D track-
map
* **Structure:**
This data set follows the data sharing principles of the LRT (localization
reference train) initiative that are available at [lrt-
initiative.org](https://lrt-
initiative.org/2020_05_28_lrtdatasetguidelines_v1_2/).
**About**
This data set can be used for rail vehicle positioning experiments. It
contains measurements of an 6-DOF IMU and two GNSS receivers. The senors were
mounted on a regular rail vehicle during a trip from Chemnitz (Germany,
Saxony) to Schwarzenberg (Germany, Saxony) and back.
The recorded data have been pre-processed to have common time and coordinate
frames. Furthermore, a simple loosely coupled GNSS/IMU positioning solution is
provided which can be used as a baseline for more advanced fusion approaches.
All MATLAB scripts used to process the raw data and to calculate the GNSS/IMU
positioning solution are provided within the data set.
The data can be used as a starting point for own work. Special features of
this data set are its covered terrain (tight curves, steep slopes, forest
embankment), its test-track (often used as test-track for new railway
equipment) and the availability of a high precision 3D track-map.
**Similar data sets**
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**Scripts**
*
**BibTex**
@Misc{WinterRailDataSetOctober2018,
title = {Rail Vehicle Positioning Data Set: Lucy, October 2018},
author = {Winter, Hanno},
doi = {10.25534/tudatalib-360},
publisher = {Technische Universität Darmstadt},
year = {2020},
}initial versio
