cff-version: 1.2.0
abstract: "This Dataset contains the data files used for simulations in the publication "A Computationally Efficient Moving Horizon Estimator for Ultra-Wideband Localization on Small Quadrotors" (2021) by S. Pfeiffer, C. de Wagter and G.C.H.E de Croon. <br><br>The logs were collected in two different UWB modes (TWR and TdoA) and on 6 different trajectories (Square, Triangle, Octagon, Hourglass, Star, Random). UWB data was gathered with 8 anchors positioned roughly in the corners of a cube. Two of the files do not contain complete UWB data and are marked with the suffix "_BAD".<br><br>The data was recorded on a Crazyflie 2.1 in the TU Delft "Cyberzoo" indoor flight arena using the scripts found at https://github.com/Huizerd/crazyflie-suite. The code used for the simulations in the paper can be found at https://github.com/SUPfeiffer/uwb-simulator.<br><br><br><div>This dataset contains the following files:</div>- anchor_positions.yaml : This file contains the location of the UWB anchors in Cyberzoo coordinates<br>- date_time_mode_trajectory.csv : The log files<br><br><br>The log files contain the following fields:<br>- timeTick : timestamps in ms<br>- gyroX/gyroY/gyroZ: Gyroscope measurements in deg/s<br>- accX/accY/accZ: Accelerometer measurments in G (1G = 9.81m/s)<br>- twri: TWR distance measurement to anchor i<br>- tdoaij: TdoA measurement from anchors i and j<br>- otX/otY/otZ: Groundtruth measured by an optitrack motion capture system"
authors:
  - family-names: Pfeiffer
    given-names: Sven
    orcid: "https://orcid.org/0000-0002-1957-9388"
  - family-names: de Wagter
    given-names: Christophe
    orcid: "https://orcid.org/0000-0002-6795-8454"
  - family-names: de Croon
    given-names: Guido
title: "Data underlying the publication: &#34;A Computationally Efficient Moving Horizon Estimator for UWB Localization on Small Quadrotors&#34;&#34;"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/14827680.v1
license: CC0
date-released: 2021-06-30