Dataset Overview This project contains the dataset collected from the Renault Zoe demonstrator vehicles, part of the PRETIL platform, which belongs to the CRIStAL laboratory at the University of Lille. The data was gathered as part of an experimental study focused on the impact of GNSS spoofing on safety-critical land transportation localization systems within a cooperative fleet.

This dataset was instrumental in conducting the study presented in the paper titled "Assessing GNSS Spoofing Impact on A Safety-Critical Land Transportation Localization Function Within a Cooperative Fleet: An End-Users Focused Experimental Study" published in ION GNSS+ 2024.

Data context The dataset is structured around three Renault Zoe vehicles (referred to as CAR1, CAR2, and CAR3) equipped with various sensors for GNSS, IMU, LiDAR, and CAN bus data. Each vehicle recorded its data using different ROS (Robot Operating System) versions, with CAR1 (White) operating on ROS1 and the remaining two cars (CAR2 Blue and CAR3 Grey) on ROS2. The dataset includes the following sensor data:

• GNSS positions from multiple receivers
• 3D point clouds from LIDAR systems
• IMU (Inertial Measurement Unit) data from onboard sensors
• CAN bus data recording the internal vehicle state (speed, steering, etc.)
• Synchronous timestamps and transforms (TF frames) to enable precise localization and mapping
• Spoofed position of CAR1 generated using Safran Skydel GNSS emulator.

ROS1, noetic

ROS2, humble

SBF Analyser from Septentrio RX Tools, v24.0.0