Key facts

    Fields of application: railway positioning, sensor fusion, sensor models
    Available data: 2x GNSS, 2x IMU, 1x odometer, 2x speed sensors, camera images
    Available reference data: Open GNSS/IMU EKF-fusion solution (loosely coupled), Proprietary GNSS/IMU EKF-fusion solution (tightly coupled), 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.

About We provide a data set that can be used for various rail vehicle positioning experiments. The data were collected using the German Aerospace Center (DLR) research vehicle RailDriVE on a segment of the Braunschweig harbor railway in February 2019. Several sensors of the RailDriVE equipment and an additional self-sufficient system provided by Technische Universität Darmstadt (TU Darmstadt) were employed, including two GNSS receivers, two inertial measurement units (IMU), and several speed and distance sensors (radar, optical, odometer). Front-facing camera data has been included for documentation purposes. In order to simplify its use, some pre-processing steps were applied to the data, mainly to have common time and coordinate frames. Furthermore, example and reference positioning solutions as well as a track map have been included. The data can be used as a starting point for research work or student theses. Novel and established algorithms for many different sub-problems can be tested on the data, in order to facilitate their comparison and make results and insights more accessible.

Similar data sets

https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2529
https://tudatalib.ulb.tu-darmstadt.de/handle/tudatalib/2530

Scripts

https://github.com/tud-rmr/railway_dataset_bs_20190222

Companion paper For reference to the data set in your research, please cite the companion paper:

    M. Roth and H. Winter, "An Open Data Set for Rail Vehicle Positioning Experiments," 23rd International Conference on Intelligent Transportation Systems (ITSC), Sep. 2020

BibTex: @InProceedings{RothWinter2020OpenDataSet, author = {Roth, Michael and Winter, Hanno}, title = {An Open Data Set for Rail Vehicle Positioning Experiments}, booktitle = {23rd International {IEEE} Conference on Intelligent Transportation Systems ({ITSC'20})}, doi = {10.1109/ITSC45102.2020.9294594}, year = {2020}}