Copyright 2018 - TUE - Mobile Perception Systems

Contains total 8 datasets with 180 km of driving distance.

Each folder contains .csv files with:

  • Velocity in m/s at 25 Hz(from vehicle ECU)
  • Yaw-rate in rad/s at 25 Hz (from vehicle ECU)
  • GPS Log from Ublox-7P at 1 Hz
  • Post processed RTK-GNSS ground truth

 

The first column of the .csv files contains time-stamp of the recording platform (RTMaps) (GPS, yaw-rate and velocity share the same clock).
The clock of the PC is synchronized with the GNSS clock.

Description of column data for GNSS.csv (containing GNSS data):

RTMaps Clock

Kernel Clock

Lat

Lon

Alt

Velocity

Epx

Epy

Epv

Visible Sats

Heading

11027105

1499168683

51.453179293

5.392311385

17.873

1.722

2.04

3.07

10.35

14

34.5926

 Description of column data for vx.csv (containing velocity data):

RTMaps Clock

Velocity

836199914

5.76

Description of column data for psiD.csv (containing yawrate data):

RTMaps Clock

Yaw-Rate

3371949893

0.142

 

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