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 |
