UTIL: An Ultra-wideband Time-difference-of-arrival Indoor Localization Dataset

Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has recently emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there appears to be a lack of public datasets to benchmark the emerging UWB TDOA positioning technology in cluttered indoor environments. To fill in this gap, we present a comprehensive dataset consists of UWB TDOA identification experiments and flight experiments based on Decawave's DWM1000 UWB modules. In the identification experiments, we collected low-level signal information, including signal-to-noise ratio (SNR) and power difference values, in various line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. For the flight experiments, we conducted a cumulative $\sim$ 150 minutes of real-world flights with an average speed of 0.45 m/s using four different anchor constellations. Raw sensor data including UWB TDOA, inertial measurement unit (IMU), optical flow, time-of-flight (ToF) laser, and millimeter-accurate ground truth data were collected during the flights. The dataset and development kit are available at https://utiasdsl.github.io/util-uwb-dataset/.