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

This paper presents an ultra-wideband (UWB) time-difference-of-arrival (TDOA) dataset collected from a quadrotor for research purposes. The dataset consists of low-level signal information from static experiments and UWB TDOA measurements and additional onboard sensor data from flight experiments on a quadrotor. The data collection process is discussed in detail, including the equipment used, measurement collection procedure, and the calibration of the quadrotor platform. All the data is made available as plain text files and we provide both Matlab and Python scripts to parse and analyze the data. We provide a thorough description of the data format and some pointers on the potential usage of each sub-dataset. The dataset is available for download at https://utiasdsl.github.io/util-uwb-dataset/. We hope this dataset will help researchers develop and compare reliable estimation methods for the emerging UWB TDOA-based indoor localization technology.