Open Spatial Dataset for GNSS and Autonomous Navigation
Published in Operating in the Future Electromagnetic Environment Symposium, 2024
Recommended citation: Timothy Pelham, Y Chen, S Liu, et al. Open Spatial Dataset for GNSS and Autonomous Navigation. TechRxiv. April 01, 2024. DOI: 10.36227/techrxiv.171198164.47035045/v1 https://www.techrxiv.org/users/690214/articles/737375-open-spatial-dataset-for-gnss-and-autonomous-navigation?commit=c669274e86b5ccb6e5ec356c5c3cab58a046b518
Global Navigation Satellite System (GNSS) data has become a stable of modern life, whether delivered through a smartphone, vehicle, or as part of an industrial dataset. The expectation of reliable position and time information, irrespective of the environment, becomes challenging in tunnels and canyons with significant multipath, whether natural or urban. An open dataset of Lidar, Computer Vision, Inertial measurement, and GNSS data is presented, combined with preliminary analysis of the dataset on a selected recording, considering GPS coarse acquisition, lidar and computer vision based navigation together with model based channel reconstruction. Lidar and video based techniques demonstrate positioning error as low as 3.8m root mean square error, together with GNSS acquisition and signal blockage alignment with computer vision and lidar maps.