Data Format
The measurement files are stored in H5 file format. For each scenario there are two files. The channel file includes the channel frequency response and the estimated delay and Doppler of the target, together with the positions of the receiver antennas. The target file includes the localization information (position, velocity, and acceleration) from an on-board RTK receiver. The timestamps of the data are available in both files as metadata.
In order to distinguish between different scenarios and and also simplify accessing the UAV routes the measurement files are cropped into smaller files that hold to the following naming convention:
<Start Point [int]> to <End Point [int]> _H <Height [m]> _V<Target velocity [m/s]>.h5
The values for Start Point and End Point are illustrated on the interactive trajectory map below. Click the markers to see a label and description.
The velocity stated in the scenario name is not the actual velocity of the UAV, but rather the maximum velocity of the target UAV. Use the groundtruth files to check the RTK measured velocity at all available snapshots.
Data Structure
The structure of the *.h5 files is illustrated in the following figures. For programmatic examples how to read the files, please refer to Examples.
Channel File Structure
Target File Structure
Available Scenarios
In general, each scenario was flown at a height of 15 m and 30 m and at a maximum velocity of 5 m/s and 11 m/s.
Here is a full list of all available scenarios. The names in the list can also be used to query the scenarios in the downloader.py.
| h=15 m, v=5m/s | h=15 m, v=11m/s | h=30 m, v=5m/s | h=30 m, v=11m/s |
|---|---|---|---|
| 0to1_H15_V5 | 1to2_H15_V11 | 1to2_H30_V5 | 1to0_H30_V11 |
| 0to9_H15_V5 | 2to1_H15_V11 | 2to1_H30_V5 | 1to2_H30_V11 |
| 1to2_H15_V5 | 2to3_H15_V11 | 2to3_H30_V5 | 2to1_H30_V11 |
| 2to1_H15_V5 | 3to2_H15_V11 | 3to2_H30_V5 | 2to3_H30_V11 |
| 2to3_H15_V5 | 3to4_H15_V11 | 3to4_H30_V5 | 3to2_H30_V11 |
| 3to2_H15_V5 | 4to3_H15_V11 | 4to3_H30_V5 | 3to4_H30_V11 |
| 3to4_H15_V5 | 4to5_H15_V11 | 4to5_H30_V5 | 4to3_H30_V11 |
| 4to3_H15_V5 | 5to4_H15_V11 | 5to4_H30_V5 | 4to5_H30_V11 |
| 4to5_H15_V5 | 5to6_H15_V11 | 5to6_H30_V5 | 5to4_H30_V11 |
| 5to4_H15_V5 | 6to5_H15_V11 | 6to5_H30_V5 | 5to6_H30_V11 |
| 5to6_H15_V5 | 6to7_H15_V11 | 6to7_H30_V5 | 6to5_H30_V11 |
| 6to5_H15_V5 | 7to6_H15_V11 | 7to6_H30_V5 | 6to7_H30_V11 |
| 6to7_H15_V5 | 7to8_H15_V11 | 7to8_H30_V5 | 7to6_H30_V11 |
| 7to6_H15_V5 | 8to7_H15_V11 | 8to7_H30_V5 | 7to8_H30_V11 |
| 7to8_H15_V5 | 8to7_H30_V11 | ||
| 8to7_H15_V5 |