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

Ultra-wideband (UWB) time-difference-of-arrival (TDOA)-based localization has emerged as a promising, low-cost, and scalable indoor localization solution, which is especially suited for multi-robot applications. However, there is a lack of public datasets to study and benchmark UWB TDOA positioning technology in cluttered indoor environments. We fill in this gap by presenting a comprehensive dataset using Decawave's DWM1000 UWB modules. To characterize the UWB TDOA measurement performance under various line-of-sight (LOS) and non-line-of-sight (NLOS) conditions, we collected signal-to-noise ratio (SNR), power difference values, and raw UWB TDOA measurements during the identification experiments. We also conducted a cumulative total of around 150 minutes of real-world flight experiments on a customized quadrotor platform to benchmark the UWB TDOA localization performance for mobile robots. The quadrotor was commanded to fly with an average speed of 0.45 m/s in both obstacle-free and cluttered environments using four different UWB anchor constellations. Raw sensor data including UWB TDOA, inertial measurement unit (IMU), optical flow, time-of-flight (ToF) laser altitude, and millimeter-accurate ground truth robot poses were collected during the flights. The dataset and development kit are available at https://utiasdsl.github.io/util-uwb-dataset/.