Zeev Yampolsky, Yair Stolero, Nitsan Pri-Hadash, Dan Solodar, Shira Massas, Itai Savin, Itzik Klein
{"title":"Multiple and Gyro-Free Inertial Datasets.","authors":"Zeev Yampolsky, Yair Stolero, Nitsan Pri-Hadash, Dan Solodar, Shira Massas, Itai Savin, Itzik Klein","doi":"10.1038/s41597-024-03917-6","DOIUrl":null,"url":null,"abstract":"<p><p>An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and the internet of things. Recent research explores the integration of data-driven methods with INS, highlighting significant innovations, improving accuracy and efficiency. Despite the growing interest in this field and the availability of INS datasets, no datasets are available for gyro-free INS (GFINS) and multiple inertial measurement unit (MIMU) architectures. To fill this gap and to stimulate further research in this field, we designed and recorded GFINS and MIMU datasets using 54 inertial sensors grouped in nine inertial measurement units. These sensors can be used to define and evaluate different types of MIMU and GFINS architectures. The inertial sensors were arranged in three different sensor configurations and mounted on a mobile robot, a passenger car and a turntable. In total, the dataset contains 45 hours of inertial data and corresponding ground truth trajectories. The data is freely accessible through our figshare repository.</p>","PeriodicalId":21597,"journal":{"name":"Scientific Data","volume":null,"pages":null},"PeriodicalIF":5.8000,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Scientific Data","FirstCategoryId":"103","ListUrlMain":"https://doi.org/10.1038/s41597-024-03917-6","RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"MULTIDISCIPLINARY SCIENCES","Score":null,"Total":0}
引用次数: 0
Abstract
An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and the internet of things. Recent research explores the integration of data-driven methods with INS, highlighting significant innovations, improving accuracy and efficiency. Despite the growing interest in this field and the availability of INS datasets, no datasets are available for gyro-free INS (GFINS) and multiple inertial measurement unit (MIMU) architectures. To fill this gap and to stimulate further research in this field, we designed and recorded GFINS and MIMU datasets using 54 inertial sensors grouped in nine inertial measurement units. These sensors can be used to define and evaluate different types of MIMU and GFINS architectures. The inertial sensors were arranged in three different sensor configurations and mounted on a mobile robot, a passenger car and a turntable. In total, the dataset contains 45 hours of inertial data and corresponding ground truth trajectories. The data is freely accessible through our figshare repository.
期刊介绍:
Scientific Data is an open-access journal focused on data, publishing descriptions of research datasets and articles on data sharing across natural sciences, medicine, engineering, and social sciences. Its goal is to enhance the sharing and reuse of scientific data, encourage broader data sharing, and acknowledge those who share their data.
The journal primarily publishes Data Descriptors, which offer detailed descriptions of research datasets, including data collection methods and technical analyses validating data quality. These descriptors aim to facilitate data reuse rather than testing hypotheses or presenting new interpretations, methods, or in-depth analyses.