大规模多样化 GNSS/SINS 数据集:构建、出版和应用

IF 5.6 2区 工程技术 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Feng Zhu;Xi Chen;Qinqing Cai;Xiaohong Zhang
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引用次数: 0

摘要

高精度连续位置和姿态确定是移动测绘和自动驾驶(AD)的关键模块。全球导航卫星系统(GNSS)和带下惯性导航系统(SINS)的集成研究大大提高了不同场景中位置和姿态的精度和鲁棒性。然而,真实场景的复杂性和多变性对现有的模型、参数、策略和算法(MPSA)仍是一个挑战。值得注意的是,高质量的数据集是加速 MPSA 研究和开发的关键,这一点已在以 ImageNet 数据集为代表的计算机视觉(CV)领域得到证实。遗憾的是,目前的公共数据集要么没有提供全球导航卫星系统和惯性测量单元(IMU)的原始观测数据,要么没有在丰富的场景和移动平台中收集。因此,我们提出了一个名为 SmartPNT-POS 的大规模多样化 GNSS/SINS 数据集。该数据集涵盖了丰富的真实世界环境,如开阔天空和复杂城市,以及多种移动平台,如飞机、陆地车辆和船舶。此外,SmartPNT-POS 还包含不同类型的 IMU,包括 Hexagon、iMAR Navigation GmbH 和 Honeywell 生产的 IMU。此外,SmartPNT-POS 还在每组数据中提供了地面实况,供用户分析和评估其 MPSA。目前,该数据集已通过数据科学社区 Kaggle 公开发布,文中提供了获取该数据集的网站。截至目前,该网站已发布了 30 组数据,本文对不同处理模式下获得的位置和姿态确定结果进行了全面分析。今后还将针对不同环境和应用收集更多数据,并在同一网站上公布。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Large-Scale Diverse GNSS/SINS Dataset: Construction, Publication, and Application
High-precision continuous position and attitude determination are the critical modules of mobile mapping and autonomous driving (AD). Research in the integration of Global Navigation Satellite System (GNSS) and strapdown inertial navigation system (SINS) has greatly enhanced the accuracy and robustness of position and attitude in different scenes. However, the complexity and variability of the real scenes are still challenging for the existing models, parameters, strategies, and algorithms (MPSA). It is worth noting that high-quality datasets are key to accelerating the research and development of MPSA, which has been proved in the computer vision (CV) fields represented by the ImageNet dataset. Unfortunately, current public datasets either do not provide the raw observations of GNSS and inertial measurement unit (IMUs) or are not collected in abundant scenes and moving platforms. Therefore, a large-scale diverse GNSS/SINS dataset, named SmartPNT-POS, is presented. This dataset covers rich real-world environments, such as open-sky and complex urban, and multiple moving platforms, such as aircraft, land vehicles, and ships. In addition, different types of IMUs, including those manufactured in Hexagon, iMAR Navigation GmbH, and Honeywell, are contained in SmartPNT-POS as well. Moreover, it provides ground truths in each group of data for users to analyze and evaluate their MPSA. Now, the dataset is publicly available through Kaggle, a data science community, and the website to obtain the dataset is provided in the text. There have been 30 sets of data published on the website up to the present, and comprehensive analyses have been made in this contribution for the position and attitude determination results obtained by different processing modes. More data will be collected for different environments and applications and published on the same website in the future.
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来源期刊
IEEE Transactions on Instrumentation and Measurement
IEEE Transactions on Instrumentation and Measurement 工程技术-工程:电子与电气
CiteScore
9.00
自引率
23.20%
发文量
1294
审稿时长
3.9 months
期刊介绍: Papers are sought that address innovative solutions to the development and use of electrical and electronic instruments and equipment to measure, monitor and/or record physical phenomena for the purpose of advancing measurement science, methods, functionality and applications. The scope of these papers may encompass: (1) theory, methodology, and practice of measurement; (2) design, development and evaluation of instrumentation and measurement systems and components used in generating, acquiring, conditioning and processing signals; (3) analysis, representation, display, and preservation of the information obtained from a set of measurements; and (4) scientific and technical support to establishment and maintenance of technical standards in the field of Instrumentation and Measurement.
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