Unless noted specifically, the data was recorded under ROS, and the timestamp used in the data was in Ubuntu time. To make the data can be successfully played, please save the data in SSD.

 

1)GNSS (Ublox M8T): GNSS data collected from the u-box M8T receiver is recorded in ROSBAG. The GNSS data contains a) raw measurements, such as pseudorange (in meters), doppler (in HZ) measurements. b) estimated position (in longitude, latitude, height), velocity (in m/s) and timing (PVT) solutions. Please find the topic "/ublox_/...". The other kind of professional GNSS raw data is saved in topic "/GNSS" which is post-processed raw measurement. In some of the datasets, we also provide the Rinex format for GNSS measurements.

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2)Inertial Navigation System (Xsens Mti 10): The INS measurements were collected using a 9-axis Xsens Mti 10. The device outputs raw acceleration measurements (in m/s2), angular velocity measurements (in m/s) in the INS frame (body frame). It also outputs the magnetic measurements in the ENU frame. Moreover, the INS also provides the absolute orientation in quaternion form. Please find the topic "/imu/data".

 

3)LIDAR (HDL 32E): The 3D LIDAR data was recorded using the standard PointCloud2 ROS message. The message contains both the geometry and intensity information of the ranging points. Please find the topic "/velodyne_points".

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4)Fish-eye camera: The fish-eye camera is a sky-pointing camera with 180 degrees of the horizontal field of view. The captured sky-view image can be used to detect the GNSS none-line-of-sight satellites. Please find the topic "/camera_color".

 

5)SPAN-CPT (ground truth): The data of Novatel SPAN-CPT was collected using the software in Windows 7 and was saved in a .txt file. It provides RTK GNSS/INS integrated positioning with high accuracy. The data consists of standard GPS time which could be transformed into the Ubuntu time, latitude (in degrees), longitude (in degrees), altitude (in meters), velocity (in m/s) and roll (in degrees), pitch (in degrees), heading (in degrees) in global frame. Please find the topic "/novate_data/bestpos".