Quadrotor Sensor Data

Sensor data recorded with a quadrotor helicopter around the campus of the Karlsruhe Institute of Technology in challenging outdoor and indoor environments is provided. The following sensors are used:
• Inertial measurement unit (ADIS 16448)
• GPS receiver (u-blox LEA-M8T)
• Air pressure sensor (Freescale MP3H6115A)
• Magnetometer (Honeywell HMC5843)
• 2D laser rangefinder (Hokuyo UTM-30LX)

For each trajectory, two ROS bagfiles are provided: The original files and files with sensor data converted to standard ROS messages. When playing the bagfiles, please make sure the ROS /use_sim_time parameter is set. An exemplary ROS launch file is provided.



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  • The datasets are licensed under a Creative Commons Attibution 4.0 International (CC BY 4.0) license. When using the dataset, please cite our paper.
  • Quellenvermerk: @INPROCEEDINGS{MuellerAtman2020ITM, author = {Karsten Mueller and Jamal Atman and Nikolai Kronenwett and Gert F. Trommer} title = {A Multi-Sensor Navigation System for Outdoor and Indoor Environments} booktitle = {Proceedings of the 2020 International Technical Meeting of The Institute of Navigation, San Diego, California, January 2020} year = {2020} }

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Bereitgestellt durch

Institut für Systemoptimierung des Karlsruhe Institute of Technology

Luft- und Raumfahrt
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Creative Commons Namensnennung (CC-BY)