Experiment details
Authors : Adrien van den Bossche, Réjane Dalcé, Thierry Val
This document presents the dataset 20210331-uwb-twr.json used in the experiments presented in the paper Adrien van den Bossche, Réjane Dalcé, Thierry Val. LocURa4IoT - A testbed dedicated to accurate localisation of wireless nodes in the IoT. IEEE Sensors Journal, Institute of Electrical and Electronics Engineers, 2022, 22 (6), pp.10.1109/JSEN.2021.3133066. ⟨hal-03466307⟩
The experiment has taken place on March, 31st 2021 on the LocURa4IoT testbed. Dataset is under ODbL licence.
Scenario description
Please refer to the paper for the full experiment description.
Dataset description
The dataset is a JSON file. Each line is the output of a ranging. The JSON dictionary is detailed in the following table:
| key | description | example |
|---|---|---|
| initiator | TWR client (mobile) address | “183” |
| target | TWR server (anchor) address | “182” |
| protocol | Ranging protocol used for the experiment | “TWR” |
| t1 | First message transmission timestamp using client clock | 827869768332 |
| t2 | First message reception timestamp using server clock | 350550466754 |
| t3 | Second message transmission timestamp using server clock | 350610701964 |
| t4 | Second message reception timestamp using client clock | 827930006159 |
| skew | Client-server clock skew (=skewAck) | -5.968155 |
| skewRequest | Server-client clock skew evaluated from the first message | 5.783573 |
| skewAck | Client-server clock skew evaluated from the second message | -5.968155 |
| skewData | Client-server clock skew evaluated from the third message | -5.322118 |
| nlosIndicator | Non Line of Sight Indicator | 5.014733 |
| tof | Time of Flight, expressed as 64GHz ticks (15,65ps) | 1356 |
| tofSkew | Time of Flight, expressed as 64GHz ticks (15,65ps), after clock skew correction on second message (ACK) | 1536.961803 |
| tof3Skew | Time of Flight, expressed as 64GHz ticks (15,65ps), after clock skew correction on all messages | 1528.589863 |
| range | Final distance estimation (=range3Skew) | 7.169614 |
| rangeSkew | Ranging after clock skew correction on second message | 7.208881 |
| range3Skew | Ranging after clock skew correction on all messages | 7.169614 |
| rangeNoSkew | Raw ranging (no correction) | 6.360108 |
| ranging unit | Distance unit fot ranging values | “m” |
| seqnum | Ranging Sequence Number | 1924 |
| temperature | Client-side Temperature (°C) | 34.400002 |
| distantTemperature | Server-side Temperature (°C) | 122.559998 |
| localisation.initiator | Client position x, y, z | -0.157, 6.896, 2.65 |
| localisation.target | Server position x, y, z | 4.358, 1.331, 2.623 |
| distance | Client-server true distance | 7.166 |
| rangingError | Ranging error (=range-distance) | 0.003 |