Shipborne Heave Measurement Dataset for Multi Antenna GNSS and IMU Fusion

Description

This dataset contains shipborne multi-antenna GNSS, IMU, and POS MV TrueHeave reference data used for evaluating robust heave measurement under calm-water, artificial-wake disturbance, and open-sea swell conditions. The dataset supports the manuscript titled "Robust Shipborne Heave Measurement Using a Multi-Antenna GNSS Array and an IMU-Aided Spatiotemporally Weighted Factor Graph". The released data include four-antenna rover GNSS RINEX observation and navigation files, base-station GNSS files, time-synchronized IMU measurements, POS MV TrueHeave reference outputs, IMU metadata, time-system notes, and lever-arm configuration information. Scenarios 1 and 2 share the same continuous GNSS and IMU data. The calm-water and artificial-wake intervals are distinguished by their corresponding POS MV TrueHeave reference files. Scenario 3 corresponds to the open-sea swell experiment. GNSS and IMU timestamps are given in GPST, whereas the POS MV TrueHeave timestamps are provided in UTC/UTCT. Users should convert the time systems consistently before reproducing heave-error comparisons.

Steps to reproduce

1. Download and extract RFGO-DIMW-Shipborne-Heave-Dataset.zip. 2. Read README.md and the documents in the docs folder before using the data. DATA_DESCRIPTION.md describes the released files, SENSOR_CONFIGURATION.md provides the lever-arm configuration, and TIME_SYSTEMS.md explains the time systems used in the dataset. 3. For GNSS processing, use the rover RINEX observation/navigation files from the four antennas together with the corresponding base-station RINEX files. Antenna A is the main antenna. The relative positions of the other antennas can be calibrated from the multi-antenna GNSS observations. 4. Read the IMU text files using the column headers provided in the files. The IMU data are expressed in the RFU body frame, where x is right, y is forward, and z is upward. The timestamps of GNSS and IMU data are given in GPST. 5. Read the POS MV TrueHeave files as the practical reference heave outputs. The TrueHeave timestamps are given in UTC/UTCT, so the time system must be converted consistently before comparison with GNSS and IMU data. 6. For Scenarios 1 and 2, use the same continuous GNSS and IMU files. The calm-water and artificial-wake intervals are distinguished by the two corresponding TrueHeave reference files. 7. For Scenario 3, use the open-sea swell GNSS, IMU, and TrueHeave files in the scenario_3_open_sea_swell folder. 8. After time alignment, the released data can be used to reproduce heave-error comparisons, evaluate GNSS/IMU fusion methods, or benchmark robust shipborne heave measurement algorithms.

Institutions

• Shandong University of Science and Technology

  Shandong, Qingdao

Categories

Licence