The database used for the paper "GNSS-based environmental context detection for navigation" Florent FERIOL, Damien VIVET and Yoko WATANABE.
Authors are with ISAE-SUPAERO, Université de Toulouse and ONERA
Contact: florent.feriol@isae-supaero.fr https://www.researchgate.net/profile/Florent_Feriol2
DATA The four .mat files contain the gnss recordings of the Ublox EVK-M8T. The date and hour are given in the filename. All the variables are divided in 5 different messages. If the number of samples is not the same for each messages perform a synchronization with TOW/rostime.
Each GTxxxx.csv file include the ground truth used for training with:
0: Static point (to be filtered) 1: Urban 2: Canyon 3: Trees 4: Open-sky
Each GTxxxx_test.csv file include the ground truth used for testing with the same values than for training.
FILTERING
As we mentioned in the article we filtered some parts of the trajectories to insure a spatial independance. Here are the coordinates for each context:
-Urban
lat_max=43.564518; lat_min=43.564044; long_max=1.474955; long_min=1.4745;
-Canyon
lat_max=43.564673; lat_min=43.564559; long_max=1.475521; long_min=1.475382;
-Trees
lat_max=43.564232; lat_min=43.563970; long_max=1.476777; long_min=1.476358;
-Open-sky
lat_max=43.565153; lat_min=43.564874; long_max=1.477229; long_min=1.476866;