Fixed-Wing UAV Flight 8: Raw GNSS, IMU, and Camera Sensor Data

Jan Škaloud from École Polytechnique Fédérale de Lausanne released sensor measurements from a series of flights with a fixed-wing micro UAV. The data includes raw readings from GPS, IMU, and a high-quality small camera, and has been used in several peer-reviewed publications. It is part of a larger series intended for gradual release and was used for an ISPRS workshop on dynamic networks during the 2021 ISPRS Congress.

Use Cases

• Testing sensor fusion algorithms based on synchronized GPS, IMU, and camera data.
• Developing visual-inertial odometry (VIO) models for UAV navigation using raw sensor streams.
• Calibrating and validating GNSS/INS integration methods for micro aerial vehicles.
• Benchmarking georeferencing and 3D reconstruction pipelines for aerial imagery.
• Studying the performance of lightweight navigation systems in dynamic flight conditions.

Strengths

• Data originates from a real-world flight series and has been validated through use in several peer-reviewed publications.
• Includes synchronized, high-quality raw data from multiple sensor modalities (GPS, IMU, Camera).
• Released as part of a planned, community-informed series from a reputable academic institution (École Polytechnique Fédérale de Lausanne).

Limitations

• Key metadata such as row count, file size, specific column names, and exact update dates are unavailable across all sources.
• The dataset is described as part of a larger, gradually released series, suggesting the current release may be incomplete.
• Documentation on data formats and precise collection parameters appears sparse, relying on future user feedback.

Provenance

Source

Jan Škaloud, École Polytechnique Fédérale de Lausanne

Collection Method

Collected from a series of flights conducted with a fixed-wing micro UAV equipped with navigation sensors and a camera.