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This dataset contains results of the 60 GHz indoor sensing measurement campaign using a bistatic OFDM radar based on 5G-specified positioning reference signals (PRSs). The data can be used for testing end-to-end indoor millimeter-wave radio positioning as well as simultaneous localization and mapping (SLAM) algorithms, including channel parameter estimation. Beamformed PRS with dense angular sampling in transmission and reception allows efficient capture of line-of-sight (LoS) as well as multipath components.

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This data package(.zip) includes data of follower robots'  motion track、errors  and velocities in five simulatd experimental cases:(1),(2): set obstacle range on 0.8m and 1.0m,2 groups;(3):  oneside situation,  and the number of follower robots rises to 5.   (4):complex environment, which we place more obstacles.   (5): change the lead-follower formation  (6),(7):two types of formation tracks, circle and straight line,compare follower1,2.

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The system obtained interference information from the measurement signal, solved the problem of phase wrapping, and got the accurate coordinates of target. The tags and tag-free items including shrimp chips, cola and instant noodles were taken as target respectively in experiment.

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