This article presents the details of the Cardinal RF (CardRF) dataset. CardRF is acquired to foster research in RF- based UAV detection and identification or RF fingerprinting. RF signals were collected from UAV controllers, UAV, Bluetooth, and Wi-Fi devices. Signals are collected at both visual line-of-sight and beyond-line-of-sight. The assumptions and procedure for the data acquisition are presented. A detailed explanation of how the data can be utilized is discussed. CardRF is over 65 GB in storage memory.


The dataset contains UAV (telemetry and control), Bluetooth, and WiFi RF signals in .mat format. It was captured in an outdoor setting. Each RF signal has 5 million sampling points and spans a time period of 0.25ms. The script for plotting the signal is called SIGNAL_PLOT.mlx (a Matlab script) in the code zip file.

In the supplement zip file, the processed zip has resampled signals with 1024 sampling points (signal length). We used these signals for our paper titled "Hierarchical Learning Framework for UAV Detection and Identification". The scripts used for resampling are in the code zip file.

The CardRF dataset has been used in the following papers:

  1. O. O. Medaiyese, M. Ezuma, A. P. Lauf and A. A. Adeniran, "Hierarchical Learning Framework for UAV Detection and Identification," in IEEE Journal of Radio Frequency Identification, vol. 6, pp. 176-188, 2022, doi: 10.1109/JRFID.2022.3157653.
  2. O. O. Medaiyese, M. Ezuma, A. P. Lauf and I. Guvenc, "Semi-supervised Learning Framework for UAV Detection," 2021 IEEE 32nd Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), 2021, pp. 1185-1190, doi: 10.1109/PIMRC50174.2021.9569452.
  3. O.O. Medaiyese, M. Ezuma, A.P. Lauf, and I. Guvenc, 2022. Wavelet transform analytics for RF-based UAV detection and identification system using machine learning. Pervasive and Mobile Computing82, p.101569.
Funding Agency: 
National Aeronautics and Space Administration (NASA) under the Federal Award ID number NNX17AJ94A, and by NSF CNS-1939334 Aerial Experimentation Research Platform for Advanced Wireless (AERPAW) project


Greetings Dr. Medaiyese

Also can you advise me on what MATLAB tool was used for analysis/reformatting and python may also be used for this purpose.

Submitted by Babatunde Falohun on Sun, 07/17/2022 - 11:16

Hi Babatunde,

Thank you for having an interest in the data. The necessary information on how to use the data can be found in the documentation file (CardRF.pdf ). The script for loading and reformatting is written in MATLAB and it can be found in the Code.zip file. There is no specific MATLAB tool needed for analysis/reformatting. You have the freedom to use Python.

Please let me know if you have additional questions.

Submitted by OLUSIJI MEDAIYESE on Wed, 07/20/2022 - 01:17

Dear Dr. Medaiyese,

Thank you very much for sharing this interesting UAV database. I'm also grateful to you for answering all the questions I asked you by mail. This helped me a lot.

Submitted by Nassima Merabtine on Thu, 08/18/2022 - 10:59
Submitted by OLUSIJI MEDAIYESE on Mon, 05/08/2023 - 16:04