Dataset used for "A Machine Learning Approach for Wi-Fi RTT Ranging" paper (ION ITM 2019). The dataset includes almost 30,000 Wi-Fi RTT (FTM) raw channel measurements from real-life client and access points, from an office environment. This data can be used for Time of Arrival (ToA), ranging, positioning, navigation and other types of research in Wi-Fi indoor location. The zip file includes a README file, a CSV file with the dataset and several Matlab functions to help the user plot the data and demonstrate how to estimate the range.



Copyright (C) 2018 Intel Corporation

SPDX-License-Identifier: BSD-3-Clause



Welcome to the Intel WiFi RTT (FTM) 40MHz dataset.


The paper and the dataset can be downloaded from:


To cite the dataset and code, or for further details, please use:

Nir Dvorecki, Ofer Bar-Shalom, Leor Banin, and Yuval Amizur, "A Machine Learning Approach for Wi-Fi RTT Ranging," ION Technical Meeting ITM/PTTI 2019


For questions/comments contact:,


The zip file contains the following files:

1) This README.txt file.

2) LICENSE.txt file.

3) RTT_data.csv - the dataset of FTM transactions

4) Helper Matlab files:

O mainFtmDatasetExample.m - main function to run in order to execute the Matlab example.

O PlotFTMchannel.m - plots the channels of a single FTM transaction.

O PlotFTMpositions.m - plots user and Access Point (AP) positions.

O ReadFtmMeasFile.m - reads the RTT_data.csv file to numeric Matlab matrix.

O SimpleFTMrangeEstimation.m - execute a simple range estimation on the entire dataset.

O Office1_40MHz_VenueFile.mat - contains a map of the office from which the dataset was gathered.



Running the Matlab example:


In order to run the Matlab simulation, extract the contents of the zip file and call the mainFtmDatasetExample() function from Matlab.



Contents of the dataset:


The RTT_data.csv file contains a header row, followed by 29581 rows of FTM transactions.

The first column of the header row includes an extra "%" in the begining, so that the entire csv file can be easily loaded to Matlab using the command: load('RTT_data.csv')

Indexing the csv columns from 1 (leftmost column) to 467 (rightmost column):

O column 1 - Timestamp of each measurement (sec)

O columns 2 to 4 - Ground truth (GT) position of the client at the time the measurement was taken (meters, in local frame)

O column 5 - Range, as estimated by the devices in real time (meters)

O columns 6 to 8 - Access Point (AP) position (meters, in local frame)

O column 9 - AP index/number, according the convention of the ION ITM 2019 paper

O column 10 - Ground truth range between the AP and client (meters)

O column 11 - Time of Departure (ToD) factor in meters, such that: TrueRange = (ToA_client + ToA_AP)*3e8/2 + ToD_factor (eq. 7 in the ION ITM paper, with "ToA" being tau_0 and the "ToD_factor" lumps up both nu initiator and nu responder)

O columns 12 to 467 - Complex channel estimates. Each channel contains 114 complex numbers denoting the frequency response of the channel at each WiFi tone:

O columns 12 to 125  - Complex channel estimates for first antenna from the client device

O columns 126 to 239 - Complex channel estimates for second antenna from the client device

O columns 240 to 353 - Complex channel estimates for first antenna from the AP device

O columns 354 to 467 - Complex channel estimates for second antenna from the AP device

The tone frequencies are given by: 312.5E3*[-58:-2, 2:58] Hz (e.g. column 12 of the csv contains the channel response at frequency fc-18.125MHz, where fc is the carrier wave frequency).

Note that the 3 tones around the baseband DC (i.e. around the frequency of the carrier wave), as well as the guard tones, are not included.



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