Pathfinder GPS, IMU, and Wheel Odometry Data on Various Terrains

This dataset provides GPS, IMU, and wheel odometry readings on various terrains for the Pathfinder robot which is a lightweight, 4-wheeled, skid-steered, custom-built rover testbed platform. Rover uses a rocker system with a differential bar connected to the front wheels. Pathfinder is utilized with slick wheels to encounter more slippage. The IMU incorporated on the rover is an ADIS-16495 with 50Hz data rate. Pathfinder's quadrature encoders with 47,000 pulses/m resolution are used for wheel odometry readings with 10Hz data rate. Our setup consists of two dual-frequency Novatel GPS Receivers, and L1/L2 Pinwheel antennas, with one set mounted on a static base station and another affixed on top of the rover platform. During the experiments, 10 Hz raw GPS pseudorange and carrier-phase measurements were recorded on both receivers.