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

Citation Author(s):: Cagri Kilic (West Virginia University)

Jason Gross (West Virginia University)
Submitted by:: Cagri Kilic
Last updated:: Tue, 11/02/2021 - 16:41
DOI:: 10.21227/vz7z-jc84
Data Format:: rosbag; zip
Links:: CoreNav-GP GitHub Repository

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Categories:

Sensors

Keywords:

IMU; Wheel Odometry; GPS; Field robotics

CITE

Abstract

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.

Instructions:

This dataset contains 41 zipped folders. Each folder has at least one bag file and GPS data. The name of the folder represents the data collection date and the test terrain. Folders include bag files(IMU, WO) and GPS solution data on gravel, unpaved, paved, and rough terrains. Bag files can be processed through the code in CoreNav-GP repository.