Forklift Positioning and Inertial Data Collected in the Industrial Environment

Dataset of the positioning and inertial data, collected with the use of the forklift, naturally operating in the industrial environment. Dataset is provided in the Dataset.csv file and has the following structure: X, Y, TIME.xy, dt.xy, GYR_X, GYR_Y, GYR_Z, ACC_X, ACC_Y, ACC_Z, MAG_X, MAG_Y, MAG_Z, RLL, PCH, YAW, MAG.YAW, TIME.IMU, dt.IMU, TRU, KEY, MOV.

Positioning data was collected with the use of the UWB RTLS system, deployed in the industrial area. The UWB tag was attached to the top of the forklift, and operating at a 5Hz update rate. Provided positioning information includes 2D coordinates (X & Y) in meters, normalized tag internal clock time (TIME.xy) in seconds, and corresponding delta time (dt.xy) in seconds. 

Inertial data was collected with the use of 9-DOF IMU unit (Bosh bno055), attached to the top of the forklift. Inertial data was collected at the update rate of 100Hz, and includes triaxial gyroscope readings (GYR_X, GYR_Y & GYR_Z) in degrees per second, triaxial accelerometer readings (ACC_X, ACC_Y & ACC_Z) in meters per second squared, and triaxial magnetometer readings (MAG_X, MAG_Y & MAG_Z) in microteslas. The dataset also includes Euler roll, pitch, and yaw angles (RLL, PCH & YAW) in degrees, calculated by the IMU unit internally, and magnetometer data-based heading (MAG.YAW) in degrees, calculated separately for the used local coordinates system. Magnetometer data-based heading includes +90 degrees correction, as the deployed UWB local coordinates system in the test area is rotated -90 degrees in relation to the magnetic north. IMU internal clock time (TIME.IMU) in seconds, and the corresponding delta time (dt.IMU) in seconds are provided.

Extra information, provided in the dataset, includes the expected true heading of the forklift (TRU) in degrees, and manually recreated using available positioning data and other information from the area, available at the 10Hz rate. A total of 8 designators (KEY) are available, indicating moments of time when the forklift was interacting with the payload in the industrial area (picking up or dropping down). The moving or stationary status of the forklift is additionally labeled in this dataset (MOV).

Data from both UWB tag and IMU was collected simultaneously by the same processing unit, providing sensors' synchronization.