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KLT Dataset
Urban GNSS Dataset with LOS/NLOS Labels
- Developed by
- Runzhi Hu
- Repository
- ebhrz/KLTDataset
- GitHub
- 57 stars · 6 forks
- Licence
- GPL-3.0
Summary
An urban GNSS dataset with per-satellite line-of-sight / non-line-of-sight labels, for training and testing NLOS detection and robust positioning.
Key innovations
- Per-satellite LOS/NLOS labels for GPS and BeiDou
- Raw u-blox F9P pseudorange and carrier-phase observations with SPAN-CPT ground truth
- IMU, LiDAR and camera data in the same ROS bag
- Configuration files and start scripts for immediate use
Impact
- 57 GitHub stars
- Training data for the lab's learning-based GNSS work (TDL-GNSS, pyrtklib)
- Supports the RGC Early Career Scheme project on LiDAR-aided NLOS modelling