KLT Dataset
Runzhi Hu
November 11, 2025
An open urban GNSS dataset with LOS/NLOS satellite labels for benchmarking GNSS positioning in challenging environments.
KLT Dataset is a light urban scenario dataset collected for GNSS research, providing labeled satellite signal conditions to support studies in multipath mitigation, NLOS detection, and robust positioning.
Dataset Contents:
- GNSS raw measurements — Collected using a u-blox F9P receiver with pseudorange and carrier phase observations
- Ground truth — High-precision reference trajectories from a SPAN-CPT system
- LOS/NLOS labels — Per-satellite labels for GPS and BeiDou constellations
- Additional sensors — IMU, LiDAR, and camera recordings included in the ROS bag file
- Quick-start scripts — Configuration files and start scripts provided for immediate use
