Descriptor: Two-Way-Ranging-Based Cooperative Localization With an Open UWB Dataset From Bern-University (TWR-CLOUD-Bern)

This paper introduces Two-Way Ranging-based Cooperative Localization with an Open Ultra-Wideband Dataset from Bern-University (TWR-CLOUD-Bern), a multi-node Ultra-Wideband (UWB) Two-Way Ranging (TWR) dataset and, to our knowledge, the largest open dataset of its kind to date. Collected across 12 scans covering more than 500m2 with 40 Qorvo DWM3001C nodes, the dataset provides ground-truth coordinates, Time of Flight (ToF) measurements, and reception statistics. To support fair, transparent, and reproducible comparisons, we also release a companion evaluation framework. In this framework, 11 scans serve as training partitions for data-driven ranging-model development, while one independent scan with distinct node placements is reserved for testing. The framework fixes node selections and measurement configurations, while varying node counts and locations. It supports single-and multi-sample ranging and covers anchor-free cooperative, anchor-aided cooperative, and anchor-only non-cooperative localization under real-world node-to-node connectivity. The dataset, framework, and documentation are openly available through the Zenodo archival release, making TWR-CLOUD-Bern an immediately usable testbed for UWB localization research.