IMU + RSSI Data for PDR + BLE Trajectory

The data format is similar to that of the reference dataset (Oxford Inertial Odometry Dataset). It contains a series of IMU data and BLE RSSI data collected during walking in corridors and laboratories. The columns in the imu file correspond to [Time attitude_roll(radians) attitude_pitch(radians) attitude_yaw(radians) rotation_rate_x(radians/s) rotation_rate_y(radians/s) rotation_rate_z(radians/s) gravity_x(G) gravity_y(G) gravity_z(G) user_acc_x(G) user_acc_y(G) user_acc_z(G) magnetic_field_x(microteslas) magnetic_field_y(microteslas) magnetic_field_z(microteslas) atmospheric_pressure BLE_1 BLE_2 BLE_3]. The columns in the gd (Ground Truth) file correspond to [Time Header translation.x translation.y translation.z rotation.x rotation.y rotation.z rotation.w]. Note that rotations are useless items, included solely for experimental purposes to match the format of the reference dataset. Note that the Ground Truth for this experiment is manually labeled, not motion capture measured.