An Experimental Dataset for Indoor Localization Using Angle of Arrival and RSS Measurements

Overview:The dataset contains measurements of Angle of Arrival (AoA) and Received Signal Strength (RSS) collected from Bluetooth 5.1 tags and a set of 9 anchor nodes deployed in an indoor environment. The data collection campaign has been conducted in a wide-open room of 110 square meters, complemented by two adjacent corner corridors. Two distinct anchor placement layouts are considered:1) Layout 1: 4 anchors mounted on tripods at a height of 2.3 m above the floor and positioned at the midpoints of each side of the room;2) Layout 2: 5 anchors mounted on the ceiling at a height of 3.24 m and uniformly oriented toward the east. The dataset includes three application scenarios covering typical use-cases for indoor localization: 1) calibration: 2 tags mounted on a tripod and positioned in 187 different locations;2) static: 2 tags held by a person resting in 36 different locations. We collect data with the person oriented toward North, South, East and West;3) mobility: a person holding the tags moving along 3 different use-cases paths. All the scenarios include an accurate Ground Truth (GT) annotation. The dataset is organized in folders, one for each scenario: calibration, static, and mobility. The dataset enables the study of how AoA varies under stationary or mobility conditions, facilitating the analysis of an anchor's AoA model. In addition, the data collected can be analyzed to create a simulator of AoA values, which is useful for rapid prototyping and evaluation of indoor localization algorithms. How to use the dataset:Please, read the README.md file detailing the dataset's format and the data collection camping. In summary, collected data include:- timestamp- tag identifier- RSS on the 1st antenna's polarization- AoA azimuth- AoA elevation- Bluetooth channel- Anchor identifier How to cite this dataset:Lombardi, G., Mavilia, F., Girolami, M., Barsocchi, P., & Furfari, F. An experimental dataset for indoor localization using angle of arrival and RSS measurements. Ad Hoc Networks, (2026). 104364. Elsevier. doi: 10.1016/j.adhoc.2026.104364 Notes:Version V3- fixed some wrong annotations in GT files. Future Works:Future dataset releases will include additional mobility paths and measurements acquired using inertial sensors. Moreover, Ultra-Wideband (UWB) anchors and tags will be deployed in the same experimental environments and scenarios.