This pedestrian inertial navigation dataset contains 6 realistic tracks collected by two volunteers in diverse environments (campus, office building, city, woods, and parking lot in a shopping mall), totaling over 2 km walking distance.

The data are recorded with “ULISS”, a device developed by laboratory GEOLOC, a state-of-the-art inertial navigation system enclosing an Xsens Mit-7 IMU-Mag sensor, an atmospheric pressure sensor BMP280, and a dual frequency GNSS receiver, providing acceleration, angular rate, magnetic field, atmospheric pressure, and temperature readings at 200Hz, GNSS reading at 5Hz, using GPS timestamps. A detailed description of the device is available: https://geoloc.univ-gustave-eiffel.fr/en/hardware/geolocation-of-travelers.

During the experiment, the volunteer holds one ULISS horizontally (the z-axis points to the sky, see the photo), and walks naturally. The other ULISS is attached to his foot as the reference tracker and provides the ground truth trajectory and stride instants. All tracks started with a 40-second static phase in an outdoor environment.

Each track contains the following elements: - Raw data recorded by the handheld ULISS device including acceleration, angular rate, magnetic field, atmospheric pressure, temperature, and GNSS. - Magnetometer calibration parameters of the handheld device - Allan variance calibration parameters of the handheld device - Ground Truth user trajectory and stride instants given by the foot-mounted ULISS.

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