SmartPNT-MSF: A Multi-Sensor Fusion Dataset for Positioning and Navigation Research

-- High - precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some research institutions and companies have successively constructed and publicly released datasets. However, existing datasets still suffer from limitations in sensor diversity and environmental coverage. To address these shortcomings and advance development in related fields, the SmartPNT Multisource Integrated Navigation, Positioning, and Attitude Dataset has been developed. This dataset integrates data from multiple sensors, including Global Navigation Satellite Systems (GNSS), Inertial Measurement Units (IMU), optical cameras, and LiDAR, to provide a rich and versatile resource for research in multi - sensor fusion and high - precision navigation. The dataset construction process is thoroughly documented, encompassing sensor configurations, coordinate system definitions, and calibration procedures for both cameras and LiDAR. A standardized framework for data collection and processing ensures consistency and scalability, enabling large - scale analysis. Validation using state - of - the - art Simultaneous Localization and Mapping (SLAM) algorithms, such as VINS - Mono and LIO - SAM, demonstrates the dataset's applicability for advanced navigation research. Covering a wide range of real - world scenarios, including urban areas, campuses, tunnels, and suburban environments, the dataset offers a valuable tool for advancing navigation technologies and addressing challenges in complex environments. By providing a publicly accessible, high - quality dataset, this work aims to bridge gaps in sensor diversity, data accessibility, and environmental representation, fostering further innovation in the field . I NTRODUCTION h e continuous advancement of positioning and navigation technologies has driven rapid development across various domains. Feng Zhu is with the School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei 430079, China, and also with the Hubei Luojia Laboratory, Wuhan, Hubei 430079, China (e - mail: fzhu@whu.edu.cn). Zihang Zhang, Kangcheng Teng, and Abduhelil Yakup are with Wuhan University Technology, the School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei 430079, China (e - mail: zihangzhang@whu.edu.cn;