Indoor ultra wideband ranging samples from the DecaWave DW1000 including frequency and polarization diversity.

When performing RF ranging in a complex indoor environment, the error of a single channel estimate can vary widely. A key insight of the PolyPoint and SurePoint ranging protocols is that individual nodes can efficiently capture multiple independent samples of the RF channel. For each point in space, nodes capture twenty seven independent samples by varying the spectrum sampled and the polarization of antennas. This dataset includes all of the measurements reported in the PolyPoint and SurePoint papers, which comprises several thousand points in a complex indoor environment. Precise 3D coordinates of nodes were captured using an optical motion capture system calibrated to millimeter accuracy. Several tracking studies are included, with continuous samples over time as a node moves through the environment.