matkodu/dmian-dataset

DMIAN Dataset

Navigation dataset consisting of synchronized IMU, DVL, and ground truth data collected on the H2OmniX ASV. It was used in the following paper: "DMIAN: Deep Learning-Based Multi-IMU Fusion for Enhanced Marine Aided Navigation".

Dataset Details

Sensor	Rate	Fields
IMU (x3)	100 Hz	acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z, timestamp
DVL	5 Hz	vx, vy, vz, cov_xx, cov_xy, cov_xz, cov_yx, cov_yy, cov_yz, cov_zx, cov_zy, cov_zz, timestamp
Ground truth	10 Hz	vel_x, vel_y, vel_z, pos_x, pos_y, pos_z, qw, qx, qy, qz, ang_vel_x, ang_vel_y, ang_vel_z, timestamp

All sensor data are expressed in the vehicle base frame, and each file is in .npy format.

Citation

If you use this dataset, please cite:

@article{batos2026dmian,
  title = {{DMIAN}: deep learning-based {Multi-IMU} fusion for enhanced marine aided navigation},
  author = {Bato\v{s}, Matko and Na\dj{}, \DJ{}ula},
  journal = {Control Engineering Practice},
  volume = {173},
  pages = {106991},
  year = {2026},
  issn = {0967-0661},
  doi = {10.1016/j.conengprac.2026.106991},
  url = {https://www.sciencedirect.com/science/article/pii/S0967066126002352}
}

Contact

For questions or collaborations, contact: Matko Batoš