INSANE Dataset Guide
A working guide to the INSANE multi-sensor UAV dataset (full download, 268 GB), written for navigation-state estimation [1]. Every quantitative claim is verified directly against the distributed files. The pages below run in the order the data is consumed.
Orientation
Orientation — the four domains, the 26 runs, and the cross-cutting facts an estimator must internalize first.
Platform and Hardware Invariants
Platform and Fixed Hardware Invariants — the vehicle, the 18-sensor suite, the RTK geometry, and the per-site reference constants.
Frames, Conventions, and Units
Coordinate Frames, Conventions, and Units — world ENU, quaternion order, transform notation, and the ground-truth reference point.
Time, Clocks, and the GNSS-Time Trap
Time, Clocks, and the GNSS-Time Trap — NTP discipline, per-stream stamping, and the raw-RTK GNSS-clock offset.
File Layout and Capability Matrix
File Layout and Per-Run Capability Matrix — the directory structure, the per-run capability table, and the link to the supplementary bundles.
Schema and Parsing Conventions
Schema and Parsing Conventions — the loader gotchas that silently corrupt data if ignored.
Sensors
Per-Stream Sensor Reference — schema, units, value domains, and quirks for every measured stream.
Calibration
Calibration Files — the camera, sensor, and magnetometer calibration YAMLs and the raw calibration bundles.
Source of Truth
Source of Truth and Ground-Truth Quality — the truth-confidence hierarchy, the ground-truth attitude quality, and the outdoor-to-indoor transition handoff.
Data Quality and Realism
Data Quality and Realism — the genuine defects to exclude and the realistic in-flight ugliness to handle.
Paper vs Data Contradictions
Paper vs Data Contradictions — where the papers and the distributed files disagree.
What Is Not in the Download
What Is Not in the Download — the products that must be derived or regenerated.
Maintainer-Generated Components
Components Generated by Maintainer Scripts — dataset components that are generated from the download with maintainer tooling.
Per-Run Quick Reference
Per-Run Quick Reference — the per-run catalog and the full Mars ground-truth attitude-tilt table.
Initialization and Estimator Guidance
Initialization and Practical Estimator Guidance — how to start and run an estimator on this data.