Orientation

INSANE is a single custom quadrotor flown across four domains, recorded with one fixed sensor suite (18 sensors), with absolute 6-DoF ground truth in each domain.

• Indoor (indoor_1..3): motion-capture room, mm-level truth.
• Outdoor-to-indoor transition (transition_1..3): flight from open field into the motion-capture room, truth handed off across three regimes.
• Outdoor open field (outdoor_1): dual-RTK + magnetometer truth.
• Mars analog (mars_1..19): Negev desert (OeWF AMADEE-20), dual-RTK + magnetometer truth.

26 numbered runs; >2 km accumulated trajectory.

Supplementary bundles:

• a 4 h static recording (Allan variance)
• preprocessed calibration YAMLs
• raw camera/magnetometer calibration recordings
• an RPM-correlated vibration study

The cross-cutting facts an estimator must internalize first (each detailed below):

1. Sensors are software-timestamped and NTP-disciplined to ~100 µs, not hardware-synchronized; streams are asynchronous and must tolerate delay estimation.
2. Quaternions are (w, x, y, z) (Hamilton, w-first) in every CSV; ROS stored them (x, y, z, w) and the export reorders.
3. The world frame is ENU; outdoor/Mars truth is referenced to the PX4-IMU point; mocap truth is the tracked rigid body, a different point and frame.
4. Raw rtk_gps{1,2}.csv carry a GNSS-time clock, offset from the IMU/system clock by the per-run t_pximu_imugt; on outdoor_1 that offset is ~82.7 days. Joining raw RTK to the IMU by bare timestamp is wrong.
5. • Several streams are degraded or dead on specific runs (Known Defects).
   • Several “support” file families are time-supersets, swapped, or headerless (Schema and Parsing, Known Defects).
6. Ground truth on the transition runs is not one continuous lane (Source of Truth).