@article{ref1,
title="Dataset of the intermediate competition in challenge MALIN: indoor-outdoor inertial  navigation system data for pedestrian and vehicle with high accuracy references in a  context of firefighter scenario",
journal="Data in brief",
year="2021",
author="Zhu, Ni and Ortiz, Miguel and Renaudin, Valérie and Ichard, Cécile and Ricou, Sander",
volume="34",
number="",
pages="e106626-e106626",
abstract="This paper provides a multiple sensor dataset collected by the CyborgLOC team during  the intermediate competition of the Challenge MALIN (MAîtrise de la localisation  INdoor), which is a competition for indoor/outdoor real-time positioning. The  sensors, including a GNSS receiver Ublox NEO-M8N, a Realsense D435i stereo camera,  three Xsens MTi-300 and one PERSY (PEdestrian Reference SYstem), are mounted on  different parts of the subject's body. The PERSY is a foot-mounted positioning  device with a tri-axial accelerometer, a tri-axial gyroscope, a tri-axial  magnetometer as well as a GNSS receiver Ublox M8T. The two scenarios are designed in  a training centre of firefighters CFIS (Fire and Rescue Training Centre) in Blois,  France to simulate the situation of firefighters during interventions. With total  distances around 2 km for each scenario, the travelled trajectories passed through  challenging environments including indoor, outdoor, urban canyon. The indoor part  contains different stair levels, from the underground up to the 6th floor. The  travel modes are vehicles and pedestrians. Several classical activities of  firefighters are realized such as walking, running, stair-climbing, side-walking,  crawling, passing above/below obstacles, carrying a stretcher, ladder climbing, etc. High accurate ground truth of stationary points and enclosing volumes are provided  by the organizers of the competition, i.e., the Directorate General of Armaments  (DGA: Direction Générale de l'Armement). Provided with raw data, they allow the  evaluation of the positioning performances. This dataset is available on the data  repository https://doi.org/10.5281/zenodo.4290789.<p /> <p>Language: en</p>",
language="en",
issn="2352-3409",
doi="10.1016/j.dib.2020.106626",
url="http://dx.doi.org/10.1016/j.dib.2020.106626"
}