2022-02-08T15:51:43 n28586

Flight logs of autonomous GNSS-denied UAV navigation using visual odometry and range distance sensors

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This dataset consists of flight logs of autonomous navigation of a small quadrotor UAV (Holybro S500) under a GNSS-denied scenario using visual odometry and range distance sensors. Experimentation was conducted using real flight tests. The tested environment is the Queensland University of Technology (QUT) Da Vinci Precinct (DVP) hangar area, 24/22 Boronia Rd, Brisbane Airport, QLD 4008, Australia.

The data collection campaign occurred over four (4) opportunities from 25 June, 2020 to 2 July, 2020, between 11:00 a.m. and 3:00 p.m. The dataset was automatically generated by the flight controller unit (Pixhawk v4) and can be processed using any of the open-source software solutions provided by the PX4 community (https://docs.px4.io/master/en/log/flight_log_analysis.html). 

The data collection formed part of the PhD project "Autonomous Decision Making on UAVs under Environment and Target Detection Uncertainty".

Geographical area of data collection



Sandino, Juan, Vanegas Alvarez, Fernando, Maire, Frederic, Caccetta, Peter, Sanderson, Conrad, & Gonzalez, Luis Felipe (2020) UAV framework for autonomous onboard navigation and people/object detection in cluttered indoor environments. Remote Sensing, 12(20), Article number: 3386. https://eprints.qut.edu.au/205546/

Research areas

Electrical and electronic engineering
Sensory data

Cite this collection

Sandino, Juan; Vanegas, Fernando; Maire, Frederic; Caccetta, Peter; Sanderson, Conrad; Gonzalez, Felipe (2020): Flight logs of autonomous GNSS-denied UAV navigation using visual odometry and range distance sensors. Queensland University of Technology. (Dataset) https://doi.org/10.25912/RDF_1619673939763

Data file types

Files contain the extension '.ulg' This file extension can be opened using any of the open-sourced software solutions such as pyulog or Flight Review. More details: https://docs.px4.io/master/en/log/flight_log_analysis.html


Creative Commons Attribution 4.0 (CC-BY)


© Queensland University of Technology, 2020.

Dates of data collection

From 2020-06-25 to 2020-07-02


Name: Juan Sandino


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Record status:
Published - Open Access