Smartphone GNSS and Sensor Data with RTK Reference Trajectory

This dataset contains positioning data collected from two smartphones (Pixel 7 Pro and Pixel 9a) and one GNSS Leica rover (GS18). The data was collected on five different days and includes a total of 42 datasets. All devices were mounted on a custom 3D-printed stand, aligned along a single axis, with an approximate distance of 15 cm between the center points of each device.

For each measurement, the start time stated in each description file was taken from the beginning of the corresponding RINEX file recorded with the Pixel 7 Pro. The duration was determined as the time span between the first and last data point in the file. Therefore, the reported time values in the description files should be considered approximate.

A reference trajectory was recorded with an RTK solution. One point per second was recorded. Most points were measured using phase measurements, although some points collected with lower signal strength were measured only using code measurements. The measurement type for each point can be seen in the trajectory.txt file in the “Point Role” column. For the first dataset, trajectory data was collected as raw data and therefore needs postprocessing to retrieve the reference trajectory. For RTK data, the EPOSA network was used.

The measurement setup was always aligned from south to north, facing north. 

Throughout all datasets, the same set of devices was used for data collection: 

 

Google Pixel 7 Pro (Android 16)  

HW Year: 2020 HW Model: Broadcom, BCM4776, GLL ver. 154.20.24 625212 

 

Google Pixel 9a (Android 16)  

HW Year: 2023 HW Model: S.LSI,K041,SPOTNAV_4.15.4_5_250417_R1_268303                 

 

Leica GS18 (V9.10)  

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The following software versions were used:

 

GNSS logger version 3.1.1.1 

BKG Ntrip client version 2.13.4

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Notes:

- No data streams were collected on 18.12.2025.

- Rover data from 02.12.2025 only include raw navigation files; all other dates contain processed coordinates measured using RTK.

- The trajectory data provided in the “dataset_XX_trajectory.txt” files has different lengths across columns and therefore the depiction in common text file readers might be misleading. To achieve better readability, it is recommended to transfer the data into a common table visualization program (e.g., Excel).

- The setup is shown in the attached file (setup.png).

- Bug Report: The GNSS Logger RINEX file output specifies the measurement date in the second row as UTC. However, this timestamp is always identical to the GPS time given in line 13. Therefore, the stated UTC time is incorrect and should be adjusted by accounting for the current leap second offset between GPS time and UTC.

 

 

This work is supported by ASCR (Aspern Smart City Research Gmbh & Co KG) within the research project Precise Positioning with Mobile Devices (PPMD).