首个提供纳米无人机全链路数据的开源基准，助力小尺寸飞行器研究。
NanoBench: A Multi-Task Benchmark Dataset for Nano-Quadrotor System Identification, Control, and State Estimation
- 在商用纳米无人机上采集多任务数据，包含电机指令与控制器内部状态。
- 每秒100次同步采集，位置精度达毫米级，覆盖多种飞行模式。
- 适合研究微型飞行器控制、状态估计与系统辨识的科研人员使用。
现有空中机器人基准针对数百克至数公斤级别的飞行器，通常仅提供高层状态数据，忽略了研究纳米级四旋翼所需的执行器级信号。由于低雷诺数空气动力学、无芯直流电机非线性及严重计算约束，大尺寸飞行器的模型和控制器在此类平台失效。我们提出 NanoBench，一个在商业可用 Crazyflie 2.1 纳米四旋翼（起飞重量 27 g）上于 Vicon 运动捕捉系统中采集的开源多任务基准数据集。数据集包含超过 170 条飞行轨迹，涵盖悬停、多频激励、标准跟踪与激进机动，覆盖多个速度区间。每条轨迹提供同步的 Vicon 地面真值、原始 IMU 数据、机载扩展卡尔曼滤波器估计、PID 控制器内部状态及电机 PWM 命令（100 Hz），以及 10 Hz 的电池遥测数据，时间对齐精度低于 0.5 毫秒。NanoBench 定义了标准化评估协议、训练/测试划分及开源基线，适用于三项任务：非线性系统辨识、闭环控制器基准测试与机载状态估计评估。据我们所知，它是首个在商业化纳米级空中平台上联合提供执行器命令、控制器内部信息与估计算法输出，并具备毫米级精确地面真值的公开数据集。
原文摘要 · Abstract (English)
Existing aerial-robotics benchmarks target vehicles from hundreds of grams to several kilograms and typically expose only high-level state data. They omit the actuator-level signals required to study nano-scale quadrotors, where low-Reynolds number aerodynamics, coreless DC motor nonlinearities, and severe computational constraints invalidate models and controllers developed for larger vehicles. We introduce NanoBench, an open-source multi-task benchmark collected on the commercially available Crazyflie 2.1 nano-quadrotor (takeoff weight 27 g) in a Vicon motion capture arena. The dataset contains over 170 flight trajectories spanning hover, multi-frequency excitation, standard tracking, and aggressive maneuvers across multiple speed regimes. Each trajectory provides synchronized Vicon ground truth, raw IMU data, onboard extended Kalman filter estimates, PID controller internals, and motor PWM commands at 100 Hz, alongside battery telemetry at 10 Hz, aligned with sub-0.5 ms consistency. NanoBench defines standardized evaluation protocols, train/test splits, and open-source baselines for three tasks: nonlinear system identification, closed-loop controller benchmarking, and onboard state estimation assessment. To our knowledge, it is the first public dataset to jointly provide actuator commands, controller internals, and estimator outputs with millimeter-accurate ground truth on a commercially available nano-scale aerial platform.
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