In these trials, we re-ran the same indoor experiments outdoors and included GPS
positioning data. The format for the odometry and the signal strength data logs
are the same as DATASET 2, but for each of the trials there will be another GPS 
log file.  

There is a Google Earth KML available in this folder which shows the layout and 
the starting point of the robot.  


The format of the GPS logs are as follows:
<<<

1204666176.409559 localhost $GPGGA,212931,3956.9035,N,07507.7347,W,2,09,0.80,7.1,M,-34.012,M,,*43
$GPRMC,212931,A,3956.9035,N,07507.7347,W,0.0000,0.000,040308,,*3E
$GPGSA,A,3,09,03,15,21,18,14,22,24,26,,,,1.7,0.8,0.6*39
$PGRME,0.00,M,0.00,M,6.63,M*1D

1204666177.409559 localhost $GPGGA,212932,3956.9035,N,07507.7347,W,2,09,0.80,7.1,M,-34.012,M,,*40
$GPRMC,212932,A,3956.9035,N,07507.7347,W,0.0000,0.000,040308,,*3D
$GPGSA,A,3,09,03,15,21,18,14,22,24,26,,,,1.7,0.8,0.6*39

>>>

For each record, there will be 3 or 4 lines containing various data points.  
Most likely, the most important data is the latitude and longitude.  This is
located in the lines with the $GPGAA and $GPRMC protocols.  

For example:
Global Positioning System Fix Data (GGA)
 $GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18 
 
Name 				| Example 		| Units		| Description 
-----------------------------------------------------------------------
Message ID			| $GPGGA		| 			| GGA protocol header 
UTC Time			| 161229.487	| 			| hhmmss.sss
Latitude			| 3723.2475		|			| ddmm.mmmm 
N/S Indicator 		| N				|			| N=north or S=south 
Longitude 			| 12158.3416	|			| dddmm.mmmm 
E/W Indicator		| W				|			| E=east or W=west 
Position Fix Ind	| 1				|			| See Table 5-3 
Satellites Used		| 07			|			| Range 0 to 20 
HDOP				| 1.0  			|			| Horizontal Dilution of Precision 
MSL Altitude		| 9.0			| Meters  	|
Units				| M				| Meters  	|
Geoid Separation	| 				| Meters  	|
Units				| M				| Meters  	|
Age of Diff. Corr.	|				| second	|Null fields when DGPS is not used 
Diff. Ref. Station ID| 0000			|			|
Checksum			| *18   		|			|
<CR> <LF>   		|				|			| End of message termination 

==============================================================================

Recommended Minimum Specific GNSS Data (RMC) 
	$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10 

The data format: 
Name 				| Example 		| Units		| Description 
-----------------------------------------------------------------------
Message ID			| $GPRMC		|			| RMC protocol header 
UTC Time			| 161229.487	|			| hhmmss.sss 
Status				| A				|  			| A=data valid or V=data not valid 
Latitude			| 3723.2475		|			| ddmm.mmmm 
N/S Indicator		| N				|			| N=north or S=south 
Longitude			| 12158.3416	|			| dddmm.mmmm 
E/W Indicator		| W 			|			| E=east or W=west 
Speed Over Ground	| 0.13 			| knots  	|
Course Over Ground 	| 309.62		| degrees	| True 
Date				| 120598		|			|  ddmmyy 
Magnetic Variation	|				| degrees	| E=east or W=west (unsupported)
Checksum 			| *10			|			|
<CR> <LF>			|				|			| End of message termination 

==============================================================================

The lines $GPGSA and $PGRME can be ignored.

The receiver we used was a Holux SirfstarIII, more information can be found here:
  http://www.holux.com/JCore/en/products/products_content.jsp?pno=273

The log file format was gathered from the manual on this page.

==============================================================================