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OpenSwarm PoC 3: Synchronized USV Hydrophone Dataset for Ocean Noise Pollution Monitoring (Trials 1 & 2)

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Abstract

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This dataset contains acoustic, spatial, and synchronization data collected during Trial 1 (2026.03.04). and Trial 2 (2026.04.20) of the OpenSwarm European Project, specifically supporting Proof of Concept (PoC) 3: Ocean Noise Pollution Monitoring.

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The primary objective of this dataset is to provide highly synchronized multi-node acoustic recordings of marine environments to evaluate noise pollution. The setup features a distributed network of Unmanned Surface Vehicles (USVs) configured as sensory buoys, alongside a mobile ground-truth sound source. A critical feature of this dataset is the implementation of a wireless local synchronization system across all nodes, ensuring a common timestamp reference for precise spatiotemporal analysis of the acoustic data.

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Description of the Files

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Experimental Setup & Hardware

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The experimental architecture consists of four primary nodes—three stationary sensory buoys and one mobile ground-truth vessel.

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Data Structure & Formats

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The dataset provides raw and processed data streams across multiple standard formats to facilitate robotic framework integration and standalone signal processing.

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Topics

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/mavros/gpsstatus/gps1/raw\n   mavros_msgs/GPSRAW\n/rms_stream/data\n   msg/StreamData.msg
\n\n
# FCU GPS RAW message for the gps_status plugin\n# A merge of mavlink GPS_RAW_INT and \n# mavlink GPS2_RAW messages.\n\nstd_msgs/Header header\n## GPS_FIX_TYPE enum\nuint8 GPS_FIX_TYPE_NO_GPS     = 0    # No GPS connected\nuint8 GPS_FIX_TYPE_NO_FIX     = 1    # No position information, GPS is connected\nuint8 GPS_FIX_TYPE_2D_FIX     = 2    # 2D position\nuint8 GPS_FIX_TYPE_3D_FIX     = 3    # 3D position\nuint8 GPS_FIX_TYPE_DGPS       = 4    # DGPS/SBAS aided 3D position\nuint8 GPS_FIX_TYPE_RTK_FLOATR = 5    # TK float, 3D position\nuint8 GPS_FIX_TYPE_RTK_FIXEDR = 6    # TK Fixed, 3D position\nuint8 GPS_FIX_TYPE_STATIC     = 7    # Static fixed, typically used for base stations\nuint8 GPS_FIX_TYPE_PPP        = 8    # PPP, 3D position\nuint8 fix_type      # [GPS_FIX_TYPE] GPS fix type\n\nint32 lat           # [degE7] Latitude (WGS84, EGM96 ellipsoid)\nint32 lon           # [degE7] Longitude (WGS84, EGM96 ellipsoid)\nint32 alt           # [mm] Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.\nuint16 eph          # GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX\nuint16 epv          # GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX\nuint16 vel          # [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX\nuint16 cog          # [cdeg] Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX\nuint8 satellites_visible # Number of satellites visible. If unknown, set to 255\n\n# -*- only available with MAVLink v2.0 and GPS_RAW_INT messages -*-\nint32 alt_ellipsoid # [mm] Altitude (above WGS84, EGM96 ellipsoid). Positive for up.\nuint32 h_acc        # [mm] Position uncertainty. Positive for up.\nuint32 v_acc        # [mm] Altitude uncertainty. Positive for up.\nuint32 vel_acc      # [mm] Speed uncertainty. Positive for up.\nint32  hdg_acc      # [degE5] Heading / track uncertainty\nuint16 yaw          # [cdeg] Yaw in earth frame from north.\n\n# -*- only available with MAVLink v2.0 and GPS2_RAW messages -*-\nuint8 dgps_numch    # Number of DGPS satellites\nuint32 dgps_age     # [ms] Age of DGPS info
\n\n
string timestamp\nsensor_msgs/NavSatFix localization\nstd_msgs/Float64MultiArray rms_data\nstring node_id\nstring utc_time\nstd_msgs/Float64MultiArray raw_data
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