Fixed-wing micro UAV open data with digicam and raw INS/GNSS

We have recently released in the open domain data originating from a series of flights conducted with a fixed-wing micro UAV carrying high-quality small camera and navigation sensors. This data was previously used in several peer-reviewed publications. However, the data that we describe in the following is part of a larger series that will be released gradually after incorporating user feedback (e.g., on formats, description, etc.) from the first (three) released open data-sets. In the first part of this work we provide a thorough description of the common elements of these data sets, notably the UAV, its sensors, methods of time-stamping and synchronizing data streams, reference geometrical relations among them (system calibration) as well as time-invariant sensor parameters (e.g., lens distortion, non-orthogonality of inertial sensors) together with ground control points that are valid over the whole series. In the second part we describe the individual missions and provide the links to the released data sets.