Mobile robots that move between outdoor and indoor environments still struggle with consistent positioning. Satellite-based and terrestrial ranging each work well in their home domains, but combining them at the raw measurement level has received little attention, and the building boundary is precisely where both classes degrade. This paper reports preliminary observations from the HYMN dataset, which time-synchronizes raw measurements from GNSS, Ultra-Wideband (UWB), WiFi Fine Time Measurement (FTM), and Bluetooth Low Energy (BLE) against millimeter-level ground truth in an industrial setting. Per-zone measurement availability and ranging-residual behavior are characterised. The two technology classes turn out to be complementary, and the indoor-outdoor transition is where their weaknesses overlap. The dataset is publicly available.

翻译：在室外与室内环境之间移动的移动机器人在定位一致性上仍面临挑战。基于卫星和地面测距的技术各自在其适用领域表现良好，但它们在原始测量层面的结合鲜受关注，而建筑边界恰恰是这两类技术精度同时衰退的区域。本文报告了HYMN数据集的初步观测结果——该数据集在工业场景下，将全球导航卫星系统、超宽带、WiFi精细时间测量和低功耗蓝牙的原始测量值，与毫米级地面真值进行了时间同步。研究刻画了逐区域的测量可用性及测距残差特征，发现这两类技术具有互补性，而室内外过渡区域正是其弱点重叠之处。该数据集现已公开。