Formal samples from release v1.0.0
These four spectrograms come from the final WebDataset TARs. Source files, TAR members, and public-manifest SHA-256 values were cross-checked, and each image is paired with its generation parameters.
Time runs horizontally, Doppler shift vertically, and color indicates relative spectral intensity using the turbo colormap. The PNG is an axis-free preview for quick inspection. For quantitative analysis, read the exact t_axis, f_axis, and S_dB arrays from the paired NPZ.
level_v0DTUAV-V1-000007
Time →The body does not translate, but all four rotors keep spinning. Together, 25 scatterers produce a periodic spectral structure around the body's Doppler baseline.
shard-00000.tarPNG SHA-256 · 75dd8fce…108fdpitch30_v10DTUAV-V1-011252
Time →The quadrotor model is tilted 30° about the simulation y-axis and translates along a Bézier path at 10 m/s. Body Doppler and rotor micro-Doppler both contribute to the spectrum.
shard-00008.tarPNG SHA-256 · 40e782a8…7c8fepitch45_v10DTUAV-V1-022488
Time →At the same 10 m/s translation speed, the model's tilt increases to 45°. This sample supports comparisons of propagation and spectral changes under a larger attitude variation.
shard-00017.tarPNG SHA-256 · 5be2ae74…087b1single_blade_v0DTUAV-V1-033705
Time →Only one rotating blade-tip scatterer remains, and its center does not translate, producing a clear periodic micro-Doppler trace. This is a control sample—not a single-rotor UAV.
shard-00026.tarPNG SHA-256 · c9de3575…16937Scene and flight paths
The first view is rendered directly from the generator's built-in Sionna RT Étoile scene and shows the base station plus the complete configured flight corridor. The second reads only uav_positions_m from the four paired NPZ files, showing the actual body path within each 0.1024 s observation window.
DTUAV-V1-000007Level hover · 0.0000 mfixed at (147.0149, −47.9795, 70.0388) mDTUAV-V1-01125230° tilt · 1.0236 m(147.0302, −47.9545, 70.0068) → (147.3050, −46.9686, 70.0068) mDTUAV-V1-02248845° tilt · 1.0235 m(178.8773, −2.1977, 70.0154) → (179.8439, −1.8614, 70.0154) mDTUAV-V1-033705Isolated blade · 0.0000 mbody center fixed at (170.6565, −6.8912, 70.0499) msionna.rt.scene.etoileBase station(78.9293, 32.0468, 28.9687) mControl pointsfour, P0–P3Corridor altitude70 mThe three full-model conditions use 25 scatterers: one body point plus 4 rotors × 2 blades × 3 radial points per blade. Rotor frequency, blade radius, noise, and initial position are randomly perturbed within configured ranges, so every sample carries its own exact parameters.
Learn how the data is generated