Free-Ride Vehicle Dynamics and Localization Data in the Mátra Mountain Range for Sensor Fusionhttps://hdl.handle.net/21.15109/ARP/WL34BVTuba, BalázsARP2026-06-302026-06-30T07:00:03ZThis dataset provides high-fidelity vehicle trajectory and dynamics data recorded during a free-ride driving session on public roads in the Mátra mountain range, Hungary. Collected using a Lexus RX 450h, the repository is designed to support research in multi-sensor fusion, state estimation, and vehicle localization under naturalistic driving conditions. The recordings feature a mix of high-end and consumer-grade sensors to facilitate benchmarking and performance comparisons of algorithms. Position and orientation measurements are provided by a dual-antenna NovAtel OEM7 GNSS system and a single-antenna VectorNav VN-300 GPS. Inertial data are recorded from both an Epson G320N IMU and a BNO-085 IMU. The dataset also includes vehicle speed from the OBD interface, individual speeds for all four wheel centers, and real-time driver inputs from the accelerator and brake pedals.Engineering2026-06-30Tuba, Balázs2026-06-25CC BY-NC 4.0