Free-Ride Vehicle Dynamics and Localization Data in the Mátra Mountain Range for Sensor Fusionhdl:21.15109/ARP/WL34BVARP2026-06-301Tuba, Balázs, 2026, "Free-Ride Vehicle Dynamics and Localization Data in the Mátra Mountain Range for Sensor Fusion", https://hdl.handle.net/21.15109/ARP/WL34BV, ARP, V1Free-Ride Vehicle Dynamics and Localization Data in the Mátra Mountain Range for Sensor Fusionhdl:21.15109/ARP/WL34BVTuba, BalázsHegedűs, TamásNémeth, BalázsARPTuba, BalazsTuba, Balázs2026-06-25EngineeringThis 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.<a href="http://creativecommons.org/licenses/by-nc/4.0">CC BY-NC 4.0</a>part1.matapplication/matlab-matpart2.matapplication/matlab-matpart3.matapplication/matlab-matpart4.matapplication/matlab-matREADME.mdtext/markdown