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A diverse number of driving scenarios were captured such as traffic congestion, round-abouts, hard-braking, etc. on different road types (e.g. country roads, motorways, etc.) and with varying driving patterns. The dataset consists of a total driving time of about 40 h over 1,300 km for the vehicle extracted data and about 58 h over 4,400 km for the smartphone recorded data. We hope that this dataset will prove valuable in furthering research on the correlation between vehicle dynamics and dependable positioning estimation based on vehi