A high-precision vehicle trajectory dataset in Shanghai

This is a dataset containing measurement trajectory data from a drone, as well as high-precision trajectory data with an error less than 5cm collected by centimetre-level progressing GNSS receivers. The sample size (number of trajectories of the experimental vehicle inside the intersection) of each measure method is 70, including 27 left-turn trajectories, 27 through trajectories and 16 right-turn trajectories.