Geo-referenced environmental data collected by mobile sensing vehicles

This dataset consists of geo-referenced and time-stamped environmental measurements, including CO₂ concentration, air temperature, and relative humidity, collected by a fleet of mobile sensors in Benevento, Italy. The sensors are Sensirion SCD41 CO₂ sensors, managed by a vehicle-mounted RaspeberryPi, which perform local preprocessing, GPS acquisition, timestamp synchronization, and data transmission. Data was collected by three vehicles with identical sensors, covering diverse urban trajectories to ensure wide spatial coverage. Each vehicle generated continuous data streams of CO₂, temperature, humidity, latitude, longitude, and timestamps. The dataset comprises raw sensor readings, spatial coordinates, temporal metadata, and vehicle IDs, enabling the reconstruction of trajectories and facilitating environmental analyses. Sampling intervals range from 1 to 5 seconds. This dataset supports research on urban air quality, mobile sensing, spatio-temporal analysis, environmental monitoring, and vehicular sensor networks. It can be used for benchmarking interpolation algorithms, validating mobile sensing strategies, evaluating uncertainty propagation, and mobility-aware sampling. Additionally, it offers insight into sensor behavior in real-world conditions and methods for robust urban monitoring. This dataset is described in a Data in Brief article currently under revision, entitled “Geo-Temporal Vehicular Environmental Sensing Dataset,” authored by the same authors. This dataset was used in the Case Study section of the following article Mobile Urban Sensing: Spatio-Temporal Observability Analysis and Optimization: @article{COLARUSSO2026101907, title = {Mobile Urban Sensing: Spatio-Temporal Observability Analysis and Optimization}, journal = {Internet of Things}, pages = {101907}, year = {2026}, issn = {2542-6605}, doi = {https://doi.org/10.1016/j.iot.2026.101907}, url = {https://www.sciencedirect.com/science/article/pii/S2542660526000375}, author = {Carmine Colarusso and Marco Consales and Ida Falco and Eugenio Zimeo}}