This three-part article describes the features and applications of the Vehicle for Experimental Research on Trajectories (VERT) as designed and used by the Geopositioning Laboratory at the French Institute of Science and Technology for Transport, Development, and Networks. The first section describes the vehicle's architecture. The second presents four different methods for estimating a high-precision reference trajectory, highlighting the critical role played by a navigation-grade inertial measurement unit in the process. The third section demonstrates and assesses VERT performance based on mewly development navigation algorithms.
