This dataset contains positioning data collected using an AsteRx-i3 D Pro+ GNSS/INS receiver installed within the mobile Sensor Box developed at KU Leuven. The dataset includes measurements from static benchmarking experiments, bridge-passage experiments, and closed-loop path-following experiments. The detailed descriptions of the experiments and interpretation of the results are summarized in a paper accepted for presentation at the 10th IEEE Conference on Control Technology and Applications (CCTA 2026). Preprint available at: https://doi.org/10.48550/arXiv.2606.06358