A morphism of vector bundles over one base is a smooth map between their total spaces that commutes with projection to the base and is linear on each fiber. In local vector bundle trivializations it is multiplication by a smoothly varying matrix.
A vector bundle morphism is an isomorphism if it admits an inverse of the same kind. A smooth fiberwise bijective bundle morphism automatically has a smooth inverse, because inverse matrices in vector bundle trivializations depend smoothly on their entries wherever their determinants are nonzero.

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