The MATLAB code provided plots the measurement model of the MAV

To plot the noise in radial measurements. In matlab run,

radial_measurement_plot.m

To plot the noise in bearing measurements. In matlab run,

bearing_measurement_plot.m

To plot the noise in inclination measurements. In matlab run,

inclination_measurement_plot.m

The recorded and analyzed rosbags for modeling noise in measurements are available here: https://owncloud.tuebingen.mpg.de/index.php/s/HFMfTAtgiJbceQZ

Download the folders <experiment_name>_<run_information>.bag.analysis/

The mat files used for plotting the noise and its variance can be generated using the scripts files:

<name>_preprocessing.m

To regenerate the .mat files used for plotting, substitute with radial , bearing , or inclination

To rerun the gazebo simulations please refer to the documentation of https://github.com/AIRCAP/AIRCAP