This folder contains codes that were used to reproduce the figures in:

[1] Macheng Shen, Ding Zhao, and Jing Sun. "The Impact of Road Configuration in V2V-based Cooperative Localization: Mathematical Analysis and Real-world Evaluation." arXiv preprint arXiv:1705.00568 (2017).

For detail, see the comments in 'main.m'. To calculate the CMM error over Ann Arbor (corresponding to fannarbor=1), four data files are required, ask zhaoding@umich.edu for the data files.