diff --git a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m
index 48afa7ed6..094dd10b2 100644
--- a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m
+++ b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m
@@ -90,25 +90,35 @@ for i=0:length(measurements)
       end
           
       if options.imuFactorType == 2
-        %         % Initialize preintegration
-        %         imuMeasurement = gtsam.CombinedImuFactorPreintegratedMeasurements(...
-        %           metadata.imu.zeroBias, ...
-        %           metadata.imu.AccelerometerSigma.^2 * eye(3), ...
-        %           metadata.imu.GyroscopeSigma.^2 * eye(3), ...
-        %           metadata.imu.IntegrationSigma.^2 * eye(3), ...
-        %           metadata.imu.BiasAccelerometerSigma.^2 * eye(3), ...
-        %           metadata.imu.BiasGyroscopeSigma.^2 * eye(3), ...
-        %           metadata.imu.BiasAccOmegaInit.^2 * eye(6));
-        %         % Preintegrate
-        %         imuMeasurement.integrateMeasurement(imuAccel, imuGyro, measurements.imu.deltaT(i));
-        %         % Add Imu factor
-        %         graph.add(CombinedImuFactor( ...
-        %           currentPoseKey-1, currentVelKey-1, ...
-        %           currentPoseKey, currentVelKey, ...
-        %           currentBiasKey-1, currentBiasKey, ...
-        %           imuMeasurement, ...
-        %           metadata.imu.g, metadata.imu.omegaCoriolis, ...
-        %           noiseModel.Isotropic.Sigma(15, metadata.imu.epsBias)));
+        % Initialize preintegration
+        imuMeasurement = gtsam.CombinedImuFactorPreintegratedMeasurements(...
+          metadata.imu.zeroBias, ...
+          metadata.imu.AccelerometerSigma.^2 * eye(3), ...
+          metadata.imu.GyroscopeSigma.^2 * eye(3), ...
+          metadata.imu.IntegrationSigma.^2 * eye(3), ...
+          metadata.imu.BiasAccelerometerSigma.^2 * eye(3), ...
+          metadata.imu.BiasGyroscopeSigma.^2 * eye(3), ...
+          metadata.imu.BiasAccOmegaInit.^2 * eye(6));
+        % Generate IMU measurements with noise
+        for j=1:length(measurements(i).imu) % all measurements to preintegrate
+          imuAccel = measurements(i).imu(j).accel ...
+            + (measurementNoise.imu.accelNoiseVector .* randn(3,1))...  % added noise
+            + metadata.imu.accelConstantBiasVector;     % constant bias
+          imuGyro = measurements(i).imu(j).gyro ...
+            + (measurementNoise.imu.gyroNoiseVector .* randn(3,1))...   % added noise
+            + metadata.imu.gyroConstantBiasVector;      % constant bias
+          
+          % Preintegrate
+          imuMeasurement.integrateMeasurement(imuAccel, imuGyro, measurements(i).imu(j).deltaT);
+        end
+        % Add Imu factor
+        graph.add(CombinedImuFactor( ...
+          currentPoseKey-1, currentVelKey-1, ...
+          currentPoseKey, currentVelKey, ...
+          currentBiasKey-1, currentBiasKey, ...
+          imuMeasurement, ...
+          metadata.imu.g, metadata.imu.omegaCoriolis, ...
+          noiseModel.Isotropic.Sigma(15, metadata.imu.epsBias)));
       end
       
     end % end of IMU factor creation