Dataset contains aerial images captured in a simulated 3D environment. Ortho photo images from USGS Aerial Imagery dataset was used as ground view. Gazebo simulator with PX4 flight controller software and a plane model was used to simulate flights at different altitude and trajectories over different maps. Each dataset is provided in a zip file, named under two character and number abbreviation, which can be interpreted by the first letter for map type (U - urban, F - forest), second letter stands for trajectory type (L - straight line, C - circular trajectory, R - rectangular trajectory) and the number stands for altitude in meters, e.g. FC-300, means forest map, circular trajectory at 300 meters altitude. Alongside image data, a text file containing CSV data is included, which contains aircraft attitude and geographical information of each image. Additionally, maps used for simulation environment are included in this dataset, maps of the same area captured on different years are also included, which can be used to evaluate algorithms matching against maps. ROS Publisher node is available in GitHub: https://github.com/jureviciusr/AIRDatasetPublisher