Introduction
Getting Started
1.
Installation
❱
1.1.
System Requirements
1.2.
Installing from Crates.io
1.3.
Building from Source
2.
Quick Start
User Guide
3.
Overview
4.
Core Concepts
❱
4.1.
Strapdown Mechanization
4.2.
Coordinate Frames
4.3.
State Representation
5.
Running Simulations
❱
5.1.
Open-Loop (Dead Reckoning)
5.2.
Closed-Loop (UKF/EKF)
5.3.
Particle Filter
6.
Input Data Format
7.
Configuration Files
8.
Logging
Navigation Filters
9.
Kalman Filters
❱
9.1.
Extended Kalman Filter (EKF)
9.2.
Unscented Kalman Filter (UKF)
9.3.
Comparison: EKF vs UKF
10.
Particle Filters
❱
10.1.
Rao-Blackwellized Particle Filter
11.
Measurement Models
Geophysical Navigation
12.
Overview
13.
Gravity Anomaly Navigation
14.
Magnetic Anomaly Navigation
15.
Data Sources and Maps
GNSS Degradation Scenarios
16.
Fault Simulation
17.
Dropout Scenarios
18.
Reduced Update Rates
19.
Measurement Corruption
API Reference
20.
strapdown-core
❱
20.1.
earth Module
20.2.
kalman Module
20.3.
measurements Module
20.4.
particles Module
20.5.
sim Module
21.
strapdown-sim
22.
strapdown-geonav
Examples and Tutorials
23.
Example Configurations
24.
Tutorial: Basic INS Simulation
25.
Tutorial: GPS Degradation
26.
Tutorial: Using the Particle Filter
Development
27.
Contributing
28.
Building and Testing
29.
Performance Baselines
30.
Architecture
31.
Project Structure
FAQ
32.
Frequently Asked Questions
Additional Resources
33.
Publications
34.
External Links
35.
Glossary
Light
Rust
Coal
Navy
Ayu
Strapdown-rs Documentation
Kalman Filters