A Rust library and simulator for strapdown INS: WGS84 mechanization, full-state UKF and particle filter implementations, and simulation of GNSS degradation, spoofing, and outage. On crates.io; software paper under review at JOSS.
Long-duration GPS/IMU/INS trajectories from ubiquitous MEMS-grade smartphone sensors, plus processed GNSS degradation, duty-cycling, and spoofing scenarios for evaluating alternative navigation algorithms.
A study relating trajectory characteristics and geophysical map properties to achievable navigation accuracy, via Fisher information, the posterior Cramér-Rao bound, and a Rao-Blackwellized particle filter.
A generic, maintained LaTeX class for Temple University PhD dissertations and Masters theses, current with the graduate style guide and adaptable to other institutions.
Published in M.S. Thesis, Temple University, 2019
M.S. thesis comparing PHD filter and MHT performance on multi-target tracking problems where targets are of heterogeneous types.
Recommended citation: Brodovsky, J. A. (2019). "A Comparison of the Probability Hypothesis Density Filter and the Multiple Hypothesis Tracker for Tracking Targets of Multiple Types." M.S. Thesis, Temple University.
Published in Proceedings of the 2026 International Technical Meeting of the Institute of Navigation, 2026
An unscented Kalman filter formulation for bounding inertial drift on MEMS-grade sensors by map matching against gravity, magnetic, and bathymetric anomaly fields.
Recommended citation: Brodovsky, J. and Dames, P. (2026). "Navigation in GNSS-denied environments using MEMS-grade sensors and geophysical anomalies: A UKF approach." Proceedings of the 2026 International Technical Meeting of the Institute of Navigation, Anaheim, CA, pp. 155-164. https://doi.org/10.33012/2026.20508
Published in Proceedings of the ION 2026 Pacific PNT Meeting, 2026
A particle filter for GNSS-denied navigation on MEMS-grade inertial sensors, aided by gravity, magnetic, and bathymetric anomaly map matching.
Recommended citation: Brodovsky, J. and Dames, P. (2026). "Navigation in GNSS-denied Environments using MEMS-grade Sensors and Geophysical Anomalies: A Particle Filter Approach." Proceedings of the ION 2026 Pacific PNT Meeting, Honolulu, HI, pp. 399-410. https://doi.org/10.33012/2026.20618
Under review in Journal of Open Source Software
Software paper describing strapdown-rs, an open-source Rust library and simulator for strapdown inertial navigation systems.
Recommended citation: Brodovsky, J. "strapdown-rs: A Simple Strapdown INS implementation in Rust." Journal of Open Source Software (under review). https://joss.theoj.org/papers/5079592cc860d1435482a4a7764edcd4
Under review in IEEE Transactions on Aerospace and Electronic Systems
Predicting achievable navigation accuracy from trajectory and map characteristics before the mission, using posterior Cramér-Rao bounds and a learned regression model.
Recommended citation: Brodovsky, J. "A Priori Prediction of Geophysical Anomaly Navigation Fixability via Posterior Cramér-Rao Bounds and Machine Learning." IEEE Transactions on Aerospace and Electronic Systems (under review).
Published:
Brodovsky, J., Sevcik, K., and Saluzzi, N.
Graduate, WPI Robotics Engineering, 2023