Open-source navigation software, datasets, and tooling. Most of this exists because I needed it for research and there wasn’t a maintained version I could use — which is also why it’s public. Everything below is on GitHub.
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.