strapdown-rs: A Simple Strapdown INS Implementation in Rust

Published in Journal of Open Source Software, 2026

A software paper describing strapdown-rs, an open-source Rust implementation of a strapdown inertial navigation system: a WGS84 Earth model, the standard nine-state forward mechanization, UKF- and particle-filter-based full-state INS implementations, and a command-line simulator for generating GNSS-degraded and GNSS-denied scenarios.