Sitemap
A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
Posts
The Myth of the Customer You Think Exists
Published:
If you build it, they will come. – Field of Dreams
The Problems with Navigating the Real World
Published:
There are two quotes that I find myself returning to again and again as I navigate graduate school and life. The first being from one of my favorite books:
Rust and C++ for Advent of Code
Published:
So 2024 is wrapping up with some changes for me. I’m staring a new position at Temple University with the Boni Lab as a Research Associate where I’ll be working on designing software that simulates malaria out breaks and models drug resistance. A little outside my wheelhouse as a robotics student to say, but the lab’s staff have more of a computer science and mathematics background despite being housed in the biology department.
Hello World
Published:
This is a relaunch of my personal website and blog from my previous one on my university webpage. While much has changed in the roughly two years since that original (and only) post, I’m reposting that original post as it still rings true in many respects.
portfolio
strapdown-rs — Strapdown inertial navigation in Rust
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.
mems-nav-dataset — An open benchmark for MEMS-grade navigation
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.
geo-fixability — When is a geophysical map good enough to navigate on?
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.
tu_thesis — A LaTeX dissertation template for Temple University
A generic, maintained LaTeX class for Temple University PhD dissertations and Masters theses, current with the graduate style guide and adaptable to other institutions.
publications
A Comparison of the Probability Hypothesis Density Filter and the Multiple Hypothesis Tracker for Tracking Targets of Multiple Types
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.
Navigation in GNSS-Denied Environments Using MEMS-Grade Sensors and Geophysical Anomalies: A UKF Approach
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
Navigation in GNSS-Denied Environments Using MEMS-Grade Sensors and Geophysical Anomalies: A Particle Filter Approach
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
strapdown-rs: A Simple Strapdown INS Implementation in Rust
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
A Priori Prediction of Geophysical Anomaly Navigation Fixability via Posterior Cramér-Rao Bounds and Machine Learning
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).
talks
A Deep Water Bathymetric Particle Filter for Position Estimation in GNSS-Denied Environments
Published:
Brodovsky, J., Sevcik, K., and Saluzzi, N.
teaching
Special Topics: Advanced Robotic Navigation
Graduate, WPI Robotics Engineering, 2023