Merge pull request #32 from jbrodovsky/joss

JOSS publication and bug fixes

Author: jbrodovsky

.github/workflows/draft-pdf.yml

@@ -0,0 +1,24 @@
+name: Draft PDF
+on: [push]
+
+jobs:
+  paper:
+    runs-on: ubuntu-latest
+    name: Paper Draft
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Build draft PDF
+        uses: openjournals/openjournals-draft-action@master
+        with:
+          journal: joss
+          # This should be the path to the paper within your repo.
+          paper-path: paper.md
+      - name: Upload
+        uses: actions/upload-artifact@v4
+        with:
+          name: paper
+          # This is the output path where Pandoc will write the compiled
+          # PDF. Note, this should be the same directory as the input
+          # paper.md
+          path: paper.pdf

Cargo.lock

@@ -1,7 +1,7 @@
 [package]
 name = "strapdown-rs"
 authors = ["James Brodovsky"]
-version = "0.1.1"
+version = "0.2.0"
 edition = "2024"
 description = "A toolbox for building and analyzing strapdown inertial navigation systems."
 license = "MIT"
@@ -25,7 +25,7 @@ path = "src/strapdown.rs"
 
 [dependencies]
 angle = "0.5.0"
-chrono = "0.4.41"
+chrono = {version = "0.4.41", features = ["serde"] }
 csv = "1.3.1"
 nalgebra = "0.33.2"
 nav-types = "0.5.2"

core/Cargo.toml

@@ -38,3 +38,7 @@ In addition to the core library there is a basic command line tool for evaluatin
 
 1. **Open Loop**: This mode processes a set of inertial measurements (IMU data) and outputs the estimated position, velocity, and orientation over time in an open loop INS configuration; i.e. dead reckoning. This can be used to build an error state filter on top of or to develop a drift trajectory to compare your INS implementation to.
 2. **Closed Loop**: This mode processes a set of inertial measurements (IMU data) and outputs the estimated position, velocity, and orientation over time in a closed loop INS configuration; i.e. with aiding from an external source such as GNSS or a visual odometry system. This specific implementation uses a three-state position measurement (latitude, longitude, and altitude) to correct the INS state. This can be used to compare alternative or complimentary navigation aides to GPS-aided performance.
+
+## Installation
+
+There is both a library of navigation functionality and a command line tool for running dead-reckoning and cannonical closed-loop INS simulations. The library can be added to your Rust project as a dependency in your `Cargo.toml` file: `cargo add strapdown-rs`. The command line tool can be installed via `cargo install strapdown-rs`.

core/README.md

@@ -78,9 +78,9 @@ pub const MAGNETIC_REFERENCE_RADIUS: f64 = 6371200.0; // meters, reference radiu
 /// Earth's magnetic field strength ($B_0$), teslas (2025, International Geomagnetic Reference Field)
 pub const MAGNETIC_FIELD_STRENGTH: f64 = 3.12e-5; // T, reference mean magnetic field strength
 /// Rough conversion factor from meters to degrees for latitude/longitude via nautical miles (1 degree ~ 60 nautical miles; 1 nautical mile ~ 1852 meters)
-pub const METERS_TO_DEGREES: f64 = 60.0 / 1852.0;
+pub const METERS_TO_DEGREES: f64 = 1.0 / (60.0 * 1852.0);
 /// Rough conversion factor from degrees to meters for latitude/longitude via nautical miles (1 degree ~ 60 nautical miles; 1 nautical mile ~ 1852 meters)
-pub const DEGREES_TO_METERS: f64 = 1852.0 / 60.0;
+pub const DEGREES_TO_METERS: f64 = 60.0 * 1852.0;
 
 /// Convert a three-element vector to a skew-symmetric matrix
 ///