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Jbrodovsky/issue108 #113

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958b0b4
checked in .csv version of data file
jbrodovsky Dec 1, 2025
fcd8405
Updated tests and organized documentation
jbrodovsky Dec 1, 2025
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2 changes: 1 addition & 1 deletion CONTRIBUTING.md
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# Contribution Guidelines

Thank you for considerating contributing to this project. At time of writing this is being developed as part of a PhD dissertation. The goal is to make this a high-performance, memory-safe, and cross-platform implementation of strapdown INS algorithms that can be easily integrated into existing systems. The project is open to contributions from the community, and we welcome any feedback or suggestions for improvement.
Thank you for considerating contributing to this project. At time of writing this is being developed as part of a PhD dissertation. The goal is to make this a high-performance, memory-safe, and cross-platform implementation of strapdown INS algorithms that can be easily integrated into existing systems. The project is open to contributions from the community, and any feedback or suggestions for improvement are welcome.

If you are a developer, researcher, or enthusiast interested in contributing to this project, please first reach out to [James Brodovsky](mailto:jbrodovsky@temple.edu). Contribution are welcome, but primary authorship will remain with the original author.

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12 changes: 2 additions & 10 deletions core/src/sim.rs
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Expand Up @@ -746,11 +746,7 @@ pub fn dead_reckoning(records: &[TestDataRecord]) -> Vec<NavigationResult> {
coordinate_convention: true,
};
// Store the initial state and metadata
results.push(NavigationResult::from((
&first_record.time,
&state.into(),
&DMatrix::from_diagonal(&DVector::from_element(15, 0.0)),
)));
results.push(NavigationResult::from((&first_record.time, &state)));
let mut previous_time = records[0].time;
// Process each subsequent record
for record in records.iter().skip(1) {
Expand All @@ -763,11 +759,7 @@ pub fn dead_reckoning(records: &[TestDataRecord]) -> Vec<NavigationResult> {
gyro: Vector3::new(record.gyro_x, record.gyro_y, record.gyro_z),
};
forward(&mut state, imu_data, dt);
results.push(NavigationResult::from((
&current_time,
&state.into(),
&DMatrix::from_diagonal(&DVector::from_element(15, 0.0)),
)));
results.push(NavigationResult::from((&current_time, &state)));
previous_time = record.time;
}
results
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