kshana 0.15.0 → 0.16.0

package/README.md

@@ -14,7 +14,8 @@
   <a href="tests/sgp4_verification.rs"><img src="https://img.shields.io/badge/SGP4-666%2F666%20AIAA%20vectors%20%C2%B7%204.12mm-3fb950" alt="SGP4 validated against all 666 AIAA 2006-6753 vectors, worst 4.12 mm"></a>
   <a href="https://github.com/ashfordeOU/kshana/actions/workflows/ci.yml"><img src="https://img.shields.io/badge/coverage-~97%25%20line-3fb950" alt="~97% line coverage on src/ (cargo-tarpaulin LLVM engine), gated at 85% in CI"></a>
   <a href="https://github.com/ashfordeOU/kshana/actions/workflows/ci.yml"><img src="https://github.com/ashfordeOU/kshana/actions/workflows/ci.yml/badge.svg" alt="CI"></a>
-  <a href="https://github.com/ashfordeOU/kshana/releases"><img src="https://img.shields.io/github/v/release/ashfordeOU/kshana?sort=semver" alt="Release"></a>
+  <a href="https://github.com/ashfordeOU/kshana/releases"><img src="https://img.shields.io/badge/release-v0.16.0-c79e63" alt="Release v0.16.0"></a>
+  <a href="https://plugins.jetbrains.com/plugin/32181-kshana--pnt-simulator"><img src="https://img.shields.io/badge/JetBrains-Marketplace-c79e63" alt="Kshana on the JetBrains Marketplace"></a>
   <a href="LICENSE"><img src="https://img.shields.io/badge/License-Apache_2.0-blue.svg" alt="License: Apache-2.0"></a>
   <a href="Cargo.toml"><img src="https://img.shields.io/badge/rust-1.75%2B-orange.svg" alt="Rust 1.75+"></a>
   <a href="https://doi.org/10.5281/zenodo.20528627"><img src="https://img.shields.io/badge/DOI-10.5281%2Fzenodo.20528627-blue.svg" alt="DOI 10.5281/zenodo.20528627"></a>
@@ -43,7 +44,7 @@ citable table in [`docs/PROVENANCE.md`](docs/PROVENANCE.md).
 *Free and open source under Apache-2.0, professionally developed and maintained by
 Ashforde OÜ — commercial support, integration, and proprietary extensions available.*
 
-> **Status: v0.15.0 · a simulation substrate, not yet a product.** A validated,
+> **Status: v0.16.0 · a simulation substrate, not yet a product.** A validated,
 > fully reproducible engine spanning the PNT stack — orbit geometry and constellation
 > design, a numerical (Cowell) propagator with a six-perturbation force model, maneuver
 > and trajectory design, time systems, inertial navigation (incl. map-aided and
@@ -104,7 +105,8 @@ geometry, inertial navigation, GNSS/INS fusion, integrity, clocks, and timing. I
 runs a scenario (often a GNSS outage), evolves calibrated sensor error models
 through the appropriate estimator, and scores the result against the operational
 figures of merit — emitting a reproducible JSON result and an SVG chart, from a
-Rust library, CLI, Python extension, or in-browser WebAssembly module.
+Rust library, a CLI, a Python extension, an in-browser WebAssembly module, a
+**Model Context Protocol (MCP) server** for AI agents, or a **JetBrains IDE plugin**.
 
 **It is not:** flight hardware, a quantum-payload design, a full GNSS signal
 receiver, or a certified avionics product. Quantum-hardware fidelity comes from
@@ -127,14 +129,16 @@ the P2 roadmap and [get in touch](#support--professional-services) to collaborat
 | Domain | Capability |
 |--------|------------|
 | **Orbit & geometry** | SGP4/SDP4 propagation (validated to 4.12 mm against all 666 AIAA 2006-6753 vectors); real two-line elements (a committed, date-stamped Celestrak `gps-ops` snapshot) or synthetic Walker-delta constellations whose mean elements realise the `i:T/P/F` formula to under 1 km over a 24 h propagation; multi-constellation visibility, dilution of precision, and GNSS availability; a gradient-free constellation-design optimiser, streets-of-coverage minimum-satellite sizing, a multi-constellation comparison tool, and a Walker **design sweep** that tabulates coverage / PDOP / revisit-time over a planes × satellites grid and reports the Pareto-optimal designs. |
-| **Numerical propagator** | A **Cowell** numerical propagator (`src/propagator.rs`) complementing the analytic SGP4/SDP4 path, with a hierarchical **six-perturbation** force model (`src/forces.rs`): two-body + the full **J2–J6 zonal** field (the exact analytic gradient of its disturbing potential), **epoch-driven Sun and Moon third-body** gravity (a built-in low-precision ephemeris, no DE/SPK kernel), **solar-radiation pressure** (cannonball model with a conical umbra+penumbra shadow), **atmospheric drag** (Vallado piecewise-exponential density, co-rotating atmosphere), and the **post-Newtonian Schwarzschild relativistic correction** — driven by a choice of two adaptive integrators (RK4 step-doubling or the **Dormand–Prince RK5(4)** embedded pair). Validated against analytic truth stronger than a cross-tool would give: the unperturbed orbit matches the exact universal-variable Kepler solution to **sub-metre over 24 h**, energy/angular-momentum conserve to ~1e-9, and each perturbation matches a hand-derived closed-form signature. |
+| **Numerical propagator** | A **Cowell** numerical propagator (`src/propagator.rs`) complementing the analytic SGP4/SDP4 path, with a hierarchical **six-perturbation** force model (`src/forces.rs`): two-body + the full **J2–J6 zonal** field (the exact analytic gradient of its disturbing potential), an optional **EGM2008 tesseral spherical-harmonic geopotential to degree/order 70** (`src/gravity_sh.rs`; real NGA coefficients, Holmes–Featherstone normalized-Legendre recurrence, cross-checked against the closed-form Legendre functions and the analytic ∇V identity), **epoch-driven Sun and Moon third-body** gravity (a built-in low-precision ephemeris, no DE/SPK kernel), **solar-radiation pressure** (cannonball model with a conical umbra+penumbra shadow), **atmospheric drag** (Vallado piecewise-exponential density, co-rotating atmosphere), the **post-Newtonian Schwarzschild relativistic correction**, and the **Lense–Thirring frame-dragging** term (IERS 2010 §10, linear in Earth's angular momentum, ~1–2 orders below Schwarzschild) — driven by a choice of two adaptive integrators (RK4 step-doubling or the **Dormand–Prince RK5(4)** embedded pair). Validated against analytic truth stronger than a cross-tool would give: the unperturbed orbit matches the exact universal-variable Kepler solution to **sub-metre over 24 h**, energy/angular-momentum conserve to ~1e-9, and each perturbation matches a hand-derived closed-form signature. |
 | **Maneuvers & trajectory design** | Impulsive ΔV nodes with 6×6 covariance propagation (ECI / LVLH execution-error frames), finite-burn integration checked against the closed-form **Tsiolkovsky** rocket equation to < 0.01 %, an **Izzo-2015** single-revolution **Lambert** solver, an exact universal-variable **Kepler** propagator, and a **porkchop** (launch × arrival) C3 / arrival-V∞ sweep emitted as a JSON contour grid — the performance-simulation layer above GMAT/Orekit, with every Lambert output round-tripped against two-body truth and the porkchop minimum checked against the analytic Hohmann floor. |
 | **Time systems & reference frames** | IERS leap-second **UTC / TAI / TT / UT1** scales, a Julian-date API, the IAU-2000 **Earth Rotation Angle**, GMST-based **TEME ↔ ECEF** with WGS-84 geodetic frames, IAU 2006 precession (Fukushima–Williams), full **IAU 2000A/2000B nutation**, IERS **polar motion**, and the equinox-free **CIO-based IAU 2006/2000A GCRS↔ITRS** reduction — all validated **bit-for-bit** against the SOFA/ERFA vectors, and **independently cross-checked against ANISE** (the pure-Rust NAIF/SPICE reimplementation): kshana's GCRS→ITRS vs ANISE's ITRF93 from JPL's `earth_latest_high_prec.bpc`, the same IERS Earth-orientation parameters fed to both, agree to **≤ 0.86 m on the ground / ≤ 3.6 m at GNSS orbit** (max 0.028″) across eight epochs 2020–2023. |
 | **Inertial** | Three-axis strapdown INS — quaternion attitude, WGS-84 NED mechanization, coning/sculling compensation, and a deterministic IMU error model (scale-factor, misalignment, g-sensitivity, quantization, drift); a **first-principles cold-atom-interferometer accelerometer** (Mach–Zehnder phase, quantum projection noise, contrast decay, vibration coupling) that *derives* the velocity-random-walk coefficient; and a sequential-importance-resampling **particle filter** for map-aided (terrain-/gravity-referenced) GPS-denied navigation. |
-| **Gravity-map / alt-PNT** | A cold-atom **gravimeter measurement model** whose white-noise floor (`σ = ASD/√τ`) is derived from the CAI accelerometer physics; a low-degree, fully-normalised **spherical-harmonic gravity-anomaly field** (validated against the closed-form Legendre functions and a hand-derived single-term anomaly) plus synthetic mascons; and a **gravity-map-matching particle filter** that recovers a GPS-denied track from the anomaly sequence it flies through. A **60-minute GPS-denied benchmark** (a ~700 km / one-hour outage where the inertial solution drifts to ~70 km) is recovered to **~145 m (< 500 m)** by a hierarchical coarse-to-fine matcher — the ESA NAVISP *Quantum Wayfarer* target. |
+| **Alt-PNT (GPS-denied)** | A cold-atom **gravimeter measurement model** whose white-noise floor (`σ = ASD/√τ`) is derived from the CAI accelerometer physics; a low-degree, fully-normalised **spherical-harmonic gravity-anomaly field** (validated against the closed-form Legendre functions and a hand-derived single-term anomaly) plus synthetic mascons; and a **gravity-map-matching particle filter** that recovers a GPS-denied track from the anomaly sequence it flies through. It extends to **terrain-referenced navigation** (TERCOM/SITAN against an SRTM `.hgt` DEM, `src/altpnt/terrain.rs`), an **IGRF-14 geomagnetic main field** to degree/order 13 (`src/igrf.rs`, validated against the tilted-dipole closed form and ∇V finite differences), and a **combined gravity + magnetic + terrain** navigator that fuses all three scalar channels through one particle filter (information is additive — no channel makes the fix worse). A **60-minute GPS-denied benchmark** (a ~700 km / one-hour outage where the inertial solution drifts to ~70 km) is recovered to **~145 m (< 500 m)** by a hierarchical coarse-to-fine matcher — the ESA NAVISP *Quantum Wayfarer* target. |
 | **Fusion** | Loosely-coupled 15-state GNSS/INS error-state EKF with closed-loop feedback (the `gnss-ins` pack); a **tightly-coupled** pseudorange update that keeps correcting with fewer than four satellites; a coupled **clock + position** filter; a general **unscented (sigma-point) Kalman** estimator for strongly nonlinear measurements; a tightly-coupled GNSS/INS **UKF navigator** (pseudorange + Doppler) whose force-model orbital coast is validated to **0.77 m RMS** over a 30-minute curving LEO pass that includes a 120-second GNSS outage; and a full **17-state tightly-coupled GNSS/INS UKF** (position, velocity, attitude error, accelerometer and gyro biases, clock bias and drift) whose **quantum-CAI dead-reckoning** coasts a 120-second outage on the cold-atom accelerometer's derived velocity-random-walk. |
 | **Orbit determination** | Recovery of an orbital state `[r, v]` from ground-station range tracking, composing the two-body + J2 force model and RK4 integrator with a **Gauss–Newton batch** corrector (`determine_orbit_batch`, sub-metre / mm·s⁻¹ from noiseless ranges, ~2 m at a 5 m noise floor) and a **sequential** unscented-filter variant (`determine_orbit_sequential`). |
-| **Integrity** | Snapshot and solution-separation (ARAIM-style) RAIM with horizontal/vertical protection levels (HPL/VPL), fault detection & exclusion, and Stanford integrity diagrams; an explicit integrity-risk-budget (**MHSS**) protection level, including the **dual-/multi-constellation constellation-wide fault mode** (EU ARAIM / DO-316). |
+| **Lunar & cislunar** | An Earth–Moon **circular restricted three-body (CR3BP)** propagator in the rotating frame — conserved Jacobi constant and all five Lagrange points (`src/cr3bp.rs`) — plus **LunaNet / LNIS** cislunar PNT geometry (MCI↔MCMF reduction, selenographic coordinates) with a **lunar south-pole ARAIM** pass that honestly surfaces the integrity gap: a ~30 m σ_URE drives the protection level well above a 50 m alert limit (`src/lunar.rs`, `scenarios/lunanet-araim.toml`). |
+| **Integrity** | Snapshot and solution-separation (ARAIM-style) RAIM with horizontal/vertical protection levels (HPL/VPL), fault detection & exclusion, and Stanford integrity diagrams; an explicit integrity-risk-budget (**MHSS**) protection level, including the **dual-/multi-constellation constellation-wide fault mode** (EU ARAIM / DO-316), exercised on a real GPS + Galileo snapshot (`scenarios/araim-gps-galileo.toml`). |
+| **Augmentation (SBAS)** | **SBAS / WAAS protection levels** in the DO-229E weighted-least-squares form (precision-approach and en-route K-factors) and the **L1/L5 dual-frequency ionosphere-free** combination (IS-GPS-705, γ₁₅ ≈ 1.793) that underpins DO-316 — `src/sbas.rs`, with the protection-level geometry cross-checked against a NumPy `inv(GᵀG)` reference. |
 | **Clock & timing** | Two-state Kalman holdover (Joseph-form covariance, NIS/NEES consistency health); Allan-family stability (ADEV / MDEV / TDEV / HDEV) with noise-type-specific confidence intervals and a full **IEEE-1139 five-coefficient power-law fit**; geometric corrections (Sagnac, GNSS common-view); and the operational transfer methods — **TWSTFT** with the BIPM Sagnac closed form, **GNSS common-view**, **PPP** ionosphere-free time transfer, a free-space **optical** link with turbulence scintillation, and an inverse-variance **clock-ensemble (paper) timescale** below the best contributing clock. |
 | **GNSS measurement domain** | Forward pseudorange / Doppler synthesis with **Klobuchar** (broadcast) and **IONEX / TEC-grid** (measured) ionosphere — including an IONEX file parser, time interpolation between maps, and the thin-shell slant-obliquity mapping — **Saastamoinen + Niell** troposphere, and snapshot RAIM (HPL/VPL). |
 | **Resilience** | Link-budget **jamming** (J/S → effective C/N₀ → loss of lock); a stochastic **time-spoof detector** (Neyman–Pearson / χ²₁ energy test with closed-form and Monte-Carlo P_fa/P_md and a Security FoM of 1 − P_md); and a **multi-layer spoof detector** fusing a RAIM-consistency parity test (with the common-mode blind spot modelled honestly), an RF AGC-power monitor, and a signal-quality (SQM early-minus-late) monitor. |
@@ -167,6 +171,13 @@ The capstone shows the fusion thesis: optical inter-satellite time-transfer keep
 a classical *clock* locked, isolating the *inertial* sensor as the classical suite's
 weak link — i.e. quantum inertial + optical timing together.
 
+<p align="center">
+  <img src="docs/assets/clock-holdover.svg" alt="Clock holdover: phase error during a GNSS outage — the optical clock stays within the 20 ns spec for the whole outage while the chip-scale clock breaches it mid-outage" width="80%">
+  <br><em>Clock holdover through a GNSS outage: the optical clock (blue) stays inside the
+  20 ns spec for the full coast; the chip-scale clock (red) breaches it part-way.
+  Generated by Kshana from <code>scenarios/clock-holdover.toml</code>.</em>
+</p>
+
 A further scenario, `orbit-gnss-challenged.toml`, derives GNSS availability from
 **orbital geometry** rather than hand-authored windows: a spacecraft inside the GNSS
 shell is propagated against a GPS-like Walker constellation, and the visible-satellite
@@ -175,6 +186,14 @@ step. Over a day the user is in fix only ~59% of the time; the quantum clock hol
 5 ns timing solution through every gap (availability **1.0**), the chip-scale clock
 only **~0.83**.
 
+<p align="center">
+  <img src="docs/assets/orbit-gnss-challenged.svg" alt="Orbit GNSS-challenged: visible-satellite count and fix state over a day for a spacecraft inside the GNSS shell" width="80%">
+  <br><em>GNSS availability derived from orbital geometry: the visible-satellite count
+  (line-of-sight, Earth-occultation, elevation mask) sets the fix state at each step,
+  so the clock must coast every gap. Generated by Kshana from
+  <code>scenarios/orbit-gnss-challenged.toml</code>.</em>
+</p>
+
 The constellation can also be given as real two-line element sets. A *full* TLE
 (line 1 + line 2) is propagated with the full **SGP4/SDP4** model — including
 atmospheric drag and the deep-space lunar-solar and 12 h / 24 h resonance terms that
@@ -322,15 +341,17 @@ Then register `kshana-mcp` in your client's `mcpServers` config — see
 server is a standalone, workspace-excluded crate (the `rmcp` SDK is edition 2024), so it
 never affects the lean published `kshana` crate or its build.
 
-**In a JetBrains IDE** you can also install the **Kshana** plugin from the JetBrains
-Marketplace (Settings → Plugins → search "Kshana") to run scenarios from a right-click —
-see [`ide/jetbrains/`](ide/jetbrains/).
+**In a JetBrains IDE** you can also install the
+[**Kshana — PNT simulator**](https://plugins.jetbrains.com/plugin/32181-kshana--pnt-simulator)
+plugin from the JetBrains Marketplace (or *Settings → Plugins → Marketplace → search
+"Kshana"*) to run scenarios from a right-click — see [`ide/jetbrains/`](ide/jetbrains/).
 
 ## Scenario format
 
-Scenarios are declarative TOML. A top-level `kind` selects the pack (`clock` is
-the default if omitted; `inertial`, `timetransfer`, `hybrid`, `fusion`,
-`gnss-ins`, `orbit`, `gnss-sim`, `integrity`, `spoof`, `jamming`, `sweep`, `sweep-nd`).
+Scenarios are declarative TOML. A top-level `kind` selects the pack — **seventeen** in
+all (`clock` is the default if omitted): `inertial`, `timetransfer`, `hybrid`, `fusion`,
+`gnss-ins`, `orbit`, `gnss-sim`, `integrity`, `lunar-integrity`, `spoof`, `jamming`,
+`sweep`, `sweep-nd`, `gravity-map`, `terrain-nav`, and `combined-altpnt`.
 Common fields: `seed`, a `[time]` grid, a `[gnss]` availability timeline (the outage
 driver), and per-sensor blocks with `provenance` strings citing the source of every
 figure. Example (clock):
@@ -473,6 +494,20 @@ phasing_f = 1.0
 [clock_classical]  # ... as above
 ```
 
+The **GPS-denied alt-PNT** kinds navigate with no GNSS at all, matching a measured field
+sequence against a map through a particle filter. A `gravity-map` scenario flies a track
+through a spherical-harmonic gravity-anomaly field and recovers it from a cold-atom
+gravimeter's reading (`scenarios/gps-denied-gravity-nav.toml`); a `terrain-nav` scenario
+does the same against an SRTM elevation DEM (TERCOM/SITAN, `scenarios/terrain-nav.toml`);
+and a `combined-altpnt` scenario fuses **gravity + IGRF magnetic + terrain** in one filter
+(`scenarios/combined-altpnt.toml`).
+
+A `lunar-integrity` scenario evaluates **cislunar** PNT: it runs a lunar south-pole
+ARAIM protection-level pass against a LunaNet/LNIS relay set and honestly reports the
+integrity gap — a ~30 m lunar σ_URE drives the protection level well above a 50 m alert
+limit, so the service is *unavailable* under aviation-style integrity rules
+(`scenarios/lunanet-araim.toml`).
+
 See `scenarios/` for one example of every kind.
 
 ## Output
@@ -515,11 +550,24 @@ New to these terms? Each is defined in plain language in the [glossary](docs/GLO
 
 ## Architecture
 
-One engine. The sensor packs plug in via a common error-model interface; alongside
-them sit an astrodynamics/numerical layer (analytic SGP4/SDP4 **and** a numerical
-Cowell propagator with its force model, maneuver design, and orbit determination) and a
-fusion / alt-PNT layer (the GNSS/INS estimators and the gravity-map matcher). See
-[`docs/ARCHITECTURE.md`](docs/ARCHITECTURE.md) for the full set of diagrams.
+**One engine, many front doors.** A single Rust core (`kshana`) runs every scenario,
+reached through a CLI, a Python extension, an in-browser WebAssembly module, an **MCP
+server** for AI agents, and a **JetBrains IDE plugin** — all converging on one
+`api::run_toml` dispatch. Inside, the sensor packs plug into a common error-model
+interface; alongside them sit a **reference-frame layer** (IAU 2006/2000A
+precession–nutation and the CIO-based GCRS↔ITRS reduction), an **astrodynamics/numerical
+layer** (analytic SGP4/SDP4 **and** a numerical Cowell propagator with its
+EGM2008/perturbation force model, maneuver design, and orbit determination), an
+**integrity/GNSS layer** (RAIM/ARAIM, SBAS, the measurement domain, jamming, cislunar),
+and a **fusion / alt-PNT layer** (the GNSS/INS estimators and the gravity/terrain/magnetic
+map-matchers).
+
+Two standalone, **workspace-excluded** crates sit beside the core — `mcp/kshana-mcp`
+(the MCP server, built on the edition-2024 `rmcp` SDK) and `xval/anise-frames` (the
+ANISE/SPICE frame cross-check, which pulls MPL-2.0 deps) — kept out of the published
+crate's dependency graph, `Cargo.lock`, license gate, and MSRV build by the root
+`Cargo.toml` `exclude` list. The JetBrains plugin (`ide/jetbrains`) is a separate Kotlin
+project. See [`docs/ARCHITECTURE.md`](docs/ARCHITECTURE.md) for the full set of diagrams.
 
 ```mermaid
 flowchart LR
@@ -534,85 +582,138 @@ flowchart LR
 
 ```mermaid
 flowchart TD
-    cli["CLI · Python · WebAssembly"] --> api["api — run_toml / run_scenario: typed dispatch by kind"]
+    cli["CLI · Python · WebAssembly · MCP server · JetBrains plugin"] --> api["api — run_toml: typed dispatch over 17 kinds"]
     subgraph shared["Shared core"]
-      types["types"]
-      scenario["scenario · GNSS timeline"]
-      allan["allan — Allan deviation"]
+      types["types · scenario · GNSS timeline"]
+      allan["allan — ADEV/MDEV/TDEV/HDEV"]
+    end
+    subgraph frames["Time & reference frames"]
+      ts["timescales · jd2 — UTC/TAI/TT/UT1"]
+      pn["precession · nutation — IAU 2006/2000A"]
+      cio["cio — GCRS↔ITRS (CIO, SOFA-anchored)"]
     end
     subgraph packs["Sensor packs"]
-      p1["Clock — models · estimator · kalman · security · fom"]
+      p1["clock — models · estimator · kalman · security"]
       p2["inertial — strapdown INS + quantum-CAI"]
-      p3["timetransfer (+ _adv) — optical/RF link"]
+      p3["timetransfer — optical/RF/TWSTFT/PPP"]
       p4["hybrid — fused PNT suite"]
     end
     subgraph astro["Astrodynamics & numerical"]
-      orbit["orbit — geometry → GNSS timeline + DOP"]
+      orbit["orbit · walker — geometry → GNSS + DOP"]
       sgp4["sgp4 · tle — SGP4/SDP4"]
       prop["propagator — Cowell"]
-      forces["forces — J2–J6 · 3rd-body · SRP · drag · relativity"]
+      forces["forces — J2–J6 · 3rd-body · SRP · drag · GR"]
+      gsh["gravity_sh — EGM2008 d/o 70"]
       integ["integrator — RK4 · DOPRI"]
-      ephem["ephem — Sun/Moon"]
-      man["maneuver — burns · Lambert · porkchop"]
-      od["orbit_determination — batch · sequential"]
+      man["maneuver · orbit_determination"]
+      cr["cr3bp — Earth–Moon CR3BP"]
+    end
+    subgraph intg["Integrity & GNSS"]
+      raim["raim — RAIM/ARAIM · HPL/VPL"]
+      sbas["sbas — DO-229E PL · L1/L5"]
+      gsim["gnss_sim · ionex — measurement domain"]
+      jam["jamming — J/S → C/N₀"]
+      lun["lunar — cislunar ARAIM"]
     end
     subgraph fnav["Fusion & alt-PNT"]
       fus["fusion — EKF · UKF · 17-state · coupled"]
       grav["gravimeter · mapmatch · particle_filter"]
+      terr["altpnt/terrain · igrf — terrain + magnetic"]
+    end
+    subgraph io["Interop formats"]
+      iofmt["rinex · sp3 · oem · omm · glonass"]
     end
     api --> packs
     api --> astro
+    api --> intg
     api --> fnav
     packs --> shared
+    astro --> frames
     orbit --> sgp4
     prop --> forces
+    prop --> gsh
     prop --> integ
-    forces --> ephem
-    man --> integ
-    od --> forces
-    od --> integ
+    cr --> integ
     fus --> p2
     grav --> p2
+    terr --> grav
     orbit --> p1
+    orbit --> io
     p4 -. composes .-> p1
     p4 -. composes .-> p2
     p4 -. composes .-> p3
 ```
 
+**Components & distribution.** The core crate ships through the Rust, Python, and
+JavaScript ecosystems; the MCP server and IDE plugin reach AI agents and JetBrains IDEs.
+Each `vX.Y.Z` tag republishes every channel automatically (see
+[Versioning & releases](#versioning--releases)).
+
+```mermaid
+flowchart LR
+    subgraph repo["One repository"]
+      core["kshana core<br/>library + CLI"]
+      mcp["mcp/kshana-mcp<br/>MCP server (excluded crate)"]
+      ide["ide/jetbrains<br/>Kotlin IDE plugin"]
+      xval["xval/anise-frames<br/>SPICE cross-check (excluded)"]
+    end
+    core --> crates["crates.io"]
+    core --> pypi["PyPI — wheels"]
+    core --> npm["npm — WebAssembly"]
+    core --> rel["GitHub Releases<br/>binaries · SBOM · SLSA · validation summary"]
+    core --> pages["kshana.dev<br/>GitHub Pages playground"]
+    core -. archived .-> zen["Zenodo DOI"]
+    mcp --> crates
+    mcp --> ghcr["ghcr.io — OCI image"]
+    mcp --> reg["official MCP registry"]
+    ide --> jb["JetBrains Marketplace"]
+```
+
 ## Repository layout
 
 ```
 kshana/
-├── src/
-│   ├── types.rs · scenario.rs · allan.rs   # shared core (time grid, GNSS timeline, Allan)
-│   ├── api.rs · main.rs                     # typed dispatch + CLI
-│   ├── python.rs · wasm.rs                  # optional PyO3 / wasm-bindgen bindings
+├── src/                                       # the kshana core crate (library + CLI)
+│   ├── api.rs · main.rs · lib.rs              # typed dispatch (17 kinds) + CLI + crate root
+│   ├── python.rs · wasm.rs                    # optional PyO3 / wasm-bindgen bindings
+│   ├── types.rs · scenario.rs · allan.rs      # shared core (time grid, GNSS timeline, Allan)
 │   │
-│   ├── models.rs · estimator.rs · kalman.rs # Pack 1 — clock holdover + integrity
-│   ├── security.rs · detection.rs · spoof.rs · spoof_monitors.rs # spoof detection
+│   ├── models.rs · estimator.rs · kalman.rs   # Pack 1 — clock holdover + integrity
+│   ├── security.rs · detection.rs · spoof.rs · spoof_monitors.rs  # spoof detection
 │   ├── filter_health.rs · fom.rs · report.rs · chart.rs · run.rs  # health · scoring · output
-│   ├── inertial/        # Pack 2 — strapdown INS (attitude, mechanization, imu_errors, quantum_imu)
-│   ├── timetransfer.rs · timetransfer_adv.rs · timegeo.rs # Pack 3 — TWSTFT/CV/PPP/optical, Sagnac
-│   ├── hybrid.rs · ensemble.rs · sweep.rs   # Pack 4 — fused PNT suite, Monte-Carlo, trade sweeps
+│   ├── inertial/                              # Pack 2 — strapdown INS (attitude · mechanization · imu_errors · quantum_imu)
+│   ├── timetransfer.rs · timetransfer_adv.rs · timegeo.rs  # Pack 3 — TWSTFT/CV/PPP/optical, Sagnac
+│   ├── hybrid.rs · ensemble.rs · sweep.rs     # Pack 4 — fused PNT, Monte-Carlo, trade sweeps
+│   │
+│   ├── timescales.rs · jd2.rs · ephem.rs      # time systems, two-part JD, Sun/Moon ephemeris
+│   ├── precession.rs · nutation.rs · cio.rs   # IAU 2006/2000A precession-nutation + CIO GCRS↔ITRS
+│   ├── frames.rs · *_data.rs                  # TEME↔ECEF + generated nutation/CIO/EGM2008/IGRF tables
 │   │
 │   ├── orbit.rs · sgp4.rs · tle.rs · walker.rs   # geometry, SGP4/SDP4, TLE, Walker design
-│   ├── propagator.rs · forces.rs · integrator.rs # numerical Cowell propagator + force model + RK4/DOPRI
-│   ├── ephem.rs · precession.rs · frames.rs · timescales.rs · jd2.rs # ephemerides, IAU precession, time/frames
-│   ├── maneuver.rs · batch_ls.rs · orbit_determination.rs # burns/Lambert/porkchop, Gauss-Newton, OD
+│   ├── propagator.rs · forces.rs · gravity_sh.rs · integrator.rs  # Cowell + perturbations (EGM2008 d/o70, GR) + RK4/DOPRI
+│   ├── maneuver.rs · batch_ls.rs · orbit_determination.rs  # burns/Lambert/porkchop, Gauss-Newton, OD
+│   ├── cr3bp.rs · lunar.rs                    # Earth–Moon CR3BP, cislunar/LunaNet ARAIM
 │   │
-│   ├── fusion/          # GNSS/INS — EKF, UKF, tightly_coupled, tightly_coupled17, coupled
-│   ├── gravimeter.rs · mapmatch.rs · particle_filter.rs  # gravity-map / alt-PNT navigation
-│   ├── raim.rs · lunar.rs        # ARAIM HPL/VPL, cislunar integrity
-│   ├── gnss_sim.rs · ionex.rs · jamming.rs   # measurement domain, ionosphere maps, jamming
-│   └── rinex.rs · rinex_obs.rs · glonass.rs · sp3.rs · oem.rs · omm.rs · permalink.rs # interop formats
-├── scenarios/          # cited scenarios (one per kind + geometry-driven + GPS-denied)
-├── scripts/            # reproducibility + repo-hygiene guards
-├── docs/               # CONCEPTS, ARCHITECTURE, CAPABILITY, VALIDATION, PROVENANCE, GLOSSARY, …
-├── web/                # the WebAssembly playground + kshana.dev site
-├── .github/workflows/  # CI gate, release, wheels, publish, and pages pipelines
-├── pyproject.toml      # Python packaging (maturin)
-├── CHANGELOG.md        # Keep a Changelog + SemVer
-└── CONTRIBUTING.md
+│   ├── fusion/                                # GNSS/INS — EKF · UKF · tightly_coupled(17) · coupled · closed_loop
+│   ├── raim.rs · sbas.rs                      # RAIM/ARAIM HPL/VPL, SBAS DO-229E PLs + L1/L5 iono-free
+│   ├── gnss_sim.rs · ionex.rs · jamming.rs    # measurement domain, ionosphere maps, jamming
+│   ├── gravimeter.rs · igrf.rs · mapmatch.rs · particle_filter.rs · altpnt/  # gravity/magnetic/terrain alt-PNT
+│   ├── rinex.rs · rinex_obs.rs · glonass.rs · sp3.rs · oem.rs · omm.rs · permalink.rs  # interop formats
+│   └── bin/validation_report.rs              # builds the release validation-summary HTML
+│
+├── mcp/kshana-mcp/        # standalone, workspace-EXCLUDED crate — the MCP server (+ Dockerfile, server.json)
+├── ide/jetbrains/         # standalone Kotlin/Gradle IntelliJ-Platform plugin
+├── xval/anise-frames/     # standalone, workspace-EXCLUDED crate — ANISE/SPICE frame cross-check
+│
+├── scenarios/            # one cited .toml per kind + geometry-driven + GPS-denied
+├── scripts/              # reproducibility + repo-hygiene + SBOM guards
+├── docs/                 # CONCEPTS, ARCHITECTURE, CAPABILITY, VALIDATION, PROVENANCE, GLOSSARY, …
+├── web/                  # the WebAssembly playground + kshana.dev site
+├── tools/                # table generators (EGM2008 · IGRF · nutation · CIO) + fetch_tles.sh
+├── .github/workflows/    # ci · release · publish · wheels · pages · mcp-publish · jetbrains-plugin · frame-xval
+├── pyproject.toml        # Python packaging (maturin)
+├── CHANGELOG.md          # Keep a Changelog + SemVer
+└── CITATION.cff · ROADMAP.md · CONTRIBUTING.md · SECURITY.md
 ```
 
 ## Documentation
@@ -627,7 +728,15 @@ kshana/
 | [Provenance](docs/PROVENANCE.md) | reviewers / citers | every sensor parameter, model, and dataset traced to its published source, in one citable table |
 | [Reproducibility &amp; provenance](docs/REPRODUCIBILITY.md) | reviewers / packagers | determinism guarantees, golden-pinning, SBOM, build provenance |
 | [Positioning](docs/POSITIONING.md) | evaluators | where Kshana sits vs RTKLIB/gLAB (complementary), and the zero-install browser tier |
+| [Technical report](paper/kshana-technical-report.md) · [JOSS paper](paper/paper.md) | reviewers / citers / evaluators | the full extended research paper — architecture, per-domain models, validation, case studies, and limitations — plus the concise JOSS submission |
 | [SGP4 validation](docs/SGP4-VALIDATION.md) | reviewers / citers | agreement with the AIAA 2006-6753 reference (666 states, ~4 mm) **and** a head-to-head against the independent `sgp4` crate (agree to sub-micron / 4.12 mm) |
+| [Integrity FoM](docs/INTEGRITY.md) | evaluators | what the `integrity` / `security` figures mean — and what they are **not** vs aviation HPL/VPL |
+| [Quantum models](docs/QUANTUM.md) · [details](docs/QUANTUM-MODELS.md) | reviewers | the cold-atom-interferometer physics layer, and where coefficients are still looked up |
+| [Compliance](docs/COMPLIANCE.md) | evaluators | DO-229E / DO-316 algorithm scope, and what is **not** a conformance claim |
+| [Result schema](docs/SCHEMA.md) | integrators | every field of the result JSON, with units and a source pointer |
+| [Claims vs reality](docs/CLAIMS-VS-REALITY.md) | reviewers | the overclaim-closure ledger + the CI guard (`tests/no_overclaims.rs`) that keeps it resolved |
+| [Roadmap](ROADMAP.md) | everyone | the phased roadmap — what has shipped and what is next |
+| [MCP server](mcp/kshana-mcp/README.md) · [JetBrains plugin](ide/jetbrains/README.md) | agents / IDE users | run Kshana from an AI assistant or a JetBrains IDE |
 | [Changelog](CHANGELOG.md) | everyone | released history (Keep a Changelog + SemVer) |
 | [Contributing](CONTRIBUTING.md) | contributors | build, guards, test/citation discipline, DCO |
 | [Code of Conduct](CODE_OF_CONDUCT.md) | community | expected conduct (Contributor Covenant) |
@@ -646,6 +755,32 @@ kshana/
 - Maturity is stated honestly: optical-clock and optical-link figures are *targets /
   ground-demonstrator* results, not flown.
 
+### Validation at a glance
+
+Every row is enforced by a named test in CI; the full evidence (and what is *not*
+modelled) is in [`docs/VALIDATION.md`](docs/VALIDATION.md) and the per-release
+[`kshana-validation-summary.html`](https://github.com/AshfordeOU/kshana/releases)
+artifact (generated by `cargo run --bin validation_report`, SLSA-attested).
+
+| Capability | Agreement | Reference / oracle |
+|------------|-----------|--------------------|
+| SGP4/SDP4 propagation | 666/666 vectors, worst **4.12 mm** | AIAA 2006-6753 (Vallado `tcppver.out`) + head-to-head vs the independent `sgp4` crate |
+| Reference frames — IAU 2000A/B nutation, IAU 2006/2000A CIO chain, ERA | **bit-for-bit** (X,Y to 1e-14, s to 1e-18, ERA to 1e-12) | ERFA/SOFA `eraXys06a` · `eraC2ixys` · `eraEra00` · `eraNut00a/b` |
+| GCRS→ITRS vs an independent SPICE engine | max **0.028″** → ≤ 0.86 m ground, ≤ 3.6 m GNSS orbit | ANISE (pure-Rust NAIF/SPICE), same IERS `finals2000A` EOP, 8 epochs 2020–2023 |
+| EGM2008 geopotential (degree/order 70) | acceleration = ∇V to **< 1e-6**; zonal collapse to validated J2 | NGA EGM2008 coefficients + analytic ∇V identity |
+| Allan estimators (ADEV/MDEV/TDEV/HDEV) + confidence bands | reproduce reference deviations; χ² bands match | NIST SP 1065 (Riley), 1000-point Table 31/32 |
+| IMU error model — ARW / VRW / bias-instability | recovered to **< 5 %** (bias-instability < 15 %) | Analog Devices ADIS16465 datasheet; NaveGo reference profile |
+| Numerical (Cowell) propagator, unperturbed | **sub-metre over 24 h**; energy/momentum conserve ~1e-9 | exact universal-variable Kepler |
+| Lambert · Tsiolkovsky · porkchop | round-trip to two-body truth; ΔV **< 0.01 %** | Izzo 2015 · rocket equation · analytic Hohmann floor |
+| Orbit determination (Gauss–Newton batch) | sub-m / mm·s⁻¹ noiseless; ~2 m at a 5 m noise floor | two-body + J2 over an RK4 arc |
+| Tightly-coupled GNSS/INS UKF | **0.77 m RMS** over a 30-min LEO pass incl. a 120 s outage | force-model coast, hand-derived |
+| GPS-denied gravity-map navigation | ~70 km INS drift → **~145 m** recovered | ESA NAVISP *Quantum Wayfarer* target |
+| Terrain-referenced navigation (TERCOM/SITAN) | 70 km drift → **< 500 m** (grid-resolution floor ~140 m) | SRTM `.hgt` DEM; hand-injected drift (non-circular check) |
+| IGRF-14 main field (degree/order 13) | pole ~80.7°N, dipole ~29.7 µT, physical 22–67 µT band | IAGA `igrf14coeffs.txt` (Schmidt semi-normalised) |
+| ARAIM dual-constellation integrity | constellation-wide fault mode on real GPS + Galileo | EU ARAIM TR / DO-316; Celestrak `gps-ops` 2021-07-28 |
+| Cross-platform reproducibility | bit-identical input + shape goldens on 3 OSes | Linux / macOS / Windows CI matrix, SHA-256 goldens |
+| Test coverage | **~97 % line** on `src/`, gated ≥ 85 % | cargo-tarpaulin (LLVM engine) |
+
 ## FAQ
 
 **Do I need to understand quantum physics to use this?**
@@ -738,7 +873,7 @@ entry for every user-visible change. Participation is governed by our
 
 If you use Kshana in academic or technical work, please cite it. Machine-readable
 metadata is in [`CITATION.cff`](CITATION.cff) (GitHub renders a "Cite this repository"
-button from it); cite the version you used (e.g. `v0.15.0`) together with the
+button from it); cite the version you used (e.g. `v0.16.0`) together with the
 scenario and seed for full reproducibility. Every release is archived on Zenodo with
 a citable DOI — the concept DOI [10.5281/zenodo.20528627](https://doi.org/10.5281/zenodo.20528627)
 always resolves to the latest version.
@@ -748,12 +883,28 @@ always resolves to the latest version.
 ## Versioning & releases
 
 Kshana follows [Semantic Versioning](https://semver.org). While pre-1.0 the public
-scenario/result schema may still change; breaking changes are called out explicitly
-in the [`CHANGELOG.md`](CHANGELOG.md). Tagged releases are published to
-[crates.io](https://crates.io/crates/kshana), [PyPI](https://pypi.org/project/kshana/),
-and [npm](https://www.npmjs.com/package/kshana), and listed under
-[GitHub Releases](https://github.com/AshfordeOU/kshana/releases). Every result is
-reproducible from `scenario + seed + engine version`.
+scenario/result schema may still change; breaking changes are called out explicitly in
+the [`CHANGELOG.md`](CHANGELOG.md). Every result is reproducible from
+`scenario + seed + engine version`.
+
+**Every `vX.Y.Z` tag publishes all channels automatically** — one CI pipeline fans out to:
+
+| Channel | Install / get | Contents |
+|---------|---------------|----------|
+| [crates.io](https://crates.io/crates/kshana) | `cargo install kshana` · `kshana = "0.16"` | Rust library + CLI |
+| [crates.io](https://crates.io/crates/kshana-mcp) | `cargo install kshana-mcp` | the MCP server |
+| [PyPI](https://pypi.org/project/kshana/) | `pip install kshana` | abi3 wheels (Linux/macOS/Windows) + sdist |
+| [npm](https://www.npmjs.com/package/kshana) | `npm install kshana` | WebAssembly module + JS wrapper |
+| [ghcr.io](https://github.com/AshfordeOU/kshana/pkgs/container/kshana-mcp) | `docker run -i ghcr.io/ashfordeou/kshana-mcp` | multi-arch OCI image — no toolchain needed |
+| official MCP registry | auto-discovered by MCP clients | `io.github.ashfordeOU/kshana-mcp` |
+| [JetBrains Marketplace](https://plugins.jetbrains.com/plugin/32181-kshana--pnt-simulator) | IDE → Plugins → search "Kshana" | the **Kshana — PNT simulator** IDE plugin |
+| [GitHub Releases](https://github.com/AshfordeOU/kshana/releases) | download | `kshana` + `kshana-mcp` binaries, a CycloneDX **SBOM**, **SLSA** build provenance, and an HTML validation summary |
+| [Zenodo](https://doi.org/10.5281/zenodo.20528627) | DOI | a citable archive of every release |
+| [kshana.dev](https://kshana.dev) | open in a browser | the WebAssembly playground (redeployed from `main`) |
+
+The MCP server's crate / image / registry version tracks the engine (it bundles the
+library); the JetBrains plugin versions independently (it shells out to your installed
+`kshana` binary).
 
 ## License
 

package/package.json

@@ -5,7 +5,7 @@
     "Chakshu Baweja <contact@ashforde.org>"
   ],
   "description": "Open, reproducible PNT-resilience simulator with quantum-sensor performance models",
-  "version": "0.15.0",
+  "version": "0.16.0",
   "license": "Apache-2.0",
   "repository": {
     "type": "git",