kshana 0.8.0 → 0.9.0

package/README.md

@@ -1,7 +1,13 @@
+<p align="center">
+  <img src="docs/assets/kshana-mark.svg" alt="Kshana mark — a precision reticle hung from the Devanagari shirorekha" width="104" height="104">
+</p>
+
 <h1 align="center">
   <img src="docs/assets/kshana-banner.svg" alt="Kshana — the precise instant. Open, reproducible hybrid quantum/classical PNT performance simulation." width="760">
 </h1>
 
+<p align="center"><em><strong>Kshana</strong> · <span lang="sa">क्षण</span> — Sanskrit for <em>the precise instant</em>, the smallest measure of time.</em></p>
+
 <p align="center">
   <a href="https://ashfordeou.github.io/kshana/"><img src="https://img.shields.io/badge/playground-try%20in%20browser-2dd4bf" alt="Live playground — run in your browser, no install"></a>
   <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>
@@ -28,7 +34,7 @@ and every sensor parameter is traceable to a published source.
 *Free and open source under Apache-2.0, professionally developed and maintained by
 Ashforde OÜ — commercial support, integration, and proprietary extensions available.*
 
-> **Status: v0.8.0 — a simulation substrate, not yet a product.** Four sensor packs
+> **Status: v0.9.0 — a simulation substrate, not yet a product.** Four sensor packs
 > that each report all six operational figures of merit (including a clock-stability-based
 > spoof-*detectability* bound — analytic, meaningful only with a configured attack —
 > demonstrated by an active spoofing-attack scenario), two independent Kalman error
@@ -36,15 +42,25 @@ Ashforde OÜ — commercial support, integration, and proprietary extensions ava
 > self-consistency bound, multi-constellation geometry-derived GNSS availability *and*
 > dilution of precision from orbits — synthetic Walker, Keplerian mean elements, or
 > full two-line element sets propagated with **SGP4/SDP4** (validated against the AIAA
-> 2006-6753 vectors) — a single-axis (1-DOF) IMU error budget (velocity/angle random
-> walk and bias-instability), Monte Carlo confidence bands, trade-study parameter
-> sweeps, and a shareable HTML scorecard — all calibrated to published data and
+> 2006-6753 vectors) — a single-axis (1-DOF) IMU error budget in the shipped
+> inertial pack (velocity/angle random walk and bias-instability), Monte Carlo
+> confidence bands, trade-study parameter sweeps, and a shareable HTML scorecard.
+> As of v0.9.0 the library also carries a genuine **three-axis strapdown INS**
+> (quaternion attitude, WGS-84 NED mechanization, coning/sculling, a five-term IMU
+> error model), a **loosely-coupled GNSS/INS error-state EKF** with closed-loop
+> feedback, **real snapshot and solution-separation (ARAIM-style) RAIM** with
+> HPL/VPL and a runnable `integrity` scenario, and **RINEX-3 GPS ephemeris
+> ingestion** (broadcast orbit + clock). All calibrated to published data and
 > validated against the standard relations, with optional Python and WebAssembly
 > bindings and a browser playground. Read [`docs/VALIDATION.md`](docs/VALIDATION.md)
 > before citing any number — each noise term is labelled `validated` or `not modeled`,
 > and optical-clock figures are *space goals on ground hardware* (no strontium optical
-> clock has flown). What it is **not**: a 3-axis IMU triad, a coupled GNSS/INS filter, a
-> first-principles quantum simulator, or aviation-grade RAIM/HPL/VPL integrity. The full
+> clock has flown). What it is still **not**: the shipped `inertial` scenario pack
+> remains the 1-DOF budget (the three-axis navigator is library-level, not yet wired
+> into a pack); the GNSS/INS filter is *loosely* coupled only (tight/pseudorange
+> coupling is a documented stub); the RAIM is real but **not** formally certified to
+> DO-229/DO-178C aviation standards; and the quantum models are phenomenological, not
+> a first-principles quantum simulator. The full
 > honest scope map is in [`docs/CAPABILITY.md`](docs/CAPABILITY.md); see also
 > [`docs/INTEGRITY.md`](docs/INTEGRITY.md) and the claims table in
 > [`docs/VALIDATION.md`](docs/VALIDATION.md).
@@ -159,6 +175,7 @@ cargo run -- scenarios/timetransfer.toml
 cargo run -- scenarios/hybrid-pnt.toml
 cargo run -- scenarios/orbit-gnss-challenged.toml
 cargo run -- scenarios/orbit-sgp4-gps.toml
+cargo run -- scenarios/integrity-raim.toml
 ```
 
 Example output (clock holdover — note the Integrity and Security figures of merit):
@@ -177,9 +194,16 @@ accuracy — alongside the clock result.
 > **Read these two numbers carefully.** `security` is an *analytic spoof-detectability
 > bound* derived from each clock's stability — it is meaningful only against a
 > configured spoofing scenario and is **not** a multi-satellite RAIM detector. `integrity`
-> is the filter's *self-consistency* (fraction of outage samples inside its own k-sigma
+> here is the filter's *self-consistency* (fraction of outage samples inside its own k-sigma
 > bound), **not** an aviation HPL/VPL integrity figure. See
 > [`docs/INTEGRITY.md`](docs/INTEGRITY.md).
+>
+> For genuine receiver-autonomous integrity, the **`integrity` scenario kind**
+> (`scenarios/integrity-raim.toml`) runs real snapshot and solution-separation
+> (ARAIM-style) RAIM over the propagated constellation geometry: it computes
+> horizontal/vertical **protection levels (HPL/VPL)** per epoch and reports the
+> fraction of epochs that meet the configured alert limits, with a Stanford
+> integrity diagram for error-vs-PL classification.
 
 ### Python
 
@@ -259,8 +283,16 @@ Optional fields (off when absent): a clock may add `flicker_floor` (1/f FM Allan
 floor); an inertial sensor may add `gyro_bias` and `q_arw` (gyro bias and angular
 random walk), and `bias_instability` and `q_aa` (the Allan bias-instability floor and
 acceleration random walk) — together a **single-axis (1-DOF) accelerometer error
-budget** (VRW/ARW and bias-instability), *not* a 3-axis IMU triad: scale-factor,
-misalignment, g-sensitivity, and cross-axis coupling are not modelled. A
+budget** (VRW/ARW and bias-instability). This is the error budget the shipped
+`inertial` scenario *pack* runs. Separately, the library now carries a verified
+**3-axis strapdown navigator** (`src/inertial/{attitude,mechanization,imu_errors}.rs`):
+quaternion attitude with coning/sculling compensation, a full NED mechanization
+(Earth-rate and transport-rate terms, WGS-84 Somigliana gravity), and a
+deterministic IMU error model in which **scale-factor, misalignment,
+g-sensitivity, quantization, and rate-ramp are modelled** (IEEE Std 952-1997
+§A.2; Groves 2013 §4.3). That 3-axis path is **not yet wired into the scenario
+pack/FoM** — switching the pack over, with a loosely-coupled GNSS/INS filter, is
+the next inertial milestone. A
 clock-holdover scenario may add `runs` (> 1) to run a **Monte Carlo ensemble** — each
 figure of merit is then reported as a mean with a 5th–95th-percentile spread and the
 chart shades the error confidence band (see `scenarios/clock-ensemble.toml`).

package/package.json

@@ -5,7 +5,7 @@
     "Chakshu Baweja <contact@ashforde.org>"
   ],
   "description": "Open hybrid quantum/classical PNT performance simulator",
-  "version": "0.8.0",
+  "version": "0.9.0",
   "license": "Apache-2.0",
   "repository": {
     "type": "git",