kshana 0.8.0 → 0.9.1

package/README.md

@@ -1,6 +1,13 @@
-<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">
+  <img src="docs/assets/kshana-mark.svg" alt="Kshana mark — a precision reticle hung from the Devanagari shirorekha" width="96" height="96">
+</p>
+
+<h1 align="center">Kshana</h1>
+
+<p align="center">
+  <strong>क्षण</strong> — Sanskrit for <em>the precise instant</em>, the smallest measure of time.<br>
+  Open, reproducible hybrid quantum / classical PNT performance simulation.
+</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>
@@ -28,26 +35,14 @@ 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
-> 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
-> budgets (clock and position) reported as a combined FoM, and a filter
-> 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
-> 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
-> 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).
+> **Status: v0.9.1 · a simulation substrate, not yet a product.** A validated,
+> fully reproducible engine spanning the PNT stack — orbit geometry, inertial
+> navigation, GNSS/INS fusion, integrity, clocks, and timing. Honest by design:
+> every figure of merit is labelled *validated* or *not-modeled*, and optical-clock
+> figures are space goals on ground hardware (no strontium optical clock has flown).
+> See **[Capabilities](#capabilities)** for what it does, **[What it is / is not](#what-it-is--is-not)**
+> for scope, and [`docs/CAPABILITY.md`](docs/CAPABILITY.md) / [`docs/VALIDATION.md`](docs/VALIDATION.md)
+> for per-capability maturity and the claims table.
 
 > **Try it in your browser:** the [playground](web/) runs the engine client-side as
 > WebAssembly — pick a scenario, edit the parameters, and see the result, with nothing
@@ -66,12 +61,12 @@ Ashforde OÜ — commercial support, integration, and proprietary extensions ava
 
 ## Contents
 
-- [Why](#why) · [What it is / is not](#what-it-is--is-not) · [Results](#results)
+- [Why](#why) · [What it is / is not](#what-it-is--is-not) · [Capabilities](#capabilities) · [Results](#results)
 - [Install & build](#install--build) · [Usage](#usage) ([Python](#python), [WebAssembly](#webassembly))
 - [Scenario format](#scenario-format) · [Output](#output) · [Architecture](#architecture)
 - [Repository layout](#repository-layout) · [Validation & honesty](#validation-reproducibility--honesty)
 - [Documentation](#documentation) · [FAQ](#faq) · [Troubleshooting](#troubleshooting)
-- [Roadmap](#roadmap) · [Contributing](#contributing) · [Citing](#citing) · [License](#license)
+- [Roadmap](#roadmap) · [Contributing](#contributing) · [Citing](#citing) · [Versioning & releases](#versioning--releases) · [License](#license)
 - [Support & professional services](#support--professional-services) · [References](#key-references)
 
 ## Why
@@ -89,13 +84,33 @@ noise realizations.
 
 ## What it is / is not
 
-**It is:** a deterministic engine that runs a GNSS-outage scenario, evolves
-calibrated sensor error models, runs a holdover/dead-reckoning estimator, and
-scores the result against six figures of merit, emitting a JSON result and an SVG
-chart.
-
-**It is not:** flight hardware, a quantum-payload design, or a full GNSS receiver.
-Quantum-hardware fidelity comes from published error models, not from this tool.
+**It is:** a deterministic, dependency-light engine spanning the PNT stack — orbit
+geometry, inertial navigation, GNSS/INS fusion, integrity, clocks, and timing. It
+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.
+
+**It is not:** flight hardware, a quantum-payload design, a full GNSS signal
+receiver, or a certified avionics product. Quantum-hardware fidelity comes from
+published error models, not from this tool. The granular maturity of each
+capability is documented in [`docs/CAPABILITY.md`](docs/CAPABILITY.md).
+
+## Capabilities
+
+| Domain | Capability |
+|--------|------------|
+| **Orbit & geometry** | SGP4/SDP4 propagation (validated to 4.12 mm against all 666 AIAA 2006-6753 vectors), real-TLE or synthetic Walker constellations, multi-constellation visibility, dilution of precision, and GNSS availability. |
+| **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). |
+| **Fusion** | Loosely-coupled GNSS/INS error-state EKF (15-state) with closed-loop feedback that coasts through GNSS outages on a calibrated inertial solution. |
+| **Integrity** | Snapshot and solution-separation (ARAIM-style) RAIM with horizontal/vertical protection levels (HPL/VPL), fault detection and identification, and Stanford integrity diagrams. |
+| **Clock & timing** | Two-state Kalman holdover, Allan-family stability (ADEV/MDEV/TDEV/HDEV) with confidence intervals, and optical/RF two-way time transfer. |
+| **Interoperability** | RINEX-3 GPS broadcast-ephemeris ingestion with IS-GPS-200 satellite position and clock evaluation. |
+| **Resilience** | Clock-aided spoof-detectability analysis against a configurable time-spoof attack. |
+
+Each capability is reachable as a Rust API, a runnable scenario `kind`, or both.
+Maturity per capability — *validated*, *runnable*, or *library* — is tracked in
+[`docs/CAPABILITY.md`](docs/CAPABILITY.md).
 
 ## Results
 
@@ -159,6 +174,7 @@ 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 +193,16 @@ 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 +282,16 @@ 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`).
@@ -532,7 +563,20 @@ 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. `v0.7.0`).
+button from it); cite the version you used (e.g. `v0.9.1`) together with the
+scenario and seed for full reproducibility. An archival DOI (Zenodo) is planned.
+
+> Baweja, C. (2026). *Kshana — hybrid quantum/classical PNT performance simulator*. Ashforde OÜ. https://github.com/AshfordeOU/kshana
+
+## 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`.
 
 ## License
 

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": "0.9.1",
   "license": "Apache-2.0",
   "repository": {
     "type": "git",