Technology mapping¶
Question. What technical areas does this repository touch, how mature are those areas, and who works in them publicly?
Scope note. Organisations are listed only where a public product or programme is verifiable from a cited source. Inclusion is not a claim of relationship, interest, or hiring intent, and none is implied. No organisation is scored, ranked, or assessed.
1. Technical areas, by maturity¶
| Area | Maturity | Public evidence of activity |
|---|---|---|
| GNSS positioning and interference | Long-established, commercial | Receiver-level anti-jam/anti-spoof products are mainstream; see S4, S5 |
| Strapdown / dead-reckoning inertial navigation | Textbook | Standard |
| Extended Kalman filtering | Textbook | Standard |
| Error-state and invariant filter formulations | Mature research, two decades of publication | S10–S16 |
| Visual-inertial odometry | Mature research and shipped software | OpenVINS, VINS-Mono, and derivatives are publicly available; S15 |
| Consistency of visual-inertial filters | Active research problem, explicitly not closed | Re-analysis published as recently as 2025; S16 |
| Navigation integrity monitoring (RAIM) | Mature survey literature | S1 |
| Resilient / assured PNT as a product category | Active commercial and policy market | S5, S17, S18 |
| Autonomous driving stacks | Active, with public open-source L2 reference implementations | S19 |
| GNSS-denied autonomous navigation as a research programme | Long-running government programme | S2, S3 |
| Cold-atom inertial measurement | Active research, pre-availability | S2, S20 |
| Signals of opportunity for PNT | Active research, survey stage | S21 |
| Formal safety assurance for autonomous systems | Established discipline, separate field | Not engaged by this repository |
VERIFIED BY EXTERNAL SOURCE for the activity column.
AUTHOR-STATED for the maturity assessments, which are the author's reading of that evidence rather than a bibliometric claim.
Where this repository sits in that picture¶
INFERENCE. The repository sits on the measurement side of a mature research area. It implements one well-known filter formulation, and its substantive output is an evaluation result plus a refusal to ship a broken default. It is not on the algorithmic frontier, and it does not claim to be.
2. Ecosystem by category¶
Organised by what an organisation publicly does, not by size or preference. Every entry is anchored to a source.
Receivers and interference resilience¶
| Organisation | Public evidence | Relevance to this repository |
|---|---|---|
| Hexagon | Completed acquisition of Septentrio, 19 March 2025, to expand "resilient, assured positioning"; target segments include robotics, UAVs, autonomy. S4 | Owns the receiver and correction-service layer this repository's FDIR sits above |
| Septentrio (Hexagon) | Designs multi-frequency multi-constellation GNSS receivers with anti-jam/anti-spoof capability; IMO-derived research lineage. S5 | Interference detection is receiver-level, not estimator-level; this repository does not duplicate it |
| Safran | Markets a resilient-PNT product line positioned against GNSS threats since June 2025. S9 | Commercial resilient-PNT integrator |
| Xona Space Systems | LEO PNT satellite operator; publicly announced a receiver-development partnership with Septentrio, October 2025. S22 | Alternative PNT signal source; not implemented here |
| Satelles | LEO PNT service; submitted a public response to the NIST PNT request for comment. S6 | Alternative PNT signal source; not implemented here |
Government and public-sector research¶
| Organisation | Public evidence | Relevance |
|---|---|---|
| DARPA | Adaptable Navigation Systems: PINS and All-Source Positioning and Navigation. Archived as complete. S2 | Direct public precedent for the problem this repository addresses |
| DARPA | Subterranean Challenge: autonomous mapping, navigation and search in GPS-degraded environments. S3 | Public benchmark framing for GNSS-denied autonomy |
| DARPA | STOIC and Micro-PNT technology areas; non-GPS PNT programme set. S20 | Longer-horizon sensing direction |
| NIST | Request for comment on PNT backup and complementary capabilities; public responses on record. S6 | Standards-adjacent policy work |
| AFWERX / SpaceWERX | Alternative PNT challenge focused on over-reliance on GNSS. S7 | Challenge-driven innovation framing |
| Institute of Navigation | Publishes conference proceedings including resilience, integrity and spoof-detection work; e.g. a 2025 paper on safety assurance of a KF-based GNSS/IMU system. S23 | Where this kind of work is peer-reviewed and presented |
Academic and open research¶
| Source | Public evidence | Relevance |
|---|---|---|
| Hesch, Kottas, Bowman, Roumeliotis (2014) | Consistency analysis of vision-aided inertial navigation, IEEE T-RO 30(1). S10 | The closest prior work to this repository's central finding |
| Huang, Mourikis, Roumeliotis | Observability-based rules for consistent EKF SLAM estimators. S11 | Origin of the observability-mismatch framing |
| Li & Mourikis (2013) | High-precision, consistent EKF-based visual-inertial odometry, IJRR. S12 | Consistency-first filter design |
| Huang (MIT CSAIL) | STOC-VINS: state-transition and observability-constrained formulations. S13 | Remedy family not implemented here |
| Chen, Yang, Geneva, Huang (2022) | FEJ2: a consistent visual-inertial state estimator design. S14 | Remedy family not implemented here |
| Geneva, Eckenoff, Lee, Yang, Huang (2020) | OpenVINS: an open research platform for visual-inertial estimation. S15 | The comparison baseline this repository should be using, and does not |
| Tian, He, Hao (2025) | Re-analysis of the unobservable subspace in visual-inertial navigation. S16 | Evidence the problem is still open, not settled |
Autonomous systems and automotive¶
| Organisation | Public evidence | Relevance |
|---|---|---|
| Autoware Foundation | Publishes an open, productionizable, safety-certifiable L2 ADAS software stack. S19 | Where an estimator of this type would be integrated; this repository is not integrated into anything |
Policy and analysis¶
| Source | Public evidence | Relevance |
|---|---|---|
| Critchley-Marrows & Verspieren (2025), Space Policy | Viewpoint on national approaches to assuring PNT resilience. S17 | Policy framing for the resilience category |
| Stock, Schwarz, Hofmann, Knopp (2025), IEEE COMST 27(1) | Survey on opportunistic PNT with LEO communication satellites. S21 | Academic survey of the alternative-PNT landscape |
3. Claims this document does not make¶
- That any organisation listed is a customer, partner, employer, or target of the author.
- That any organisation has an interest in this repository or in its author.
- That the organisations listed are exhaustive, or that the list reflects quality, priority, or preference.
- That the public activity described above is stable, current beyond the access dates in Sources, or indicative of any procurement cycle.
AUTHOR-STATED: recorded explicitly so that a reader can distinguish a technical claim from a market observation.
4. How to extend this document¶
The correct way to add an organisation is to cite a public page that describes its product or programme, record the access date, and describe the technological adjacency to this repository. The incorrect way is to add a name that is merely plausible. Every entry above meets the first standard; if an entry ever stopped doing so, it should be deleted rather than kept for reach.