Header-only C++17/Eigen strapdown INS library: Initial alignment, Rodrigues DCM mechanization, Coriolis-compensated velocity integration, and Van Loan error covariance propagation.

Adapted Rapidly Exploring Random Tree algorithm to plan smooth trajectories through a map of a San Francisco city block.

Python library for IMU processing: Initial alignment (gravity leveling, gyrocompassing), continuous attitude tracking via Rodrigues rotation, and DCM/Euler angle kinematics.