# Dead-reckoning during GNSS outage: cold-atom quantum accelerometer vs navigation-grade.
# Bias = post-GNSS-calibration residual = published bias stability; q_va = (noise root-PSD)^2.
kind = "inertial"
seed = 42
threshold_m = 100.0

[time]
step_s = 10.0
duration_s = 7200.0

[gnss]
windows = [
  { t0 = 0.0,   t1 = 600.0,  state = "nominal" },
  { t0 = 600.0, t1 = 7200.0, state = "denied" },
]

[accel_quantum]
id = "cold-atom-quat"
provenance = "Exail hybrid quantum accelerometer triad: bias stability 6e-8 g = 5.88e-7 m/s^2 after 24 h (Templier et al., Science Advances 2022, arXiv:2209.13209); noise 22 ug/sqrtHz = 2.16e-4 (m/s^2)/sqrtHz; laboratory maturity, not deployed"
bias = 5.88e-7
q_va = 4.6656e-8

[accel_classical]
id = "nav-grade-quartz"
provenance = "Navigation-grade quartz accelerometer (Honeywell QA-2000 / Groves AESS Tutorial): bias stability ~160 ug = 1.57e-3 m/s^2; noise ~20 ug/sqrtHz = 1.96e-4 (m/s^2)/sqrtHz; bias instability ~1 ug = 1e-5 m/s^2; modest acceleration random walk"
bias = 1.57e-3
q_va = 3.8416e-8
bias_instability = 1.0e-5
q_aa = 1.0e-13
