From 796364d4fbad8249d6a8ae5f10382ea006c9f0f0 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 5 Apr 2025 19:01:20 -0400
Subject: [PATCH] Add navigation to docs

---
 gtsam/navigation/navigation.md | 36 ++++++++++++++++++++++++++++++++++
 myst.yml                       |  3 +++
 2 files changed, 39 insertions(+)
 create mode 100644 gtsam/navigation/navigation.md

diff --git a/gtsam/navigation/navigation.md b/gtsam/navigation/navigation.md
new file mode 100644
index 000000000..a220398de
--- /dev/null
+++ b/gtsam/navigation/navigation.md
@@ -0,0 +1,36 @@
+# Navigation
+
+The `navigation` module in GTSAM provides specialized tools for inertial navigation, GPS integration, and sensor fusion. Here's an overview of key components organized by category:
+
+## Core Navigation Types
+
+- **[NavState](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/NavState.h)**: Represents the complete navigation state $\mathcal{SE}_2(3)$, i.e., attitude, position, and velocity. It also implements the group ${SE}_2(3)$.
+- **[ImuBias](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/ImuBias.h)**: Models constant biases in IMU measurements (accelerometer and gyroscope).
+
+## Attitude Estimation
+
+- **[PreintegratedRotation](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/PreintegratedRotation.h)**: Handles gyroscope measurements to track rotation changes.
+- **[AHRSFactor](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/AHRSFactor.h)**: Attitude and Heading Reference System factor for orientation estimation.
+- **[AttitudeFactor](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/AttitudeFactor.h)**: Factors for attitude estimation from reference directions.
+
+## IMU Preintegration
+
+- **[PreintegrationParams](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/PreintegrationParams.h)**: Base parameters for IMU preintegration.
+- **[PreintegrationBase](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/PreintegrationBase.h)**: Base class for IMU preintegration classes.
+- **[ManifoldPreintegration](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/ManifoldPreintegration.h)**: Implements IMU preintegration using manifold-based methods as in the Forster et al paper.
+- **[TangentPreintegration](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/TangentPreintegration.h)**: Implements IMU preintegration using tangent space methods, developed at Skydio.
+- **[CombinedImuFactor](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/CombinedImuFactor.h)**: Improved IMU factor with bias evolution.
+
+## GNSS Integration
+
+- **[GPSFactor](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/GPSFactor.h)**: Factor for incorporating GPS position measurements.
+- **[BarometricFactor](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/BarometricFactor.h)**: Incorporates barometric altitude measurements.
+
+## Simulation Tools
+
+- **[Scenario](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/Scenario.h)**: Base class for defining motion scenarios.
+- **[ConstantTwistScenario](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/Scenario.h)**: Implements constant twist (angular and linear velocity) motion.
+- **[AcceleratingScenario](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/Scenario.h)**: Implements constantly accelerating motion.
+- **[ScenarioRunner](https://github.com/borglab/gtsam/blob/develop/gtsam/navigation/ScenarioRunner.h)**: Executes scenarios and generates IMU measurements.
+
+These components together provide a comprehensive framework for fusing inertial data with other sensor measurements in navigation and robotics applications.
\ No newline at end of file
diff --git a/myst.yml b/myst.yml
index aa7f4a9d2..7fa365ffe 100644
--- a/myst.yml
+++ b/myst.yml
@@ -13,6 +13,9 @@ project:
       - file: ./gtsam/geometry/geometry.md
         children:
         - pattern: ./gtsam/geometry/doc/*
+      - file: ./gtsam/navigation/navigation.md
+        children:
+        - pattern: ./gtsam/navigation/doc/*
 site:
   nav: 
     - title: Getting started