{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:KK2JVSGWHJDROTRIZZYAGIEPLH","short_pith_number":"pith:KK2JVSGW","canonical_record":{"source":{"id":"1603.04519","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-03-15T01:22:01Z","cross_cats_sorted":[],"title_canon_sha256":"128089cb2c120f7320f65e8283a5a5e21546b54df07bb0a1f27505929c11033e","abstract_canon_sha256":"d3b45483529d7c783caea384634c4d2bc16190b25d6d0c957ebd7ba8a18dc3b9"},"schema_version":"1.0"},"canonical_sha256":"52b49ac8d63a47174e28ce7003208f59e306f42b222107c23ab22c56c5592b37","source":{"kind":"arxiv","id":"1603.04519","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1603.04519","created_at":"2026-05-18T01:19:04Z"},{"alias_kind":"arxiv_version","alias_value":"1603.04519v1","created_at":"2026-05-18T01:19:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1603.04519","created_at":"2026-05-18T01:19:04Z"},{"alias_kind":"pith_short_12","alias_value":"KK2JVSGWHJDR","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_16","alias_value":"KK2JVSGWHJDROTRI","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_8","alias_value":"KK2JVSGW","created_at":"2026-05-18T12:30:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:KK2JVSGWHJDROTRIZZYAGIEPLH","target":"record","payload":{"canonical_record":{"source":{"id":"1603.04519","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-03-15T01:22:01Z","cross_cats_sorted":[],"title_canon_sha256":"128089cb2c120f7320f65e8283a5a5e21546b54df07bb0a1f27505929c11033e","abstract_canon_sha256":"d3b45483529d7c783caea384634c4d2bc16190b25d6d0c957ebd7ba8a18dc3b9"},"schema_version":"1.0"},"canonical_sha256":"52b49ac8d63a47174e28ce7003208f59e306f42b222107c23ab22c56c5592b37","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:19:04.708387Z","signature_b64":"zpA9qYMe/ujfTh9eVCIY8Fn054LQd01kv1XQXIYj0reC5ctWGVNZ63557AVAAB9mbAPEFpVm50CBSHVwB9mCAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"52b49ac8d63a47174e28ce7003208f59e306f42b222107c23ab22c56c5592b37","last_reissued_at":"2026-05-18T01:19:04.707914Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:19:04.707914Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1603.04519","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:19:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vVcE32VUgPLZGBgVzvwgSEqfQ+6q8dthveTZpNNvbcF+XW28DRtO6PD+c5XsRHNwr0b5tOJN2T3gLNkjnwSnBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T20:26:43.207554Z"},"content_sha256":"7645841a2456e167ded2b087285d0583658e18a6f3e286824fd3dce2a02c5915","schema_version":"1.0","event_id":"sha256:7645841a2456e167ded2b087285d0583658e18a6f3e286824fd3dce2a02c5915"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:KK2JVSGWHJDROTRIZZYAGIEPLH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"The Variational Attitude Estimator in the Presence of Bias in Angular Velocity Measurements","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Amit Kumar Sanyal, Carlos Silvestre, Maziar Izadi, Paulo Oliveira, Sasi Prabhakaran Viswanathan","submitted_at":"2016-03-15T01:22:01Z","abstract_excerpt":"Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear. The extended Kalman filter and its several variants have remained the standard and most commonly used schemes for attitude estimation over the last several decades. These schemes are obtained as approximate solutions to the nonlinear optimal filtering problem. However, these approximate or near optimal solutions may not give stable estimation schemes in genera"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1603.04519","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T01:19:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Q7FVXppPXG+d+sh7QDDfAXOc9UVKctPEBfV4PND6tcLoxlRolUquJwpn/WkLtbos2o/p7F/oOcV6RZKKsI5sDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T20:26:43.207908Z"},"content_sha256":"9f0ec4e95a6c6f6b439f47ec502511bdc15b7544f2f5d4fd6e34f559d4310fe8","schema_version":"1.0","event_id":"sha256:9f0ec4e95a6c6f6b439f47ec502511bdc15b7544f2f5d4fd6e34f559d4310fe8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KK2JVSGWHJDROTRIZZYAGIEPLH/bundle.json","state_url":"https://pith.science/pith/KK2JVSGWHJDROTRIZZYAGIEPLH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KK2JVSGWHJDROTRIZZYAGIEPLH/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-30T20:26:43Z","links":{"resolver":"https://pith.science/pith/KK2JVSGWHJDROTRIZZYAGIEPLH","bundle":"https://pith.science/pith/KK2JVSGWHJDROTRIZZYAGIEPLH/bundle.json","state":"https://pith.science/pith/KK2JVSGWHJDROTRIZZYAGIEPLH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KK2JVSGWHJDROTRIZZYAGIEPLH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:KK2JVSGWHJDROTRIZZYAGIEPLH","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"d3b45483529d7c783caea384634c4d2bc16190b25d6d0c957ebd7ba8a18dc3b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-03-15T01:22:01Z","title_canon_sha256":"128089cb2c120f7320f65e8283a5a5e21546b54df07bb0a1f27505929c11033e"},"schema_version":"1.0","source":{"id":"1603.04519","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1603.04519","created_at":"2026-05-18T01:19:04Z"},{"alias_kind":"arxiv_version","alias_value":"1603.04519v1","created_at":"2026-05-18T01:19:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1603.04519","created_at":"2026-05-18T01:19:04Z"},{"alias_kind":"pith_short_12","alias_value":"KK2JVSGWHJDR","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_16","alias_value":"KK2JVSGWHJDROTRI","created_at":"2026-05-18T12:30:25Z"},{"alias_kind":"pith_short_8","alias_value":"KK2JVSGW","created_at":"2026-05-18T12:30:25Z"}],"graph_snapshots":[{"event_id":"sha256:9f0ec4e95a6c6f6b439f47ec502511bdc15b7544f2f5d4fd6e34f559d4310fe8","target":"graph","created_at":"2026-05-18T01:19:04Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear. The extended Kalman filter and its several variants have remained the standard and most commonly used schemes for attitude estimation over the last several decades. These schemes are obtained as approximate solutions to the nonlinear optimal filtering problem. However, these approximate or near optimal solutions may not give stable estimation schemes in genera","authors_text":"Amit Kumar Sanyal, Carlos Silvestre, Maziar Izadi, Paulo Oliveira, Sasi Prabhakaran Viswanathan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-03-15T01:22:01Z","title":"The Variational Attitude Estimator in the Presence of Bias in Angular Velocity Measurements"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1603.04519","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:7645841a2456e167ded2b087285d0583658e18a6f3e286824fd3dce2a02c5915","target":"record","created_at":"2026-05-18T01:19:04Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"d3b45483529d7c783caea384634c4d2bc16190b25d6d0c957ebd7ba8a18dc3b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2016-03-15T01:22:01Z","title_canon_sha256":"128089cb2c120f7320f65e8283a5a5e21546b54df07bb0a1f27505929c11033e"},"schema_version":"1.0","source":{"id":"1603.04519","kind":"arxiv","version":1}},"canonical_sha256":"52b49ac8d63a47174e28ce7003208f59e306f42b222107c23ab22c56c5592b37","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"52b49ac8d63a47174e28ce7003208f59e306f42b222107c23ab22c56c5592b37","first_computed_at":"2026-05-18T01:19:04.707914Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:19:04.707914Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zpA9qYMe/ujfTh9eVCIY8Fn054LQd01kv1XQXIYj0reC5ctWGVNZ63557AVAAB9mbAPEFpVm50CBSHVwB9mCAw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:19:04.708387Z","signed_message":"canonical_sha256_bytes"},"source_id":"1603.04519","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7645841a2456e167ded2b087285d0583658e18a6f3e286824fd3dce2a02c5915","sha256:9f0ec4e95a6c6f6b439f47ec502511bdc15b7544f2f5d4fd6e34f559d4310fe8"],"state_sha256":"a1a7b224595202a5820f8f1007725b3cdf4c9d2a995c260ab0c01219c4777392"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"I3x5/DC5X/4jt8fcTpEaL80AmYxUVPR6J9pHWU8w45JqAZ4bsH623rJ4VumiD4ylBLLGExW3PG1/DpvYkVWwBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T20:26:43.209886Z","bundle_sha256":"c969573118facce4121739319ecf2e00277bc24bf8e240eb20305cd97cfdda81"}}