{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:2N6ET5MSGKJVBMS6NTG6GLR4F4","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":"b0eb26b70066eb8db552967375d337bca81a8c56091e366f3e6d8af45e8f08f6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-16T16:16:12Z","title_canon_sha256":"75e2c02da7f52639885aeeb71a6853e9d3c2e76f5b7fc6f8541ebbbb374be23e"},"schema_version":"1.0","source":{"id":"1703.05696","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1703.05696","created_at":"2026-05-18T00:48:33Z"},{"alias_kind":"arxiv_version","alias_value":"1703.05696v1","created_at":"2026-05-18T00:48:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.05696","created_at":"2026-05-18T00:48:33Z"},{"alias_kind":"pith_short_12","alias_value":"2N6ET5MSGKJV","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_16","alias_value":"2N6ET5MSGKJVBMS6","created_at":"2026-05-18T12:30:55Z"},{"alias_kind":"pith_short_8","alias_value":"2N6ET5MS","created_at":"2026-05-18T12:30:55Z"}],"graph_snapshots":[{"event_id":"sha256:9488bbb78789d3c6d54b2e7ad538d942ce08535211fe53921bf56fb0e70cd77c","target":"graph","created_at":"2026-05-18T00:48:33Z","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":"We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on the Special Orthogonal group $SO(3)$ while estimating the gyro bias and the unknown apparent acceleration of the vehicle. We prove semi-global exponential stability of the estimation errors. Furthermore, a new switching technique for the attitude state is introduced which results in a velocity-aided hybrid attitude observer with proven global exponential stabi","authors_text":"Abdelhamid Tayebi, Soulaimane Berkane","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-16T16:16:12Z","title":"Attitude and Gyro Bias Estimation Using GPS and IMU Measurements"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.05696","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:d222473d3342a215b9a8c87eda1d5f95fdd31e0955b3e0034fbd0be992482ad2","target":"record","created_at":"2026-05-18T00:48:33Z","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":"b0eb26b70066eb8db552967375d337bca81a8c56091e366f3e6d8af45e8f08f6","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2017-03-16T16:16:12Z","title_canon_sha256":"75e2c02da7f52639885aeeb71a6853e9d3c2e76f5b7fc6f8541ebbbb374be23e"},"schema_version":"1.0","source":{"id":"1703.05696","kind":"arxiv","version":1}},"canonical_sha256":"d37c49f592329350b25e6ccde32e3c2f33c0ef5f2305d0e752065af2f415db05","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d37c49f592329350b25e6ccde32e3c2f33c0ef5f2305d0e752065af2f415db05","first_computed_at":"2026-05-18T00:48:33.622330Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:48:33.622330Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"B/uXbxO1KbasQwf6KkJvIICC9tVPHn0l7gBe4FDDvvjs5ppM6q7b2X4mGVu0dKGiWJPRA1JLjtu34kRhtDD9AQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:48:33.623008Z","signed_message":"canonical_sha256_bytes"},"source_id":"1703.05696","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d222473d3342a215b9a8c87eda1d5f95fdd31e0955b3e0034fbd0be992482ad2","sha256:9488bbb78789d3c6d54b2e7ad538d942ce08535211fe53921bf56fb0e70cd77c"],"state_sha256":"909f15b3d787508fec7083b4897965513bc7a2fa08e7140ec9a3cde0ebdd120e"}