{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2020:3WOEFJVANAMOM2KURH2VZJPFLO","short_pith_number":"pith:3WOEFJVA","schema_version":"1.0","canonical_sha256":"dd9c42a6a06818e6695489f55ca5e55b81d17fb323e1f00c40aced8d0bbe14ac","source":{"kind":"arxiv","id":"2005.09541","version":2},"attestation_state":"computed","paper":{"title":"Cooperative Navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Aaron Canciani, Chizhao Yang, Jared Strader, Kevin Brink, Yu Gu","submitted_at":"2020-05-19T15:54:33Z","abstract_excerpt":"The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called cooperative ranging localization, formulated as an Extended Kalman Filter (EKF), estimates each UAV's relative pose inside the group using inter-vehicle ranging measurements; second, an algorithm named cooperative magnetic localization, formulated as a particle filter, estimates each UAV's global pose through matching the group's magnetic anomaly measurements to a gi"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2005.09541","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2020-05-19T15:54:33Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"1b30f969027e1fcc635510c87eccc81b7ca79d44cd1365000e9bd6dcb6ccee0c","abstract_canon_sha256":"169f7ff14bcec3e3b1e9d916bd1a5f7c83559ca8c20b198b88296c97a6d76c7c"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:09:06.741576Z","signature_b64":"npNFMFpFQCoW1EZ9OiX1E258f8xWR9HOIhBJnZ/369ZnMkKwF33DgqFS8Fqrs5ragercrpmFIExUZt7YieocBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dd9c42a6a06818e6695489f55ca5e55b81d17fb323e1f00c40aced8d0bbe14ac","last_reissued_at":"2026-07-05T01:09:06.741112Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:09:06.741112Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Cooperative Navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Aaron Canciani, Chizhao Yang, Jared Strader, Kevin Brink, Yu Gu","submitted_at":"2020-05-19T15:54:33Z","abstract_excerpt":"The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called cooperative ranging localization, formulated as an Extended Kalman Filter (EKF), estimates each UAV's relative pose inside the group using inter-vehicle ranging measurements; second, an algorithm named cooperative magnetic localization, formulated as a particle filter, estimates each UAV's global pose through matching the group's magnetic anomaly measurements to a gi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.09541","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2005.09541/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2005.09541","created_at":"2026-07-05T01:09:06.741167+00:00"},{"alias_kind":"arxiv_version","alias_value":"2005.09541v2","created_at":"2026-07-05T01:09:06.741167+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.09541","created_at":"2026-07-05T01:09:06.741167+00:00"},{"alias_kind":"pith_short_12","alias_value":"3WOEFJVANAMO","created_at":"2026-07-05T01:09:06.741167+00:00"},{"alias_kind":"pith_short_16","alias_value":"3WOEFJVANAMOM2KU","created_at":"2026-07-05T01:09:06.741167+00:00"},{"alias_kind":"pith_short_8","alias_value":"3WOEFJVA","created_at":"2026-07-05T01:09:06.741167+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO","json":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO.json","graph_json":"https://pith.science/api/pith-number/3WOEFJVANAMOM2KURH2VZJPFLO/graph.json","events_json":"https://pith.science/api/pith-number/3WOEFJVANAMOM2KURH2VZJPFLO/events.json","paper":"https://pith.science/paper/3WOEFJVA"},"agent_actions":{"view_html":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO","download_json":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO.json","view_paper":"https://pith.science/paper/3WOEFJVA","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2005.09541&json=true","fetch_graph":"https://pith.science/api/pith-number/3WOEFJVANAMOM2KURH2VZJPFLO/graph.json","fetch_events":"https://pith.science/api/pith-number/3WOEFJVANAMOM2KURH2VZJPFLO/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO/action/timestamp_anchor","attest_storage":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO/action/storage_attestation","attest_author":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO/action/author_attestation","sign_citation":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO/action/citation_signature","submit_replication":"https://pith.science/pith/3WOEFJVANAMOM2KURH2VZJPFLO/action/replication_record"}},"created_at":"2026-07-05T01:09:06.741167+00:00","updated_at":"2026-07-05T01:09:06.741167+00:00"}