Pith Number

pith:44JFRRSO

pith:2021:44JFRRSOQXXRCOMGMKLLDA4XKL

not attested not anchored not stored refs pending

Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments

Lovro Markovic, Marin Kovac, Marko Car, Robert Milijas, Stjepan Bogdan

arxiv:2109.04908 v1 · 2021-09-10 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{44JFRRSOQXXRCOMGMKLLDA4XKL}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T03:13:11.330629Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e71258c64e85ef1139866296b1839752ee557cdf1fc77f20913d7e9daab5556d

Aliases

arxiv: 2109.04908 · arxiv_version: 2109.04908v1 · doi: 10.48550/arxiv.2109.04908 · pith_short_12: 44JFRRSOQXXR · pith_short_16: 44JFRRSOQXXRCOMG · pith_short_8: 44JFRRSO

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/44JFRRSOQXXRCOMGMKLLDA4XKL \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: e71258c64e85ef1139866296b1839752ee557cdf1fc77f20913d7e9daab5556d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "106090066905f6de5d80915e376b08a50045125adf8eaf661546d421d06de23b",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-10T14:40:57Z",
    "title_canon_sha256": "97732ab91e455e41c7adeb7139be73706f28e9a08f2d2cf1ee912d436f844a05"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.04908",
    "kind": "arxiv",
    "version": 1
  }
}