{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2010:DWUCOYMZIDF6FII5M45VUT76X6","short_pith_number":"pith:DWUCOYMZ","canonical_record":{"source":{"id":"1008.4536","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2010-08-26T15:44:21Z","cross_cats_sorted":[],"title_canon_sha256":"b453d9aa60d787fd9cb9cf657500f807881069605a2fb64ab70279cfaa1a8d9b","abstract_canon_sha256":"f145ae3c40a83b323fc48a6b87069bb3dfd6e466512f2adad35749725048998c"},"schema_version":"1.0"},"canonical_sha256":"1da827619940cbe2a11d673b5a4ffebfbd35c0817f8ae6ae4f355354b3780838","source":{"kind":"arxiv","id":"1008.4536","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1008.4536","created_at":"2026-05-18T04:41:05Z"},{"alias_kind":"arxiv_version","alias_value":"1008.4536v3","created_at":"2026-05-18T04:41:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1008.4536","created_at":"2026-05-18T04:41:05Z"},{"alias_kind":"pith_short_12","alias_value":"DWUCOYMZIDF6","created_at":"2026-05-18T12:26:06Z"},{"alias_kind":"pith_short_16","alias_value":"DWUCOYMZIDF6FII5","created_at":"2026-05-18T12:26:06Z"},{"alias_kind":"pith_short_8","alias_value":"DWUCOYMZ","created_at":"2026-05-18T12:26:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2010:DWUCOYMZIDF6FII5M45VUT76X6","target":"record","payload":{"canonical_record":{"source":{"id":"1008.4536","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2010-08-26T15:44:21Z","cross_cats_sorted":[],"title_canon_sha256":"b453d9aa60d787fd9cb9cf657500f807881069605a2fb64ab70279cfaa1a8d9b","abstract_canon_sha256":"f145ae3c40a83b323fc48a6b87069bb3dfd6e466512f2adad35749725048998c"},"schema_version":"1.0"},"canonical_sha256":"1da827619940cbe2a11d673b5a4ffebfbd35c0817f8ae6ae4f355354b3780838","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T04:41:05.778831Z","signature_b64":"DCSQg/Bn/xRvR7vCp2NPGSupcuBI3/2baeuNxU+KMWqaZ3y9R6yH6FucRe/BSeI3xkJ3dJw8qAxAopkCSk+IAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1da827619940cbe2a11d673b5a4ffebfbd35c0817f8ae6ae4f355354b3780838","last_reissued_at":"2026-05-18T04:41:05.778451Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T04:41:05.778451Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1008.4536","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T04:41:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dWuGbQrWkLCo3LYUDZMRmBXWiY0rK6QqyEZTIuk2cDHXVWQNfIIND4KpldOewy7bsW3s1kvwzJnzKyp2bKNOBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T10:22:52.634567Z"},"content_sha256":"59b750a38caae1544a7572d0d09373f6c7c14967359fd4da2be01bf32387227d","schema_version":"1.0","event_id":"sha256:59b750a38caae1544a7572d0d09373f6c7c14967359fd4da2be01bf32387227d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2010:DWUCOYMZIDF6FII5M45VUT76X6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Position USBL/DVL Sensor-based Navigation Filter in the presence of Unknown Ocean Currents","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"C. Silvestre, M. Morgado, P. Batista, P. Oliveira","submitted_at":"2010-08-26T15:44:21Z","abstract_excerpt":"This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a Doppler Velocity Log (DVL). Central to the proposed solution is the derivation of a linear time-varying (LTV) system that fully captures the dynamics of the nonlinear system, allowing for the use of powerful linear system analysis and filtering design tools that yield GAS filter error dynamics. Simulation results reveal that the proposed filter is able to achi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1008.4536","kind":"arxiv","version":3},"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":"2026-05-18T04:41:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"n9JgItS/j7B4VBqfq5y+2IVH94fVkvz1sR1Oek12Yh+vIZu94U/33rS25K6fCf5c/w4W/Pmpn5FhKuLhNSM1CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T10:22:52.634920Z"},"content_sha256":"d03df486b3849e8160c82e2bcf1173f42e7582cd9cdb5799420432115e4eea3b","schema_version":"1.0","event_id":"sha256:d03df486b3849e8160c82e2bcf1173f42e7582cd9cdb5799420432115e4eea3b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DWUCOYMZIDF6FII5M45VUT76X6/bundle.json","state_url":"https://pith.science/pith/DWUCOYMZIDF6FII5M45VUT76X6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DWUCOYMZIDF6FII5M45VUT76X6/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":"2026-07-07T10:22:52Z","links":{"resolver":"https://pith.science/pith/DWUCOYMZIDF6FII5M45VUT76X6","bundle":"https://pith.science/pith/DWUCOYMZIDF6FII5M45VUT76X6/bundle.json","state":"https://pith.science/pith/DWUCOYMZIDF6FII5M45VUT76X6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DWUCOYMZIDF6FII5M45VUT76X6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2010:DWUCOYMZIDF6FII5M45VUT76X6","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":"f145ae3c40a83b323fc48a6b87069bb3dfd6e466512f2adad35749725048998c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2010-08-26T15:44:21Z","title_canon_sha256":"b453d9aa60d787fd9cb9cf657500f807881069605a2fb64ab70279cfaa1a8d9b"},"schema_version":"1.0","source":{"id":"1008.4536","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1008.4536","created_at":"2026-05-18T04:41:05Z"},{"alias_kind":"arxiv_version","alias_value":"1008.4536v3","created_at":"2026-05-18T04:41:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1008.4536","created_at":"2026-05-18T04:41:05Z"},{"alias_kind":"pith_short_12","alias_value":"DWUCOYMZIDF6","created_at":"2026-05-18T12:26:06Z"},{"alias_kind":"pith_short_16","alias_value":"DWUCOYMZIDF6FII5","created_at":"2026-05-18T12:26:06Z"},{"alias_kind":"pith_short_8","alias_value":"DWUCOYMZ","created_at":"2026-05-18T12:26:06Z"}],"graph_snapshots":[{"event_id":"sha256:d03df486b3849e8160c82e2bcf1173f42e7582cd9cdb5799420432115e4eea3b","target":"graph","created_at":"2026-05-18T04:41:05Z","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":"This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a Doppler Velocity Log (DVL). Central to the proposed solution is the derivation of a linear time-varying (LTV) system that fully captures the dynamics of the nonlinear system, allowing for the use of powerful linear system analysis and filtering design tools that yield GAS filter error dynamics. Simulation results reveal that the proposed filter is able to achi","authors_text":"C. Silvestre, M. Morgado, P. Batista, P. Oliveira","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2010-08-26T15:44:21Z","title":"Position USBL/DVL Sensor-based Navigation Filter in the presence of Unknown Ocean Currents"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1008.4536","kind":"arxiv","version":3},"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":"sha256:59b750a38caae1544a7572d0d09373f6c7c14967359fd4da2be01bf32387227d","target":"record","created_at":"2026-05-18T04:41:05Z","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":"f145ae3c40a83b323fc48a6b87069bb3dfd6e466512f2adad35749725048998c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2010-08-26T15:44:21Z","title_canon_sha256":"b453d9aa60d787fd9cb9cf657500f807881069605a2fb64ab70279cfaa1a8d9b"},"schema_version":"1.0","source":{"id":"1008.4536","kind":"arxiv","version":3}},"canonical_sha256":"1da827619940cbe2a11d673b5a4ffebfbd35c0817f8ae6ae4f355354b3780838","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1da827619940cbe2a11d673b5a4ffebfbd35c0817f8ae6ae4f355354b3780838","first_computed_at":"2026-05-18T04:41:05.778451Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T04:41:05.778451Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DCSQg/Bn/xRvR7vCp2NPGSupcuBI3/2baeuNxU+KMWqaZ3y9R6yH6FucRe/BSeI3xkJ3dJw8qAxAopkCSk+IAQ==","signature_status":"signed_v1","signed_at":"2026-05-18T04:41:05.778831Z","signed_message":"canonical_sha256_bytes"},"source_id":"1008.4536","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:59b750a38caae1544a7572d0d09373f6c7c14967359fd4da2be01bf32387227d","sha256:d03df486b3849e8160c82e2bcf1173f42e7582cd9cdb5799420432115e4eea3b"],"state_sha256":"9d5ba964a5b92fdef937fbc88ceb41d7f688d7b0fc15e9d7f7391a485ff2e439"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cX6B7bH695DBT13GUkdZ/0ypSkHRC2LtpsnrQshuoBK/rfL13tFI/P6zK3i6bBjBfijpTaUJxPJN3qSqM91wCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T10:22:52.636769Z","bundle_sha256":"4ac5054a01d573d59ad9f6754e56155fbe78a6075cb8d600c9d063335ef9e0ab"}}