{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:EOZNWAA4AG5YWDTFJQ27HP5R3Y","short_pith_number":"pith:EOZNWAA4","schema_version":"1.0","canonical_sha256":"23b2db001c01bb8b0e654c35f3bfb1de3e5c9922abbdd2cd8b888321362759b8","source":{"kind":"arxiv","id":"2606.07719","version":1},"attestation_state":"computed","paper":{"title":"Hessian-matching Based Weighting for Attitude Determination Using Short-Range DoA Measurements with IMU Assistance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"eess.SP","authors_text":"Chenxin Tu, Gang Liu, Hengchuan Zhang, Mingquan Lu, Xiaowei Cui","submitted_at":"2026-06-05T15:43:25Z","abstract_excerpt":"Accurate and reliable attitude determination (AD) is essential for unmanned vehicles operating in Global Navigation Satellite System (GNSS)-denied environments. Short-range wireless arrays can provide direction-of-arrival (DoA) measurements from multiple anchors, enabling AD by aligning corresponding direction vectors (DVs) expressed in the body and navigation frames. In short-range scenarios, navigation-frame DVs inherit non-negligible uncertainty induced by anchor/vehicle position errors in addition to DoA-induced errors in body-frame DVs. Moreover, due to projection and unit-norm normalizat"},"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":"2606.07719","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2026-06-05T15:43:25Z","cross_cats_sorted":[],"title_canon_sha256":"abe0447afea6679fa864e34f18f1b73e41ae0a2bcdff83f3cba4bfcc8faaa810","abstract_canon_sha256":"bb686dab5c5180ae951a43ab732682b9467375f0f475d242239966fe73184c34"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-09T01:04:50.201432Z","signature_b64":"q/fyoaiTKMnqHask8ObxByH6cVLNoDhsSAP63lJW1i8+keaazd5dy/Pxu/U5HpGKRpQUZ6IguwB+7SFDkEQRDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"23b2db001c01bb8b0e654c35f3bfb1de3e5c9922abbdd2cd8b888321362759b8","last_reissued_at":"2026-06-09T01:04:50.200879Z","signature_status":"signed_v1","first_computed_at":"2026-06-09T01:04:50.200879Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Hessian-matching Based Weighting for Attitude Determination Using Short-Range DoA Measurements with IMU Assistance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"eess.SP","authors_text":"Chenxin Tu, Gang Liu, Hengchuan Zhang, Mingquan Lu, Xiaowei Cui","submitted_at":"2026-06-05T15:43:25Z","abstract_excerpt":"Accurate and reliable attitude determination (AD) is essential for unmanned vehicles operating in Global Navigation Satellite System (GNSS)-denied environments. Short-range wireless arrays can provide direction-of-arrival (DoA) measurements from multiple anchors, enabling AD by aligning corresponding direction vectors (DVs) expressed in the body and navigation frames. In short-range scenarios, navigation-frame DVs inherit non-negligible uncertainty induced by anchor/vehicle position errors in addition to DoA-induced errors in body-frame DVs. Moreover, due to projection and unit-norm normalizat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.07719","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.07719/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":"2606.07719","created_at":"2026-06-09T01:04:50.200937+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.07719v1","created_at":"2026-06-09T01:04:50.200937+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.07719","created_at":"2026-06-09T01:04:50.200937+00:00"},{"alias_kind":"pith_short_12","alias_value":"EOZNWAA4AG5Y","created_at":"2026-06-09T01:04:50.200937+00:00"},{"alias_kind":"pith_short_16","alias_value":"EOZNWAA4AG5YWDTF","created_at":"2026-06-09T01:04:50.200937+00:00"},{"alias_kind":"pith_short_8","alias_value":"EOZNWAA4","created_at":"2026-06-09T01:04:50.200937+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/EOZNWAA4AG5YWDTFJQ27HP5R3Y","json":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y.json","graph_json":"https://pith.science/api/pith-number/EOZNWAA4AG5YWDTFJQ27HP5R3Y/graph.json","events_json":"https://pith.science/api/pith-number/EOZNWAA4AG5YWDTFJQ27HP5R3Y/events.json","paper":"https://pith.science/paper/EOZNWAA4"},"agent_actions":{"view_html":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y","download_json":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y.json","view_paper":"https://pith.science/paper/EOZNWAA4","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.07719&json=true","fetch_graph":"https://pith.science/api/pith-number/EOZNWAA4AG5YWDTFJQ27HP5R3Y/graph.json","fetch_events":"https://pith.science/api/pith-number/EOZNWAA4AG5YWDTFJQ27HP5R3Y/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y/action/timestamp_anchor","attest_storage":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y/action/storage_attestation","attest_author":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y/action/author_attestation","sign_citation":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y/action/citation_signature","submit_replication":"https://pith.science/pith/EOZNWAA4AG5YWDTFJQ27HP5R3Y/action/replication_record"}},"created_at":"2026-06-09T01:04:50.200937+00:00","updated_at":"2026-06-09T01:04:50.200937+00:00"}