{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2014:HGDEUOSTUNZ6U4FNHZXXQH27GJ","short_pith_number":"pith:HGDEUOST","canonical_record":{"source":{"id":"1411.3953","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-14T16:19:00Z","cross_cats_sorted":[],"title_canon_sha256":"bd70be860ae7a5f2be5dcf5ad197794582f011ff27c5bf43415d250a363cf2d0","abstract_canon_sha256":"b7daf3b3bdbc6e2b11841596e6351986f8c3af8edf455ea25c4f22a4c0b2ddfd"},"schema_version":"1.0"},"canonical_sha256":"39864a3a53a373ea70ad3e6f781f5f32779bf5f705432d81118614183d3ab0f3","source":{"kind":"arxiv","id":"1411.3953","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1411.3953","created_at":"2026-05-18T02:37:37Z"},{"alias_kind":"arxiv_version","alias_value":"1411.3953v1","created_at":"2026-05-18T02:37:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1411.3953","created_at":"2026-05-18T02:37:37Z"},{"alias_kind":"pith_short_12","alias_value":"HGDEUOSTUNZ6","created_at":"2026-05-18T12:28:30Z"},{"alias_kind":"pith_short_16","alias_value":"HGDEUOSTUNZ6U4FN","created_at":"2026-05-18T12:28:30Z"},{"alias_kind":"pith_short_8","alias_value":"HGDEUOST","created_at":"2026-05-18T12:28:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2014:HGDEUOSTUNZ6U4FNHZXXQH27GJ","target":"record","payload":{"canonical_record":{"source":{"id":"1411.3953","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-14T16:19:00Z","cross_cats_sorted":[],"title_canon_sha256":"bd70be860ae7a5f2be5dcf5ad197794582f011ff27c5bf43415d250a363cf2d0","abstract_canon_sha256":"b7daf3b3bdbc6e2b11841596e6351986f8c3af8edf455ea25c4f22a4c0b2ddfd"},"schema_version":"1.0"},"canonical_sha256":"39864a3a53a373ea70ad3e6f781f5f32779bf5f705432d81118614183d3ab0f3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:37:37.304187Z","signature_b64":"zEqsoS/DGct092Mr8BbN9JexElqhuw17Gil/3qZFq6UjT08Jcp5RBmXyrxBhhTUdcK9un1ualO5xft39InavDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"39864a3a53a373ea70ad3e6f781f5f32779bf5f705432d81118614183d3ab0f3","last_reissued_at":"2026-05-18T02:37:37.303762Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:37:37.303762Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1411.3953","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T02:37:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RMhtpiF6JyezNwtIeplWsp5alBvLSVIDzsCYfZp/bpRRQLqTlodM5QhmoTbL311VXxH1cbRaGc5lrmPGR3sZAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T00:16:21.861837Z"},"content_sha256":"2c1cfe67a006cd3a473e0be41454fcc9be3cd06ba434b38c15497b40040f3793","schema_version":"1.0","event_id":"sha256:2c1cfe67a006cd3a473e0be41454fcc9be3cd06ba434b38c15497b40040f3793"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2014:HGDEUOSTUNZ6U4FNHZXXQH27GJ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Velocity-aided Attitude Estimation for Accelerated Rigid Bodies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Minh-Duc Hua, Philippe Martin, Tarek Hamel","submitted_at":"2014-11-14T16:19:00Z","abstract_excerpt":"Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided attitude observers endowed with local properties, both observers are (almost) globally asymptotically stable, with very simple and flexible tuning. Moreover, the roll and pitch estimates are globally decoupled from magnetometer measurements."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1411.3953","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":""},"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":"2026-05-18T02:37:37Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Xms6yPvhBUrZaI+q0lX7fQwB6/GdftIRJCMSOnQR4URLsPm8rWkJv6IS0Am7ha/e2sFEZvwLvUM0woj+qJ/5BA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T00:16:21.862540Z"},"content_sha256":"830f1806f7d2c48c1ca140222f701315307ea5ea140a670b162697bb6629cf0d","schema_version":"1.0","event_id":"sha256:830f1806f7d2c48c1ca140222f701315307ea5ea140a670b162697bb6629cf0d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HGDEUOSTUNZ6U4FNHZXXQH27GJ/bundle.json","state_url":"https://pith.science/pith/HGDEUOSTUNZ6U4FNHZXXQH27GJ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HGDEUOSTUNZ6U4FNHZXXQH27GJ/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":"2026-06-12T00:16:21Z","links":{"resolver":"https://pith.science/pith/HGDEUOSTUNZ6U4FNHZXXQH27GJ","bundle":"https://pith.science/pith/HGDEUOSTUNZ6U4FNHZXXQH27GJ/bundle.json","state":"https://pith.science/pith/HGDEUOSTUNZ6U4FNHZXXQH27GJ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HGDEUOSTUNZ6U4FNHZXXQH27GJ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:HGDEUOSTUNZ6U4FNHZXXQH27GJ","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":"b7daf3b3bdbc6e2b11841596e6351986f8c3af8edf455ea25c4f22a4c0b2ddfd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-14T16:19:00Z","title_canon_sha256":"bd70be860ae7a5f2be5dcf5ad197794582f011ff27c5bf43415d250a363cf2d0"},"schema_version":"1.0","source":{"id":"1411.3953","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1411.3953","created_at":"2026-05-18T02:37:37Z"},{"alias_kind":"arxiv_version","alias_value":"1411.3953v1","created_at":"2026-05-18T02:37:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1411.3953","created_at":"2026-05-18T02:37:37Z"},{"alias_kind":"pith_short_12","alias_value":"HGDEUOSTUNZ6","created_at":"2026-05-18T12:28:30Z"},{"alias_kind":"pith_short_16","alias_value":"HGDEUOSTUNZ6U4FN","created_at":"2026-05-18T12:28:30Z"},{"alias_kind":"pith_short_8","alias_value":"HGDEUOST","created_at":"2026-05-18T12:28:30Z"}],"graph_snapshots":[{"event_id":"sha256:830f1806f7d2c48c1ca140222f701315307ea5ea140a670b162697bb6629cf0d","target":"graph","created_at":"2026-05-18T02:37:37Z","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":"Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided attitude observers endowed with local properties, both observers are (almost) globally asymptotically stable, with very simple and flexible tuning. Moreover, the roll and pitch estimates are globally decoupled from magnetometer measurements.","authors_text":"Minh-Duc Hua, Philippe Martin, Tarek Hamel","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-14T16:19:00Z","title":"Velocity-aided Attitude Estimation for Accelerated Rigid Bodies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1411.3953","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":"sha256:2c1cfe67a006cd3a473e0be41454fcc9be3cd06ba434b38c15497b40040f3793","target":"record","created_at":"2026-05-18T02:37:37Z","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":"b7daf3b3bdbc6e2b11841596e6351986f8c3af8edf455ea25c4f22a4c0b2ddfd","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math.OC","submitted_at":"2014-11-14T16:19:00Z","title_canon_sha256":"bd70be860ae7a5f2be5dcf5ad197794582f011ff27c5bf43415d250a363cf2d0"},"schema_version":"1.0","source":{"id":"1411.3953","kind":"arxiv","version":1}},"canonical_sha256":"39864a3a53a373ea70ad3e6f781f5f32779bf5f705432d81118614183d3ab0f3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"39864a3a53a373ea70ad3e6f781f5f32779bf5f705432d81118614183d3ab0f3","first_computed_at":"2026-05-18T02:37:37.303762Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:37:37.303762Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"zEqsoS/DGct092Mr8BbN9JexElqhuw17Gil/3qZFq6UjT08Jcp5RBmXyrxBhhTUdcK9un1ualO5xft39InavDA==","signature_status":"signed_v1","signed_at":"2026-05-18T02:37:37.304187Z","signed_message":"canonical_sha256_bytes"},"source_id":"1411.3953","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2c1cfe67a006cd3a473e0be41454fcc9be3cd06ba434b38c15497b40040f3793","sha256:830f1806f7d2c48c1ca140222f701315307ea5ea140a670b162697bb6629cf0d"],"state_sha256":"07cb3a3fa765d5700179aaccae45e3e54aa0f58fa23438e996d7f6a7090e5888"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XntGRn1uc56t25p64myfx/xe//Yex63wSbimlbHXLwGox5Z6eyXNVbbWnFYnEcAzcZAKxIKhjIsjJgrz/+ZtAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-12T00:16:21.866391Z","bundle_sha256":"82159049ac1e426c94602661d09a2499498230957bf0abf73450554dc4110c5d"}}