{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:OGZNEUZ5XMGHICLPESVRFKRDJE","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":"4181bbeea8219a35cdd35ada5ff6671029e5969b89137246922a8d05048adeab","cross_cats_sorted":["stat.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-03-19T10:46:49Z","title_canon_sha256":"d87da3ed994ddb36e72992b556d21ce8c926cd3277c21ceb3597bbb63371d568"},"schema_version":"1.0","source":{"id":"1903.07929","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.07929","created_at":"2026-05-17T23:46:28Z"},{"alias_kind":"arxiv_version","alias_value":"1903.07929v2","created_at":"2026-05-17T23:46:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.07929","created_at":"2026-05-17T23:46:28Z"},{"alias_kind":"pith_short_12","alias_value":"OGZNEUZ5XMGH","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_16","alias_value":"OGZNEUZ5XMGHICLP","created_at":"2026-05-18T12:33:24Z"},{"alias_kind":"pith_short_8","alias_value":"OGZNEUZ5","created_at":"2026-05-18T12:33:24Z"}],"graph_snapshots":[{"event_id":"sha256:e9e8c6ec424c411522bc4e7edf955cf7e064a551409ccc709911c45b108632f3","target":"graph","created_at":"2026-05-17T23:46:28Z","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":"A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test, and allows, possibly time-dependent, prior information about the two hypotheses - the sensors being stationary or in motion - to be incorporated into the test. It is also possible to incorporate information about the cost of a missed detection or a false alarm. Specifically, we consider an hypothesis prior based on the velocity estimates provided by the navigation system and an exponential model for how the cost o","authors_text":"Andrew Markham, Fredrik Gustafsson, Isaac Skog, Johan Wahlstr\\\"om, Niki Trigoni","cross_cats":["stat.AP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-03-19T10:46:49Z","title":"Zero-Velocity Detection - A Bayesian Approach to Adaptive Thresholding"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.07929","kind":"arxiv","version":2},"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":"sha256:774413d3edb841530842cc81f0208005e007dd3e64d4e230b177f078eaf09beb","target":"record","created_at":"2026-05-17T23:46:28Z","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":"4181bbeea8219a35cdd35ada5ff6671029e5969b89137246922a8d05048adeab","cross_cats_sorted":["stat.AP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SP","submitted_at":"2019-03-19T10:46:49Z","title_canon_sha256":"d87da3ed994ddb36e72992b556d21ce8c926cd3277c21ceb3597bbb63371d568"},"schema_version":"1.0","source":{"id":"1903.07929","kind":"arxiv","version":2}},"canonical_sha256":"71b2d2533dbb0c74096f24ab12aa23491e46a4c1363774d72bd8de095785a7b2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"71b2d2533dbb0c74096f24ab12aa23491e46a4c1363774d72bd8de095785a7b2","first_computed_at":"2026-05-17T23:46:28.694788Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:46:28.694788Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7Ub9E5nGwYnY6PceYNG2uBL3bjSSbgDPclF8fY9ugPAWqAS2qvFBs6yIoE8FVeDowGjRbVg1tyTwYijUiObcDg==","signature_status":"signed_v1","signed_at":"2026-05-17T23:46:28.695358Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.07929","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:774413d3edb841530842cc81f0208005e007dd3e64d4e230b177f078eaf09beb","sha256:e9e8c6ec424c411522bc4e7edf955cf7e064a551409ccc709911c45b108632f3"],"state_sha256":"b1ef6e403be96d309712805c56c1a91e3f5f0c5750f4d8b0483fa23ce48028d5"}