{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:OIVESX6ZHN47ZEGPW27XRW4NR7","short_pith_number":"pith:OIVESX6Z","schema_version":"1.0","canonical_sha256":"722a495fd93b79fc90cfb6bf78db8d8fe3af1aa02c16b1487bc33bed57df5944","source":{"kind":"arxiv","id":"2506.03537","version":1},"attestation_state":"computed","paper":{"title":"Robust Position Estimation by Rao-Blackwellized Particle Filter without Integer Ambiguity Resolution in Urban Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"An Fujino, Daiki Niimi, Junichi Meguro, Taro Suzuki","submitted_at":"2025-06-04T03:34:38Z","abstract_excerpt":"This study proposes a centimeter-accurate positioning method that utilizes a Rao-Blackwellized particle filter (RBPF) without requiring integer ambiguity resolution in global navigation satellite system (GNSS) carrier phase measurements. The conventional positioning method employing a particle filter (PF) eliminates the necessity for ambiguity resolution by calculating the likelihood from the residuals of the carrier phase based on the particle position. However, this method encounters challenges, particularly in urban environments characterized by non-line-of-sight (NLOS) multipath errors. In"},"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":"2506.03537","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-04T03:34:38Z","cross_cats_sorted":[],"title_canon_sha256":"14df30a7cbaca3323b585ddad861b88d924832ed8a4fb3f8ba30abb53878c4f9","abstract_canon_sha256":"2b40904bebb450f629632080affeed9b6196b3480b9ff611af8a2259cb1c1aba"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:20:54.851513Z","signature_b64":"k3J5n8saUKbq5kTNYU1spv32vkQn6jpNqIw7Ey11o5mZspBttUUwYCbNvSSBCgUdoByhCYNBauxvCKEF/HdjAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"722a495fd93b79fc90cfb6bf78db8d8fe3af1aa02c16b1487bc33bed57df5944","last_reissued_at":"2026-07-05T11:20:54.850881Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:20:54.850881Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Robust Position Estimation by Rao-Blackwellized Particle Filter without Integer Ambiguity Resolution in Urban Environments","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"An Fujino, Daiki Niimi, Junichi Meguro, Taro Suzuki","submitted_at":"2025-06-04T03:34:38Z","abstract_excerpt":"This study proposes a centimeter-accurate positioning method that utilizes a Rao-Blackwellized particle filter (RBPF) without requiring integer ambiguity resolution in global navigation satellite system (GNSS) carrier phase measurements. The conventional positioning method employing a particle filter (PF) eliminates the necessity for ambiguity resolution by calculating the likelihood from the residuals of the carrier phase based on the particle position. However, this method encounters challenges, particularly in urban environments characterized by non-line-of-sight (NLOS) multipath errors. In"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.03537","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/2506.03537/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":"2506.03537","created_at":"2026-07-05T11:20:54.850955+00:00"},{"alias_kind":"arxiv_version","alias_value":"2506.03537v1","created_at":"2026-07-05T11:20:54.850955+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.03537","created_at":"2026-07-05T11:20:54.850955+00:00"},{"alias_kind":"pith_short_12","alias_value":"OIVESX6ZHN47","created_at":"2026-07-05T11:20:54.850955+00:00"},{"alias_kind":"pith_short_16","alias_value":"OIVESX6ZHN47ZEGP","created_at":"2026-07-05T11:20:54.850955+00:00"},{"alias_kind":"pith_short_8","alias_value":"OIVESX6Z","created_at":"2026-07-05T11:20:54.850955+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/OIVESX6ZHN47ZEGPW27XRW4NR7","json":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7.json","graph_json":"https://pith.science/api/pith-number/OIVESX6ZHN47ZEGPW27XRW4NR7/graph.json","events_json":"https://pith.science/api/pith-number/OIVESX6ZHN47ZEGPW27XRW4NR7/events.json","paper":"https://pith.science/paper/OIVESX6Z"},"agent_actions":{"view_html":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7","download_json":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7.json","view_paper":"https://pith.science/paper/OIVESX6Z","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2506.03537&json=true","fetch_graph":"https://pith.science/api/pith-number/OIVESX6ZHN47ZEGPW27XRW4NR7/graph.json","fetch_events":"https://pith.science/api/pith-number/OIVESX6ZHN47ZEGPW27XRW4NR7/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7/action/timestamp_anchor","attest_storage":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7/action/storage_attestation","attest_author":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7/action/author_attestation","sign_citation":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7/action/citation_signature","submit_replication":"https://pith.science/pith/OIVESX6ZHN47ZEGPW27XRW4NR7/action/replication_record"}},"created_at":"2026-07-05T11:20:54.850955+00:00","updated_at":"2026-07-05T11:20:54.850955+00:00"}