{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:RX73BVGHHN6JAJCPXU3WZRIVJI","short_pith_number":"pith:RX73BVGH","canonical_record":{"source":{"id":"1502.03990","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-02-13T13:56:44Z","cross_cats_sorted":[],"title_canon_sha256":"7aa80b6e0795cb635907074395feddf5323a5d4fec831e6925a8a1777d7c59f6","abstract_canon_sha256":"e95dd40c1a9315f878bb7b3a6e30847dfb77ed5a4e19fb8c03edd812588112c5"},"schema_version":"1.0"},"canonical_sha256":"8dffb0d4c73b7c90244fbd376cc5154a26284dbc2a6c6e63aa39daebde1745f7","source":{"kind":"arxiv","id":"1502.03990","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1502.03990","created_at":"2026-05-18T02:27:06Z"},{"alias_kind":"arxiv_version","alias_value":"1502.03990v1","created_at":"2026-05-18T02:27:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1502.03990","created_at":"2026-05-18T02:27:06Z"},{"alias_kind":"pith_short_12","alias_value":"RX73BVGHHN6J","created_at":"2026-05-18T12:29:39Z"},{"alias_kind":"pith_short_16","alias_value":"RX73BVGHHN6JAJCP","created_at":"2026-05-18T12:29:39Z"},{"alias_kind":"pith_short_8","alias_value":"RX73BVGH","created_at":"2026-05-18T12:29:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:RX73BVGHHN6JAJCPXU3WZRIVJI","target":"record","payload":{"canonical_record":{"source":{"id":"1502.03990","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-02-13T13:56:44Z","cross_cats_sorted":[],"title_canon_sha256":"7aa80b6e0795cb635907074395feddf5323a5d4fec831e6925a8a1777d7c59f6","abstract_canon_sha256":"e95dd40c1a9315f878bb7b3a6e30847dfb77ed5a4e19fb8c03edd812588112c5"},"schema_version":"1.0"},"canonical_sha256":"8dffb0d4c73b7c90244fbd376cc5154a26284dbc2a6c6e63aa39daebde1745f7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T02:27:06.767094Z","signature_b64":"HgRzfXu2q7Ri0OmOS8UyK3q31fkY5DCHHsnbxbY4WcMsSoM18eSO8c8dlLFMnPf/JCDK0t4nc9k4PN0uSxjtAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8dffb0d4c73b7c90244fbd376cc5154a26284dbc2a6c6e63aa39daebde1745f7","last_reissued_at":"2026-05-18T02:27:06.766381Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T02:27:06.766381Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1502.03990","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":"2026-05-18T02:27:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5xWpefYVpw3C3hDfD6C1vgVnbXrAZvsexadrrhaYII4QwX95a8Qc2SImxhtAfz80Qcil8MRoJ8vsPAl6Aq9+DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T14:59:12.490483Z"},"content_sha256":"1a8ac7fa88a57640e5df3dd73c4ce5a1a7d9433dca73fc8a319164e91ed1e084","schema_version":"1.0","event_id":"sha256:1a8ac7fa88a57640e5df3dd73c4ce5a1a7d9433dca73fc8a319164e91ed1e084"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:RX73BVGHHN6JAJCPXU3WZRIVJI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Nonlinear Attitude Filtering: A Comparison Study","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"J. Trumpf, M. Zamani, R. Mahony","submitted_at":"2015-02-13T13:56:44Z","abstract_excerpt":"This paper contains a concise comparison of a number of nonlinear attitude filtering methods that have attracted attention in the robotics and aviation literature. With the help of previously published surveys and comparison studies, the vast literature on the subject is narrowed down to a small pool of competitive attitude filters. Amongst these filters is a second-order optimal minimum-energy filter recently proposed by the authors. Easily comparable discretized unit quaternion implementations of the selected filters are provided. We conduct a simulation study and compare the transient behav"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1502.03990","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":"2026-05-18T02:27:06Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"c7sN+8A1B7jYe2GZ0PfY/cleXWejz/jP57x+X1JLhoaTgHBLOb9nd8gpQke2X5rzH5GFmRqZN1AU0TboOERLCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T14:59:12.491172Z"},"content_sha256":"8cb2402c15a3da4c9492383cdeea79340a654603ab9ce317831aaec53bd49d12","schema_version":"1.0","event_id":"sha256:8cb2402c15a3da4c9492383cdeea79340a654603ab9ce317831aaec53bd49d12"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/RX73BVGHHN6JAJCPXU3WZRIVJI/bundle.json","state_url":"https://pith.science/pith/RX73BVGHHN6JAJCPXU3WZRIVJI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/RX73BVGHHN6JAJCPXU3WZRIVJI/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":"2026-05-27T14:59:12Z","links":{"resolver":"https://pith.science/pith/RX73BVGHHN6JAJCPXU3WZRIVJI","bundle":"https://pith.science/pith/RX73BVGHHN6JAJCPXU3WZRIVJI/bundle.json","state":"https://pith.science/pith/RX73BVGHHN6JAJCPXU3WZRIVJI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/RX73BVGHHN6JAJCPXU3WZRIVJI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:RX73BVGHHN6JAJCPXU3WZRIVJI","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":"e95dd40c1a9315f878bb7b3a6e30847dfb77ed5a4e19fb8c03edd812588112c5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-02-13T13:56:44Z","title_canon_sha256":"7aa80b6e0795cb635907074395feddf5323a5d4fec831e6925a8a1777d7c59f6"},"schema_version":"1.0","source":{"id":"1502.03990","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1502.03990","created_at":"2026-05-18T02:27:06Z"},{"alias_kind":"arxiv_version","alias_value":"1502.03990v1","created_at":"2026-05-18T02:27:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1502.03990","created_at":"2026-05-18T02:27:06Z"},{"alias_kind":"pith_short_12","alias_value":"RX73BVGHHN6J","created_at":"2026-05-18T12:29:39Z"},{"alias_kind":"pith_short_16","alias_value":"RX73BVGHHN6JAJCP","created_at":"2026-05-18T12:29:39Z"},{"alias_kind":"pith_short_8","alias_value":"RX73BVGH","created_at":"2026-05-18T12:29:39Z"}],"graph_snapshots":[{"event_id":"sha256:8cb2402c15a3da4c9492383cdeea79340a654603ab9ce317831aaec53bd49d12","target":"graph","created_at":"2026-05-18T02:27:06Z","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 contains a concise comparison of a number of nonlinear attitude filtering methods that have attracted attention in the robotics and aviation literature. With the help of previously published surveys and comparison studies, the vast literature on the subject is narrowed down to a small pool of competitive attitude filters. Amongst these filters is a second-order optimal minimum-energy filter recently proposed by the authors. Easily comparable discretized unit quaternion implementations of the selected filters are provided. We conduct a simulation study and compare the transient behav","authors_text":"J. Trumpf, M. Zamani, R. Mahony","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-02-13T13:56:44Z","title":"Nonlinear Attitude Filtering: A Comparison Study"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1502.03990","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":"sha256:1a8ac7fa88a57640e5df3dd73c4ce5a1a7d9433dca73fc8a319164e91ed1e084","target":"record","created_at":"2026-05-18T02:27:06Z","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":"e95dd40c1a9315f878bb7b3a6e30847dfb77ed5a4e19fb8c03edd812588112c5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.SY","submitted_at":"2015-02-13T13:56:44Z","title_canon_sha256":"7aa80b6e0795cb635907074395feddf5323a5d4fec831e6925a8a1777d7c59f6"},"schema_version":"1.0","source":{"id":"1502.03990","kind":"arxiv","version":1}},"canonical_sha256":"8dffb0d4c73b7c90244fbd376cc5154a26284dbc2a6c6e63aa39daebde1745f7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8dffb0d4c73b7c90244fbd376cc5154a26284dbc2a6c6e63aa39daebde1745f7","first_computed_at":"2026-05-18T02:27:06.766381Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:27:06.766381Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HgRzfXu2q7Ri0OmOS8UyK3q31fkY5DCHHsnbxbY4WcMsSoM18eSO8c8dlLFMnPf/JCDK0t4nc9k4PN0uSxjtAw==","signature_status":"signed_v1","signed_at":"2026-05-18T02:27:06.767094Z","signed_message":"canonical_sha256_bytes"},"source_id":"1502.03990","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1a8ac7fa88a57640e5df3dd73c4ce5a1a7d9433dca73fc8a319164e91ed1e084","sha256:8cb2402c15a3da4c9492383cdeea79340a654603ab9ce317831aaec53bd49d12"],"state_sha256":"868ca337ef351077bdd2ec3eee7b521aae2060cf5dd4f1d46b8fcfd4e3bec1e7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"faSM79SG1CLWNdu2yCHp1kni7wZ1CM+07epX1OB/0aE2Y+f7kteT7SlxQzvGTc6hwIRqw036Bdk2VacpAnDXAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T14:59:12.494369Z","bundle_sha256":"119d09175582d3f3da1e4f4c49afb59333eeb60f7736fa09ab89208a18b13a1f"}}