{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2017:T6VP6RKQJSWPADLUCPYOTSPAQ2","short_pith_number":"pith:T6VP6RKQ","canonical_record":{"source":{"id":"1707.07082","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-07-22T01:35:11Z","cross_cats_sorted":[],"title_canon_sha256":"ef6cfc85834c20ebc4576b4040aa223b6f52a25157573544463cccf03e11a1ea","abstract_canon_sha256":"78ed80bc795a778298f6ffd59c2e0b1bc7bb1641a4ea31d476dbe17da0e8f106"},"schema_version":"1.0"},"canonical_sha256":"9faaff45504cacf00d7413f0e9c9e086bd34ecef7da1ea707f04bff4bd886ad0","source":{"kind":"arxiv","id":"1707.07082","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1707.07082","created_at":"2026-05-18T00:39:45Z"},{"alias_kind":"arxiv_version","alias_value":"1707.07082v1","created_at":"2026-05-18T00:39:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1707.07082","created_at":"2026-05-18T00:39:45Z"},{"alias_kind":"pith_short_12","alias_value":"T6VP6RKQJSWP","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"T6VP6RKQJSWPADLU","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"T6VP6RKQ","created_at":"2026-05-18T12:31:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2017:T6VP6RKQJSWPADLUCPYOTSPAQ2","target":"record","payload":{"canonical_record":{"source":{"id":"1707.07082","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-07-22T01:35:11Z","cross_cats_sorted":[],"title_canon_sha256":"ef6cfc85834c20ebc4576b4040aa223b6f52a25157573544463cccf03e11a1ea","abstract_canon_sha256":"78ed80bc795a778298f6ffd59c2e0b1bc7bb1641a4ea31d476dbe17da0e8f106"},"schema_version":"1.0"},"canonical_sha256":"9faaff45504cacf00d7413f0e9c9e086bd34ecef7da1ea707f04bff4bd886ad0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:39:45.410058Z","signature_b64":"8xQYCLHnD7pOtxAiaqHHnwhJc90ltv8njCsw90+gY1a+YA13xCAMQ+VeCVk280xZbAlqPBNjRx88Q1WEX91ACQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9faaff45504cacf00d7413f0e9c9e086bd34ecef7da1ea707f04bff4bd886ad0","last_reissued_at":"2026-05-18T00:39:45.409354Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:39:45.409354Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1707.07082","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":"2026-05-18T00:39:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0ONo7e/DK/JUNvbu5pkAi0GNApH9XHyxLXDHyqWfU1NNH69wZYlwysMp3lkceEGPti3JKQqIBE3uS4J8+luYAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T12:45:54.654580Z"},"content_sha256":"1098456ff4ff8f035ba6637060f09625220338391a1f59bde02e79f6c6e0508e","schema_version":"1.0","event_id":"sha256:1098456ff4ff8f035ba6637060f09625220338391a1f59bde02e79f6c6e0508e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2017:T6VP6RKQJSWPADLUCPYOTSPAQ2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Gyroscope Calibration via Magnetometer","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ling Pei, Yuanxin Wu","submitted_at":"2017-07-22T01:35:11Z","abstract_excerpt":"Magnetometers, gyroscopes and accelerometers are commonly used sensors in a variety of applications. The paper proposes a novel gyroscope calibration method in the homogeneous magnetic field by the help of magnetometer. It is shown that, with sufficient rotation excitation, the homogeneous magnetic field vector can be exploited to serve as a good reference for calibrating low-cost gyroscopes. The calibration parameters include the gyroscope scale factor, non-orthogonal coefficient and bias for three axes, as well as its misalignment to the magnetometer frame. Simulation and field test results "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.07082","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":"2026-05-18T00:39:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ex1/RbpLMPSubWQDat9RCiYs8gvsZFgHHMlOvSwCJQZ91OOl4JJbhid9mvdTHLSUWd3gm3s4kfEpVAkYZk+PDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T12:45:54.655006Z"},"content_sha256":"9803b66f9cc32a312f8015fda9f77c23a0987ee1bd1e8070ca76e7bc12a72b32","schema_version":"1.0","event_id":"sha256:9803b66f9cc32a312f8015fda9f77c23a0987ee1bd1e8070ca76e7bc12a72b32"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T6VP6RKQJSWPADLUCPYOTSPAQ2/bundle.json","state_url":"https://pith.science/pith/T6VP6RKQJSWPADLUCPYOTSPAQ2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T6VP6RKQJSWPADLUCPYOTSPAQ2/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":"2026-05-28T12:45:54Z","links":{"resolver":"https://pith.science/pith/T6VP6RKQJSWPADLUCPYOTSPAQ2","bundle":"https://pith.science/pith/T6VP6RKQJSWPADLUCPYOTSPAQ2/bundle.json","state":"https://pith.science/pith/T6VP6RKQJSWPADLUCPYOTSPAQ2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T6VP6RKQJSWPADLUCPYOTSPAQ2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:T6VP6RKQJSWPADLUCPYOTSPAQ2","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":"78ed80bc795a778298f6ffd59c2e0b1bc7bb1641a4ea31d476dbe17da0e8f106","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-07-22T01:35:11Z","title_canon_sha256":"ef6cfc85834c20ebc4576b4040aa223b6f52a25157573544463cccf03e11a1ea"},"schema_version":"1.0","source":{"id":"1707.07082","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1707.07082","created_at":"2026-05-18T00:39:45Z"},{"alias_kind":"arxiv_version","alias_value":"1707.07082v1","created_at":"2026-05-18T00:39:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1707.07082","created_at":"2026-05-18T00:39:45Z"},{"alias_kind":"pith_short_12","alias_value":"T6VP6RKQJSWP","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_16","alias_value":"T6VP6RKQJSWPADLU","created_at":"2026-05-18T12:31:43Z"},{"alias_kind":"pith_short_8","alias_value":"T6VP6RKQ","created_at":"2026-05-18T12:31:43Z"}],"graph_snapshots":[{"event_id":"sha256:9803b66f9cc32a312f8015fda9f77c23a0987ee1bd1e8070ca76e7bc12a72b32","target":"graph","created_at":"2026-05-18T00:39:45Z","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":"Magnetometers, gyroscopes and accelerometers are commonly used sensors in a variety of applications. The paper proposes a novel gyroscope calibration method in the homogeneous magnetic field by the help of magnetometer. It is shown that, with sufficient rotation excitation, the homogeneous magnetic field vector can be exploited to serve as a good reference for calibrating low-cost gyroscopes. The calibration parameters include the gyroscope scale factor, non-orthogonal coefficient and bias for three axes, as well as its misalignment to the magnetometer frame. Simulation and field test results ","authors_text":"Ling Pei, Yuanxin Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-07-22T01:35:11Z","title":"Gyroscope Calibration via Magnetometer"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.07082","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":"sha256:1098456ff4ff8f035ba6637060f09625220338391a1f59bde02e79f6c6e0508e","target":"record","created_at":"2026-05-18T00:39:45Z","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":"78ed80bc795a778298f6ffd59c2e0b1bc7bb1641a4ea31d476dbe17da0e8f106","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-07-22T01:35:11Z","title_canon_sha256":"ef6cfc85834c20ebc4576b4040aa223b6f52a25157573544463cccf03e11a1ea"},"schema_version":"1.0","source":{"id":"1707.07082","kind":"arxiv","version":1}},"canonical_sha256":"9faaff45504cacf00d7413f0e9c9e086bd34ecef7da1ea707f04bff4bd886ad0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9faaff45504cacf00d7413f0e9c9e086bd34ecef7da1ea707f04bff4bd886ad0","first_computed_at":"2026-05-18T00:39:45.409354Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:39:45.409354Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8xQYCLHnD7pOtxAiaqHHnwhJc90ltv8njCsw90+gY1a+YA13xCAMQ+VeCVk280xZbAlqPBNjRx88Q1WEX91ACQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:39:45.410058Z","signed_message":"canonical_sha256_bytes"},"source_id":"1707.07082","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1098456ff4ff8f035ba6637060f09625220338391a1f59bde02e79f6c6e0508e","sha256:9803b66f9cc32a312f8015fda9f77c23a0987ee1bd1e8070ca76e7bc12a72b32"],"state_sha256":"fe95a35facbd6f073c5650b51156d82ed3adaaed6cf2f69fb1555629ac94c74b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+SY+OP3yzL+phhyGILVkBkPUoA3vv992kdUC9NBz0uVyGGyEi6F/HtB6H6iWIiP96F0QCqTi726qSWKjoaCLBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T12:45:54.656994Z","bundle_sha256":"e4699d97fab66724ec0ad59e3be43b5b0d384a93469e6b49a77c4df6a90d125c"}}