{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:TI2JN4CGCM64A37XKTS4QKOD7O","short_pith_number":"pith:TI2JN4CG","canonical_record":{"source":{"id":"2103.10696","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-19T09:10:51Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2abfd1128480afbb4bfda4eaca682aa103ca6b698f086f200ef1c344c58e8f77","abstract_canon_sha256":"54d96657a9f6d41abcb1ffcd6e61b8f58e67d4532bacdcefd67dc6d82eb9a8a3"},"schema_version":"1.0"},"canonical_sha256":"9a3496f046133dc06ff754e5c829c3fb9fa81d03aa0332ec715696e3c9e0e54c","source":{"kind":"arxiv","id":"2103.10696","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.10696","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"arxiv_version","alias_value":"2103.10696v3","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.10696","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"pith_short_12","alias_value":"TI2JN4CGCM64","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"pith_short_16","alias_value":"TI2JN4CGCM64A37X","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"pith_short_8","alias_value":"TI2JN4CG","created_at":"2026-07-05T06:05:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:TI2JN4CGCM64A37XKTS4QKOD7O","target":"record","payload":{"canonical_record":{"source":{"id":"2103.10696","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-19T09:10:51Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"2abfd1128480afbb4bfda4eaca682aa103ca6b698f086f200ef1c344c58e8f77","abstract_canon_sha256":"54d96657a9f6d41abcb1ffcd6e61b8f58e67d4532bacdcefd67dc6d82eb9a8a3"},"schema_version":"1.0"},"canonical_sha256":"9a3496f046133dc06ff754e5c829c3fb9fa81d03aa0332ec715696e3c9e0e54c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:05:24.637510Z","signature_b64":"Ua0y9FfiE4L6iIJIIaFdEtfqeE7IZV8D3iJEE5b7/5AOjJOJBqW29S+TKR8FZ0ZBqlPmTVSUah/EiJ9GHJPIAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9a3496f046133dc06ff754e5c829c3fb9fa81d03aa0332ec715696e3c9e0e54c","last_reissued_at":"2026-07-05T06:05:24.636996Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:05:24.636996Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2103.10696","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:05:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z5eg4mRJs10Qkt2fQa9FLslzI7vVzKERgBJesPW9wpVvMo64BwDLPWx9MyU4eg4djKfaTgfcGiVp+uzvRyKPAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:51:04.953397Z"},"content_sha256":"53a3a2752a2051b2310579c8c19398e84fe94da3b8ea7ce5db8cc964c38e247d","schema_version":"1.0","event_id":"sha256:53a3a2752a2051b2310579c8c19398e84fe94da3b8ea7ce5db8cc964c38e247d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:TI2JN4CGCM64A37XKTS4QKOD7O","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Dirk Abel, Kaizheng Wang, Shuchen Liu","submitted_at":"2021-03-19T09:10:51Z","abstract_excerpt":"In autonomous applications for mobility and transport, a high-rate and highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) and inertial sensors. The state estimation and its protection-level generation often suffer from satellite-signal disturbances in urban environments and subsequent poor parametrization of the satellite observables. Thus, we propose an innovative scheme involving an extended H_infinity filter (EHF) for robust state estimation and zonotope for the protection-level generation. This scheme is shown as part o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.10696","kind":"arxiv","version":3},"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/2103.10696/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:05:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"gdUf0ktQnYZaebjsOIVtyn/es+R/GyBrfvi2/jPn87ttEExIE1Z63qrc6oaRSoEzUkV2TTUJm7dmaaR4mtucBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T05:51:04.953945Z"},"content_sha256":"7339344150460ae404cc75fff28deb86bec5c863796629539d7dbc8f7c479ca8","schema_version":"1.0","event_id":"sha256:7339344150460ae404cc75fff28deb86bec5c863796629539d7dbc8f7c479ca8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TI2JN4CGCM64A37XKTS4QKOD7O/bundle.json","state_url":"https://pith.science/pith/TI2JN4CGCM64A37XKTS4QKOD7O/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TI2JN4CGCM64A37XKTS4QKOD7O/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":"2026-08-06T05:51:04Z","links":{"resolver":"https://pith.science/pith/TI2JN4CGCM64A37XKTS4QKOD7O","bundle":"https://pith.science/pith/TI2JN4CGCM64A37XKTS4QKOD7O/bundle.json","state":"https://pith.science/pith/TI2JN4CGCM64A37XKTS4QKOD7O/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TI2JN4CGCM64A37XKTS4QKOD7O/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:TI2JN4CGCM64A37XKTS4QKOD7O","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":"54d96657a9f6d41abcb1ffcd6e61b8f58e67d4532bacdcefd67dc6d82eb9a8a3","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-19T09:10:51Z","title_canon_sha256":"2abfd1128480afbb4bfda4eaca682aa103ca6b698f086f200ef1c344c58e8f77"},"schema_version":"1.0","source":{"id":"2103.10696","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2103.10696","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"arxiv_version","alias_value":"2103.10696v3","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2103.10696","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"pith_short_12","alias_value":"TI2JN4CGCM64","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"pith_short_16","alias_value":"TI2JN4CGCM64A37X","created_at":"2026-07-05T06:05:24Z"},{"alias_kind":"pith_short_8","alias_value":"TI2JN4CG","created_at":"2026-07-05T06:05:24Z"}],"graph_snapshots":[{"event_id":"sha256:7339344150460ae404cc75fff28deb86bec5c863796629539d7dbc8f7c479ca8","target":"graph","created_at":"2026-07-05T06:05:24Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2103.10696/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In autonomous applications for mobility and transport, a high-rate and highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) and inertial sensors. The state estimation and its protection-level generation often suffer from satellite-signal disturbances in urban environments and subsequent poor parametrization of the satellite observables. Thus, we propose an innovative scheme involving an extended H_infinity filter (EHF) for robust state estimation and zonotope for the protection-level generation. This scheme is shown as part o","authors_text":"Dirk Abel, Kaizheng Wang, Shuchen Liu","cross_cats":["cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-19T09:10:51Z","title":"Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.10696","kind":"arxiv","version":3},"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":"sha256:53a3a2752a2051b2310579c8c19398e84fe94da3b8ea7ce5db8cc964c38e247d","target":"record","created_at":"2026-07-05T06:05:24Z","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":"54d96657a9f6d41abcb1ffcd6e61b8f58e67d4532bacdcefd67dc6d82eb9a8a3","cross_cats_sorted":["cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"eess.SY","submitted_at":"2021-03-19T09:10:51Z","title_canon_sha256":"2abfd1128480afbb4bfda4eaca682aa103ca6b698f086f200ef1c344c58e8f77"},"schema_version":"1.0","source":{"id":"2103.10696","kind":"arxiv","version":3}},"canonical_sha256":"9a3496f046133dc06ff754e5c829c3fb9fa81d03aa0332ec715696e3c9e0e54c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9a3496f046133dc06ff754e5c829c3fb9fa81d03aa0332ec715696e3c9e0e54c","first_computed_at":"2026-07-05T06:05:24.636996Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:05:24.636996Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Ua0y9FfiE4L6iIJIIaFdEtfqeE7IZV8D3iJEE5b7/5AOjJOJBqW29S+TKR8FZ0ZBqlPmTVSUah/EiJ9GHJPIAg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:05:24.637510Z","signed_message":"canonical_sha256_bytes"},"source_id":"2103.10696","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:53a3a2752a2051b2310579c8c19398e84fe94da3b8ea7ce5db8cc964c38e247d","sha256:7339344150460ae404cc75fff28deb86bec5c863796629539d7dbc8f7c479ca8"],"state_sha256":"7e4bb1b46e41505f8b701918d4c1e848401c930fd1fd172710861e88caf595a5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EkrC99LbVQ3nOzxn0WBJx3m6GGcrh/AYiCdDcHfxgC8+MgFfQtAH4cM8lEkZdIh4z3XHEIFzbJaSf3vocENADQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T05:51:04.957908Z","bundle_sha256":"3fb49c868e087fa6c9267befdfc1eb33e5f2ca6258ba373e2054a44eb0c77a8c"}}