{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:V6A2SG7KWGNTVZ7CQM5PWJ5365","short_pith_number":"pith:V6A2SG7K","canonical_record":{"source":{"id":"2412.11882","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T15:31:15Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"715c4954772890f60aba6b7808ce9800426ea02e093b5a35e84fea769fbaf96e","abstract_canon_sha256":"af4f24b8a17afcd4e863d5b6c27f0839cda073a2cdeec1e41fe7fe86546591aa"},"schema_version":"1.0"},"canonical_sha256":"af81a91beab19b3ae7e2833afb27bbf76c449dc9ccb69cca636e7231f5435985","source":{"kind":"arxiv","id":"2412.11882","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.11882","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"arxiv_version","alias_value":"2412.11882v1","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.11882","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"pith_short_12","alias_value":"V6A2SG7KWGNT","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"pith_short_16","alias_value":"V6A2SG7KWGNTVZ7C","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"pith_short_8","alias_value":"V6A2SG7K","created_at":"2026-07-05T09:49:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:V6A2SG7KWGNTVZ7CQM5PWJ5365","target":"record","payload":{"canonical_record":{"source":{"id":"2412.11882","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T15:31:15Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"715c4954772890f60aba6b7808ce9800426ea02e093b5a35e84fea769fbaf96e","abstract_canon_sha256":"af4f24b8a17afcd4e863d5b6c27f0839cda073a2cdeec1e41fe7fe86546591aa"},"schema_version":"1.0"},"canonical_sha256":"af81a91beab19b3ae7e2833afb27bbf76c449dc9ccb69cca636e7231f5435985","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:49:53.093460Z","signature_b64":"UrFzQH8eRj7kaw2E+mSdTWur8cHsg8RDfWAkvotFbQntyKB39dsuFFahjly26Ya92qazwOdG18NFx8gIdoiLBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"af81a91beab19b3ae7e2833afb27bbf76c449dc9ccb69cca636e7231f5435985","last_reissued_at":"2026-07-05T09:49:53.092837Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:49:53.092837Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.11882","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":"2026-07-05T09:49:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5pXYE9ij9iZcIaWtzvlA6gLXFFfKFF6cNWr7u8+hUWdvUhV8aEl0saJfN0emnCyf17IE6VjqbLu0U8gwSioeAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T07:27:47.283626Z"},"content_sha256":"4b4d0558a849e59d8d81c77451dad6bc204c5f22b994b5a34e703d19a02e3d52","schema_version":"1.0","event_id":"sha256:4b4d0558a849e59d8d81c77451dad6bc204c5f22b994b5a34e703d19a02e3d52"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:V6A2SG7KWGNTVZ7CQM5PWJ5365","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Hardware-in-the-loop Simulation Testbed for Geomagnetic Navigation","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Qianyun Zhang, Shiliang Zhang, Songnan Yang, Xiaohui Zhang, Xuehui Ma","submitted_at":"2024-12-16T15:31:15Z","abstract_excerpt":"Geomagnetic navigation leverages the ubiquitous Earth's magnetic signals to navigate missions, without dependence on GPS services or pre-stored geographic maps. It has drawn increasing attention and is promising particularly for long-range navigation into unexplored areas. Current geomagnetic navigation studies are still in the early stages with simulations and computational validations, without concrete efforts to develop cost-friendly test platforms that can empower deployment and experimental analysis of the developed approaches. This paper presents a hardware-in-the-loop simulation testbed"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.11882","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/2412.11882/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":"2026-07-05T09:49:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ONQdjuVPtkgYsiBqUzNSInoEe0j/kauDpFw2d4h06HunvI6fPmgovMzjlAzsTZEd8mnCvxyyjnLgI6NqBbwpDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T07:27:47.284611Z"},"content_sha256":"b989299358a337c272d9056cdef10d7b6f926f5f492b59af81d8cc1ca177bc4d","schema_version":"1.0","event_id":"sha256:b989299358a337c272d9056cdef10d7b6f926f5f492b59af81d8cc1ca177bc4d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/V6A2SG7KWGNTVZ7CQM5PWJ5365/bundle.json","state_url":"https://pith.science/pith/V6A2SG7KWGNTVZ7CQM5PWJ5365/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/V6A2SG7KWGNTVZ7CQM5PWJ5365/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":"2026-08-19T07:27:47Z","links":{"resolver":"https://pith.science/pith/V6A2SG7KWGNTVZ7CQM5PWJ5365","bundle":"https://pith.science/pith/V6A2SG7KWGNTVZ7CQM5PWJ5365/bundle.json","state":"https://pith.science/pith/V6A2SG7KWGNTVZ7CQM5PWJ5365/state.json","well_known_bundle":"https://pith.science/.well-known/pith/V6A2SG7KWGNTVZ7CQM5PWJ5365/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:V6A2SG7KWGNTVZ7CQM5PWJ5365","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":"af4f24b8a17afcd4e863d5b6c27f0839cda073a2cdeec1e41fe7fe86546591aa","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T15:31:15Z","title_canon_sha256":"715c4954772890f60aba6b7808ce9800426ea02e093b5a35e84fea769fbaf96e"},"schema_version":"1.0","source":{"id":"2412.11882","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.11882","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"arxiv_version","alias_value":"2412.11882v1","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.11882","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"pith_short_12","alias_value":"V6A2SG7KWGNT","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"pith_short_16","alias_value":"V6A2SG7KWGNTVZ7C","created_at":"2026-07-05T09:49:53Z"},{"alias_kind":"pith_short_8","alias_value":"V6A2SG7K","created_at":"2026-07-05T09:49:53Z"}],"graph_snapshots":[{"event_id":"sha256:b989299358a337c272d9056cdef10d7b6f926f5f492b59af81d8cc1ca177bc4d","target":"graph","created_at":"2026-07-05T09:49:53Z","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/2412.11882/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Geomagnetic navigation leverages the ubiquitous Earth's magnetic signals to navigate missions, without dependence on GPS services or pre-stored geographic maps. It has drawn increasing attention and is promising particularly for long-range navigation into unexplored areas. Current geomagnetic navigation studies are still in the early stages with simulations and computational validations, without concrete efforts to develop cost-friendly test platforms that can empower deployment and experimental analysis of the developed approaches. This paper presents a hardware-in-the-loop simulation testbed","authors_text":"Qianyun Zhang, Shiliang Zhang, Songnan Yang, Xiaohui Zhang, Xuehui Ma","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T15:31:15Z","title":"Hardware-in-the-loop Simulation Testbed for Geomagnetic Navigation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.11882","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":"sha256:4b4d0558a849e59d8d81c77451dad6bc204c5f22b994b5a34e703d19a02e3d52","target":"record","created_at":"2026-07-05T09:49:53Z","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":"af4f24b8a17afcd4e863d5b6c27f0839cda073a2cdeec1e41fe7fe86546591aa","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-16T15:31:15Z","title_canon_sha256":"715c4954772890f60aba6b7808ce9800426ea02e093b5a35e84fea769fbaf96e"},"schema_version":"1.0","source":{"id":"2412.11882","kind":"arxiv","version":1}},"canonical_sha256":"af81a91beab19b3ae7e2833afb27bbf76c449dc9ccb69cca636e7231f5435985","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"af81a91beab19b3ae7e2833afb27bbf76c449dc9ccb69cca636e7231f5435985","first_computed_at":"2026-07-05T09:49:53.092837Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:49:53.092837Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UrFzQH8eRj7kaw2E+mSdTWur8cHsg8RDfWAkvotFbQntyKB39dsuFFahjly26Ya92qazwOdG18NFx8gIdoiLBw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:49:53.093460Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.11882","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4b4d0558a849e59d8d81c77451dad6bc204c5f22b994b5a34e703d19a02e3d52","sha256:b989299358a337c272d9056cdef10d7b6f926f5f492b59af81d8cc1ca177bc4d"],"state_sha256":"6fa14bb3a0387438f76e312738471ad5dedb77f5261ae30d8de6cd71a24ea2c0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3dBySa1zjinGTgcP1A4TgNN83nmTIdRAwHFdT+AeVCffmsFfuwQuAqSw9OI0wlaLmw9fF4f4yhryf+x2N01cDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T07:27:47.289824Z","bundle_sha256":"7f4fcad4f1f7cb914a274bcdc4002607a99fecf4640eac91077eec2753230cae"}}