{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_dd7cc056c827e3863f6172e5ab2ecaa7f67b9607ff555a591c401e850f4cc99f","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_dd7cc056c827e3863f6172e5ab2ecaa7f67b9607ff555a591c401e850f4cc99f","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"2d10ee37958a7f6921eab6c4ece12a8d7b88ad73ab76e15ececf65079a1c8abe","published":"Wed, 01 Jul 2026 00:00:00 -0400","receipt_hash":"2d10ee37958a7f6921eab6c4ece12a8d7b88ad73ab76e15ececf65079a1c8abe","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"2d10ee37958a7f6921eab6c4ece12a8d7b88ad73ab76e15ececf65079a1c8abe","observed_at":"2026-07-01T04:43:38.812993Z","parent_run_hash":"0e10ec7d671a375a4e18d8645653df2b4352c82fe16fae2a400af6f7634d6699","published":"Wed, 01 Jul 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2606.31216v1 Announce Type: cross \nAbstract: The Doppler velocity log (DVL) velocity measurements are critical to the accuracy of autonomous underwater vehicle (AUV) navigation solutions and, consequently, to mission success. To ensure accurate measurements, the DVL is commonly calibrated before mission start while the AUV sails on the water surface, receiving global navigation satellite system (GNSS) signals that provide accurate reference measurements. Conventionally, Kalman filter-based approaches are employed during calibration to estimate the scale factor and misalignment errors. However, in certain environments, GNSS signals may be unavailable, rendering conventional calibration impossible and forcing the use of uncalibrated DVL measurements, which degrades navigation performance. To address this limitation, this work proposes information-aided calibration (IAC) with two main contributions: first, improving the accuracy of conventional Kalman filter-based calibration in GNS","title":"Information-Aided DVL Calibration","url":"https://arxiv.org/abs/2606.31216","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.31216v1 Announce Type: cross \nAbstract: The Doppler velocity log (DVL) velocity measurements are critical to the accuracy of autonomous underwater vehicle (AUV) navigation solutions and, consequently, to mission success. To ensure accurate measurements, the DVL is commonly calibrated before mission start while the AUV sails on the water surface, receiving global navigation satellite system (GNSS) signals that provide accurate reference measurements. Conventionally, Kalman filter-based approaches are employed during calibration to estimate the scale factor and misalignment errors. However, in certain environments, GNSS signals may be unavailable, rendering conventional calibration impossible and forcing the use of uncalibrated DVL measurements, which degrades navigation performance. To address this limitation, this work proposes information-aided calibration (IAC) with two main contributions: first, improving the accuracy of conventional Kalman filter-based calibration in GNS","title":"Information-Aided DVL Calibration","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-01T04:43:38Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.31216"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:ec6e7c39cf33bb62b72968c2796c6ddee025eefbc92d31b30f532bed6845bbe0df367c506284fb38d40bab8bce3cb8d05d404c7c07a8f4ddea874652218e4305","signer":"crovia.substrate","subject":{"observed_at":"2026-07-01T04:43:38Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.31216"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"89df2692c24d3fc0db71646903cc147a9db3b84b1fe194f308f5ae6dcc832b72","leaf_index":268546,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"d4256df332deb5bcfd22e7d91d5e497d11e6ef6d211c77ba41b43632ad60ffaf","side":"right"},{"sibling":"b019442e550c4a38d8875dd2cbf76e36c76cf22ea0be8c0fef09dc5b24aa20f0","side":"left"},{"sibling":"9ad56d8a397231fc5fd3baf0c7cc78dad1d45e90369f444ba8f84121c02db703","side":"right"},{"sibling":"ccae8c8f4c543d6c2545b3c584294c6cd26c49a60caac17a8e0d22bc1c00fc8b","side":"right"},{"sibling":"b8a04be0253ea3b510f85e02d817c449ac608e48c0dd12c773dd0c409d2dc0d0","side":"right"},{"sibling":"55d5f1affa4a9cb8d200ee98281b9e7ab4a9f9d3dd99346028f8f69d2be2bd4b","side":"right"},{"sibling":"2a620d13de3a2b5aae1d09dc3d2444c6ce65b72ca418c36b1f888ad307fce367","side":"right"},{"sibling":"09d2631e35e497faf605540c596009624dcf181a796c7acf51592f060eb3f046","side":"right"},{"sibling":"4b14e8ccae46b588748944ffaf410222f66cebc2ac58d936cbe16847b7be9508","side":"left"},{"sibling":"bbd9a20451913e8c7b910f616d5661d9b281a94af70d201ba50b3112d429521b","side":"right"},{"sibling":"85af80e45748c1e0da1e2f42d9d66da8996016888a034f20eb17ff0a73b69eab","side":"right"},{"sibling":"4575fde969d1d9a2984cc01a37ac8441238f74527d42874272dc5582dadebb4f","side":"left"},{"sibling":"f536de281672cbf0b583a3dc46faef1de2823b72bd9265c7b60e889131cc268d","side":"left"},{"sibling":"95b8b0f67237052a17c41fa8cbdce2b79bcb5aeeba3fdb239d4c4497e598115d","side":"right"},{"sibling":"c2f351f771cee329448890504d9436792ba482e50250ca9a19289311131f96c8","side":"right"},{"sibling":"c39bfb2e911ca37ae997690bfc04128ae32e6806ee1cb3908781a7e6685022a0","side":"right"},{"sibling":"a101b4c60ef6854ac3d750eef02d8e2e06c153284b5ecb7111302f97eb129797","side":"right"},{"sibling":"eae2a3de5cb35455ad60125e196cfadaba8a590c53146e95028469f53f70349c","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":268860,"merkle_root":"d098f25810d0569730b6c0e170d57f329a70359d483b47874b5f2fc51d23de65","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260701T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-01T05:38:05Z","sig_algorithm":"ed25519","signature":"64f37f0e3df0556baa55b924a736cab8005643fa0ab65b503f22407de30eab293e6e0bd62904270fda38d05084bb350c8c0d0aadb2c5a6bae5f1c54598e6d30c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_dd7cc056c827e3863f6172e5ab2ecaa7f67b9607ff555a591c401e850f4cc99f"}}