human: Given a hyperedge-centered hypergraph: <hypergraph>, where the center hyperedge is induced by one source paper and its member nodes are the cited papers.

Details of the hypergraph:
Center hyperedge (induced by source paper "optimization based alignment for strapdown inertial navigation system comparison and extension"):
  Abstract: In this paper, the optimization-based alignment (OBA) methods are investigated with the main focus on the vector observation construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are twofold. First, the OBA method is extended to be able to estimate the gyroscope biases coupled with the attitude based on the construction process of the existing OBA methods. This extension transforms the initial alignment into an attitude estimation problem that can be solved by using the nonlinear filtering algorithms. The second contribution is the comprehensive evaluation of the OBA methods and their extensions with different vector observations construction procedures in terms of convergence speed and steady-state estimate by using field test data collected from different grades of SINS. This study is expected to facilitate the selection of appropriate OBA methods for different grades of SINS.

Includes members:
  Member "a new technique for ins gnss attitude and parameter estimation using online optimization":
    also connected through other hyperedges:
      - Hyperedge HE-1 (induced by source paper "real time magnetometer disturbance estimation via online nonlinear programming")
  Member "velocity position integration formula part i application to in flight coarse alignment":
    also connected through other hyperedges:
      - Hyperedge HE-2 (induced by source paper "on inertial navigation and attitude initialization in polar areas")
  Member "velocity position integration formula part ii application to strapdown inertial navigation computation":
    also connected through other hyperedges:
      - Hyperedge HE-3 (induced by source paper "inavfiter next generation inertial navigation computation based on functional iteration")
  Member "observability of strapdown ins alignment a global perspective":
    also connected through other hyperedges:
      - Hyperedge HE-4 (induced by source paper "gyroscope calibration via magnetometer")

Question: Please tell me which class the source paper belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)