@prefix dct: <http://purl.org/dc/terms/> .
@prefix ns1: <http://www.w3.org/ns/prov#> .
@prefix this: <http://purl.org/np/RAFX3p2IvbDErd2WHi5u7luWHZBuw5q_0O4yEmuZxW5x8> .
@prefix sub: <http://purl.org/np/RAFX3p2IvbDErd2WHi5u7luWHZBuw5q_0O4yEmuZxW5x8#> .
@prefix np: <http://www.nanopub.org/nschema#> .
@prefix nt: <https://w3id.org/np/o/ntemplate/> .
@prefix npx: <http://purl.org/nanopub/x/> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .
@prefix orcid: <https://orcid.org/> .
@prefix sp: <https://w3id.org/linkflows/superpattern/terms/> .

sub:Head {
  this: a np:Nanopublication;
    np:hasAssertion sub:assertion;
    np:hasProvenance sub:provenance;
    np:hasPublicationInfo sub:pubinfo .
}

sub:assertion {
  sub:spi a sp:SuperPatternInstance;
    sp:hasContextClass <http://purl.org/np/RAgzrgrP-gMGgt56z7dsxX8GKPc-v-YgLjz7LH8LWRKuo#rigid-body-attitude-estimation>;
    sp:hasObjectClass <http://purl.org/np/RAz7GoIr_torPzmg3E1B0iED89oxKgPJIjGEjCNllPBqw#human-motion-application>;
    sp:hasQualifier sp:canQualifier;
    sp:hasRelation sp:contributesTo;
    sp:hasSubjectClass <http://purl.org/np/RAnEbMdKWObzYNQkE1JP24gk2NyGL8TlLnvouNML31Zgg#viable-quaternion-based-complementary-observers> .
}

sub:provenance {
  sub:assertion ns1:wasDerivedFrom <https://doi.org/10.1109/TMECH.2012.2225151> .
}

sub:pubinfo {
  sub:sig npx:hasAlgorithm "RSA";
    npx:hasPublicKey "MIGfMA0GCSqGSIb3DQEBAQUAA4GNADCBiQKBgQCJlM78d80R+gFMoQB1IG3f7AbqqGOCIv4HmZd1cx1KgEWMUUpPsojFNvx84fC/TltcJ8F8JafnbhDXW2HM2MhdK4yC04ROEV1vIgSzjDicHfiqXvMqdPuMyQp4mmCEY7mUoeEW10mWZqjk+S9TnmiAQbFGcpExP8aosr2aTR7CSQIDAQAB";
    npx:hasSignature "ISMnkgdpT9OMTfA+9msgkP1DDGNqml8Ak8MnUu4rX3PDAxbzPCbVfEqYmXUh1paSEOwjU/udUzurc3NDY8/jvE1huoW2p1ZIzxUHLfGjMmn63on+ygWXMTRW+2zD0TBi1LQkHZLNF391zldxY3y7jKq5kX3aLKM1AqolZaYy+fg=";
    npx:hasSignatureTarget this: .
  
  this: dct:created "2021-01-25T15:43:24.298+02:00"^^xsd:dateTime;
    dct:creator orcid:0000-0002-7114-6459;
    npx:introduces sub:spi;
    nt:wasCreatedFromProvenanceTemplate <http://purl.org/np/RAcTpoh5Ra0ssqmcpOgWdaZ_YiPE6demO6cpw-2RvSNs8>;
    nt:wasCreatedFromPubinfoTemplate <http://purl.org/np/RAA2MfqdBCzmz9yVWjKLXNbyfBNcwsMmOqcNUxkk1maIM>;
    nt:wasCreatedFromTemplate <http://purl.org/np/RANVK7g5HbE49j8O5eK_APNLziIn-rUXC6FgCqJtCKZlg> .
}