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基于改进MSCKF的无人机室内定位方法 被引量:2
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作者 王思鹏 杜昌平 +1 位作者 宋广华 郑耀 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2022年第4期711-717,共7页
针对无人机室内定位容易出现漂移的问题,提出基于改进多状态约束卡尔曼滤波器(MSCKF)的无人机(UAV)室内定位方法.该方法在MSCKF的框架下,提出高鲁棒性、低时延的标志点检测方法.利用在世界坐标系下坐标已知的标志点计算得到无人机位姿,... 针对无人机室内定位容易出现漂移的问题,提出基于改进多状态约束卡尔曼滤波器(MSCKF)的无人机(UAV)室内定位方法.该方法在MSCKF的框架下,提出高鲁棒性、低时延的标志点检测方法.利用在世界坐标系下坐标已知的标志点计算得到无人机位姿,实现惯性测量单元(IMU)信息与单目视觉信息融合以及无人机位姿修正.对提出的定位方法进行测试.测试结果表明,该方法的定位误差小于0.266 m,与OpenVins和LARVIO开源算法相比,定位精度提高了54.6%以上. 展开更多
关键词 无人机(UAV) 室内定位 卡尔曼滤波器 标志点检测 位姿修正
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A flexible architecture for job management in a grid environment 被引量:2
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作者 LUAN Cui-ju song guang-hua +1 位作者 ZHENG Yao ZHANG Ji-fa 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2007年第1期95-105,共11页
Job management is a key issue in computational grids, and normally involves job definition, scheduling, executing and monitoring. However, job management in the existing grid middleware needs to be improved in terms o... Job management is a key issue in computational grids, and normally involves job definition, scheduling, executing and monitoring. However, job management in the existing grid middleware needs to be improved in terms of efficiency and flexibility. This paper addresses a flexible architecture for job management with detailed design and implementation. Frameworks for job scheduling and monitoring, as two important aspects, are also presented. The proposed job management has the advantages of reusability of job definition, flexible and automatic file operation, visual steering of file transfer and job execution, and adaptive application job scheduler. A job management wizard is designed to implement each step. Therefore, what the grid user needs to do is only to define the job by constructing necessary information at runtime. In addition, the job space is adopted to ensure the security of the job management. Experimental results showed that this approach is user-friendly and system efficient. 展开更多
关键词 Grid Job management Job definition reuse Steering of job transfer Job space
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Application-adaptive resource scheduling in a computational grid 被引量:1
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作者 LUAN Cui-ju song guang-hua ZHENG Yao 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2006年第10期1634-1641,共8页
Selecting appropriate resources for running a job efficiently is one of the common objectives in a computational grid. Resource scheduling should consider the specific characteristics of the application, and decide th... Selecting appropriate resources for running a job efficiently is one of the common objectives in a computational grid. Resource scheduling should consider the specific characteristics of the application, and decide the metrics to be used accordingly. This paper presents a distributed resource scheduling framework mainly consisting of a job scheduler and a local scheduler. In order to meet the requirements of different applications, we adopt HGSA, a Heuristic-based Greedy Scheduling Algorithm, to schedule jobs in the grid, where the heuristic knowledge is the metric weights of the computing resources and the metric workload impact factors. The metric weight is used to control the effect of the metric on the application. For different applications, only metric weights and the metric workload impact factors need to be changed, while the scheduling algorithm remains the same. Experimental results are presented to demonstrate the adaptability of the HGSA. 展开更多
关键词 GRID Resource scheduling Heuristic knowledge Greedy scheduling algorithm
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