In this paper,a probe method for nonlinear programming wiht equality and inequality is given. Its iterative directions at an arbitrary point x can be obtained through solving a liear system. The terminate conditions a...In this paper,a probe method for nonlinear programming wiht equality and inequality is given. Its iterative directions at an arbitrary point x can be obtained through solving a liear system. The terminate conditions and choices of the parameters are given. The global convergence of the method is proved. Further more,some well known gradient projection type algorithms [1-15] and new gradient projection type algorithms from the linear system are given in this paper.展开更多
An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localiza...An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localization and mapping （SLAM） which allows for the simultaneous estimation of the location of the UAV as well as the location of the features it sees.Obscrvability is a key aspect of the state estimation problem of SLAM.However,the dimension and variables of SLAM system might be changed with new features.To solve this issue,a unified approach of observability analysis for SLAM system is provided,through reorganizing the system model.The dimension and variables of SLAM system keep steady,then the PWCS theory can be used to analyze the local or total observability,and under special maneuver,some system states,such as the yaw angle,become observable.Simulation results validate the proposed method.展开更多
文摘In this paper,a probe method for nonlinear programming wiht equality and inequality is given. Its iterative directions at an arbitrary point x can be obtained through solving a liear system. The terminate conditions and choices of the parameters are given. The global convergence of the method is proved. Further more,some well known gradient projection type algorithms [1-15] and new gradient projection type algorithms from the linear system are given in this paper.
基金Project(2020203)supported by the Weapon Research Foundation,China
文摘An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localization and mapping （SLAM） which allows for the simultaneous estimation of the location of the UAV as well as the location of the features it sees.Obscrvability is a key aspect of the state estimation problem of SLAM.However,the dimension and variables of SLAM system might be changed with new features.To solve this issue,a unified approach of observability analysis for SLAM system is provided,through reorganizing the system model.The dimension and variables of SLAM system keep steady,then the PWCS theory can be used to analyze the local or total observability,and under special maneuver,some system states,such as the yaw angle,become observable.Simulation results validate the proposed method.
