提出了一种基于LS准则、利用梯度迭代的最陡下降算法G ISDA(G rad ient IterationSteepest D escent A lgorithm,G ISDA).该算法在梯度计算上比LM S精确.新算法与传统的最陡下降算法相比,具有运算量小、容易实现等优点.G ISDA算法比LM ...提出了一种基于LS准则、利用梯度迭代的最陡下降算法G ISDA(G rad ient IterationSteepest D escent A lgorithm,G ISDA).该算法在梯度计算上比LM S精确.新算法与传统的最陡下降算法相比,具有运算量小、容易实现等优点.G ISDA算法比LM S算法收敛速度快、稳定性更好.并给出了G ISDA算法和LM S算法性能比较的计算机仿真结果和结论.展开更多
A SINS/GNSS location method based on factor diagram is proposed to meet the requirement of accurate location of substation construction personnel. In this paper, the inertial autonomous positioning, carrier motion inf...A SINS/GNSS location method based on factor diagram is proposed to meet the requirement of accurate location of substation construction personnel. In this paper, the inertial autonomous positioning, carrier motion information acquisition and satellite positioning technologies are integrated. The factor graph method is adopted to abstract the measurement information received by inertial navigation and satellite into factor nodes, and the state information into variable nodes, so as to construct the SINS/GNSS construction personnel positioning fusion factor graph model. The Gauss-Newton iterative method is used to implement the recursive updating of variable nodes, and the optimal estimate of the location information of the construction personnel is calculated, which realized the high precision location of the construction personnel. The factor graph method is verified by pedestrian navigation data. The results show that the factor graph method can continuously and stably output high-precision positioning results, and realize non-equidistant fusion of SINS and GNSS. The positioning accuracy is better than Kalman filter algorithm, and the horizontal positioning accuracy is less than 1 m. Therefore, the factor graph method proposed can provide accurate location information for substation construction personnel.展开更多
文摘提出了一种基于LS准则、利用梯度迭代的最陡下降算法G ISDA(G rad ient IterationSteepest D escent A lgorithm,G ISDA).该算法在梯度计算上比LM S精确.新算法与传统的最陡下降算法相比,具有运算量小、容易实现等优点.G ISDA算法比LM S算法收敛速度快、稳定性更好.并给出了G ISDA算法和LM S算法性能比较的计算机仿真结果和结论.
文摘A SINS/GNSS location method based on factor diagram is proposed to meet the requirement of accurate location of substation construction personnel. In this paper, the inertial autonomous positioning, carrier motion information acquisition and satellite positioning technologies are integrated. The factor graph method is adopted to abstract the measurement information received by inertial navigation and satellite into factor nodes, and the state information into variable nodes, so as to construct the SINS/GNSS construction personnel positioning fusion factor graph model. The Gauss-Newton iterative method is used to implement the recursive updating of variable nodes, and the optimal estimate of the location information of the construction personnel is calculated, which realized the high precision location of the construction personnel. The factor graph method is verified by pedestrian navigation data. The results show that the factor graph method can continuously and stably output high-precision positioning results, and realize non-equidistant fusion of SINS and GNSS. The positioning accuracy is better than Kalman filter algorithm, and the horizontal positioning accuracy is less than 1 m. Therefore, the factor graph method proposed can provide accurate location information for substation construction personnel.
基金This paper is partially supported by the Bulgarian Mutistry of Education SciencesTechnologies Project MM-515/97+1 种基金partially supported by the National Natural Science Foundation of Chinaby Natu-ral Science Foundation of Zhejiang Province.
文摘In this paper we consider some parallel iterations for splitting quadratic factors of polynomials and their convergence.
