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Limited Memory BFGS Method for Least Squares Semidefinite Programming with Banded Structure

Journal of Systems Science & Complexity 2022年第4期35卷 1500-1519页

作者： XUE Wenjuan SHEN Chungen YU Zhensheng School of Mathematics and Physics Shanghai University of Electric PowerShanghai200090China University of Shanghai for Science and Technology Shanghai200093China

This work is intended to solve the least squares semidefinite program with a banded structure. A limited memory BFGS method is presented to solve this structured program of high dimension.In the algorithm, the inverse power iteration and orthogonal iteration are employed to calculate partial eigenvectors instead of full decomposition of n × n matrices. One key feature of the algorithm is that it is proved to be globally convergent under inexact gradient information. Preliminary numerical results indicate that the proposed algorithm is comparable with the inexact smoothing Newton method on some large instances of the structured problem.

关键词： Banded structure inexact gradient least squares semidefinite program limited memory BFGS orthogonal iteration

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Monocular Vision Based Relative Localization For Fixed⁃wing Unmanned Aerial Vehicle Landing

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Journal of Harbin Institute of Technology(New Series) 2022年第1期29卷 1-14页

作者： Yuwen Xu Yunfeng Cao Zhouyu Zhang College of Astronautics Nanjing University of Aeronautics and AstronauticsNanjing 210000China

Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation between fixed⁃wing UAV and runway,which is a key issue in autonomous landing.Images taken by a airborne camera was used and a runway detection method based on long⁃line feature and gradient projection is proposed,which solved the problem that the traditional Hough transform requires much calculation time and easily detects end points by mistake.Under the premise of the known width and length of the runway,position and attitude estimation algorithm used the image processing results and adopted an estimation algorithm based on orthogonal iteration.The method took the objective space error as error function and effectively improved the accuracy of linear algorithm through iteration.The experimental results verified the effectiveness of the proposed algorithms.

关键词： autonomous landing visual navigation Region of Interest(ROI) edge detection orthogonal iteration

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