A continuous⁃time distributed optimization was researched for second⁃order heterogeneous multi⁃agent systems.The aim of this study is to keep the velocities of all agents the same and make the velocities converge to t...A continuous⁃time distributed optimization was researched for second⁃order heterogeneous multi⁃agent systems.The aim of this study is to keep the velocities of all agents the same and make the velocities converge to the optimal value to minimize the sum of local cost functions.First,an effective distributed controller which only uses local information was designed.Then,the stability and optimization of the systems were verified.Finally,a simulation case was used to illustrate the analytical results.展开更多
针对室内WiFi和蓝牙单独定位时定位精度较低的问题,提出基于多属性代价函数的WiFi与蓝牙总体最小二乘(TLS)融合定位算法。为减小接收信号强度指示(RSSI)值不稳定的信标节点造成的测距误差,采用WiFi/蓝牙多属性代价函数综合评估信标定位...针对室内WiFi和蓝牙单独定位时定位精度较低的问题,提出基于多属性代价函数的WiFi与蓝牙总体最小二乘(TLS)融合定位算法。为减小接收信号强度指示(RSSI)值不稳定的信标节点造成的测距误差,采用WiFi/蓝牙多属性代价函数综合评估信标定位性能,优选出最佳信标节点参与融合定位。在定位解算中,同时考虑测距误差和信标节点部署误差。采用TLS算法对待定位节点进行最优位置估计,进一步提高定位精度。实验仿真结果表明:在RSSI噪声标准差为3 d Bm的条件下,算法定位精度优于1.9 m的概率可达95%,相比单独定位抗噪性能明显提高且定位误差显著降低。展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant Nos.61573199 and 61571441)。
文摘A continuous⁃time distributed optimization was researched for second⁃order heterogeneous multi⁃agent systems.The aim of this study is to keep the velocities of all agents the same and make the velocities converge to the optimal value to minimize the sum of local cost functions.First,an effective distributed controller which only uses local information was designed.Then,the stability and optimization of the systems were verified.Finally,a simulation case was used to illustrate the analytical results.
文摘针对室内WiFi和蓝牙单独定位时定位精度较低的问题,提出基于多属性代价函数的WiFi与蓝牙总体最小二乘(TLS)融合定位算法。为减小接收信号强度指示(RSSI)值不稳定的信标节点造成的测距误差,采用WiFi/蓝牙多属性代价函数综合评估信标定位性能,优选出最佳信标节点参与融合定位。在定位解算中,同时考虑测距误差和信标节点部署误差。采用TLS算法对待定位节点进行最优位置估计,进一步提高定位精度。实验仿真结果表明:在RSSI噪声标准差为3 d Bm的条件下,算法定位精度优于1.9 m的概率可达95%,相比单独定位抗噪性能明显提高且定位误差显著降低。
