A gradient descent algorithm with adjustable parameter for attitude estimation is developed,aiming at the attitude measurement for small unmanned aerial vehicle(UAV)in real-time flight conditions.The accelerometer and...A gradient descent algorithm with adjustable parameter for attitude estimation is developed,aiming at the attitude measurement for small unmanned aerial vehicle(UAV)in real-time flight conditions.The accelerometer and magnetometer are introduced to construct an error equation with the gyros,thus the drifting characteristics of gyroscope can be compensated by solving the error equation utilized by the gradient descent algorithm.Performance of the presented algorithm is evaluated using a self-proposed micro-electro-mechanical system(MEMS)based attitude heading reference system which is mounted on a tri-axis turntable.The on-ground,turntable and flight experiments indicate that the estimation attitude has a good accuracy.Also,the presented system is compared with an open-source flight control system which runs extended Kalman filter(EKF),and the results show that the attitude control system using the gradient descent method can estimate the attitudes for UAV effectively.展开更多
Y Liu and C Storey(1992)proposed the famous LS conjugate gradient method which has good numerical results.However,the LS method has very weak convergence under the Wolfe-type line search.In this paper,we give a new de...Y Liu and C Storey(1992)proposed the famous LS conjugate gradient method which has good numerical results.However,the LS method has very weak convergence under the Wolfe-type line search.In this paper,we give a new descent gradient method based on the LS method.It can guarantee the sufficient descent property at each iteration and the global convergence under the strong Wolfe line search.Finally,we also present extensive preliminary numerical experiments to show the efficiency of the proposed method by comparing with the famous PRP^+method.展开更多
As a mature distributed machine learning paradigm,federated learning enables wireless edge devices to collaboratively train a shared AI-model by stochastic gradient descent(SGD).However,devices need to upload high-dim...As a mature distributed machine learning paradigm,federated learning enables wireless edge devices to collaboratively train a shared AI-model by stochastic gradient descent(SGD).However,devices need to upload high-dimensional stochastic gradients to edge server in training,which cause severe communication bottleneck.To address this problem,we compress the communication by sparsifying and quantizing the stochastic gradients of edge devices.We first derive a closed form of the communication compression in terms of sparsification and quantization factors.Then,the convergence rate of this communicationcompressed system is analyzed and several insights are obtained.Finally,we formulate and deal with the quantization resource allocation problem for the goal of minimizing the convergence upper bound,under the constraint of multiple-access channel capacity.Simulations show that the proposed scheme outperforms the benchmarks.展开更多
基金supported by the Fundamental Research Funds for the Central Universities(No.56XAA17075)
文摘A gradient descent algorithm with adjustable parameter for attitude estimation is developed,aiming at the attitude measurement for small unmanned aerial vehicle(UAV)in real-time flight conditions.The accelerometer and magnetometer are introduced to construct an error equation with the gyros,thus the drifting characteristics of gyroscope can be compensated by solving the error equation utilized by the gradient descent algorithm.Performance of the presented algorithm is evaluated using a self-proposed micro-electro-mechanical system(MEMS)based attitude heading reference system which is mounted on a tri-axis turntable.The on-ground,turntable and flight experiments indicate that the estimation attitude has a good accuracy.Also,the presented system is compared with an open-source flight control system which runs extended Kalman filter(EKF),and the results show that the attitude control system using the gradient descent method can estimate the attitudes for UAV effectively.
基金Supported by The Youth Project Foundation of Chongqing Three Gorges University(13QN17)Supported by the Fund of Scientific Research in Southeast University(the Support Project of Fundamental Research)
文摘Y Liu and C Storey(1992)proposed the famous LS conjugate gradient method which has good numerical results.However,the LS method has very weak convergence under the Wolfe-type line search.In this paper,we give a new descent gradient method based on the LS method.It can guarantee the sufficient descent property at each iteration and the global convergence under the strong Wolfe line search.Finally,we also present extensive preliminary numerical experiments to show the efficiency of the proposed method by comparing with the famous PRP^+method.
基金supported in part by the National Key Research and Development Program of China under Grant 2020YFB1807700in part by the National Science Foundation of China under Grant U200120122
文摘As a mature distributed machine learning paradigm,federated learning enables wireless edge devices to collaboratively train a shared AI-model by stochastic gradient descent(SGD).However,devices need to upload high-dimensional stochastic gradients to edge server in training,which cause severe communication bottleneck.To address this problem,we compress the communication by sparsifying and quantizing the stochastic gradients of edge devices.We first derive a closed form of the communication compression in terms of sparsification and quantization factors.Then,the convergence rate of this communicationcompressed system is analyzed and several insights are obtained.Finally,we formulate and deal with the quantization resource allocation problem for the goal of minimizing the convergence upper bound,under the constraint of multiple-access channel capacity.Simulations show that the proposed scheme outperforms the benchmarks.
