This paper proposes a novel robust orientation estimator to enhance the accuracy and robustness of estimation for inertial–magnetic sensors small consumer–grade drones. The proposed utilizes trust–region strategy within nonlinear optimization framework, transforming fusion problem into based on maximum likelihood principle. employs Dogleg gradient descent optimize precision incorporates Huber k...

This paper presents a practical and efficient method to solve large-scale nonlinear equations. The global convergence of this new trust region algorithm is verified. The algorithm is then used to solve the nonlinear equations arising in an Expanded Lagrangian Function (ELF). Numerical results for the implementation of some large-scale problems indicate that the algorithm is efficient for these ...

The so-called Trust-Region Subproblem gets its name in the trust-region method in optimization and also plays a vital role in various other applications. Several numerical algorithms have been proposed in the literature for solving small-to-medium size dense problems as well as for large scale sparse problems. The Generalized Lanczos Trust-Region (GLTR) method proposed by [Gould, Lucidi, Roma a...

Given an algorithm A for solving some mathematical problem based on the iterative solution of simpler subproblems, an Outer Trust-Region (OTR) modification of A is the result of adding a trust-region constraint to each subproblem. The trust-region size is adaptively updated according to the behavior of crucial variables. The new subproblems should not be more complex than the original ones and ...

In this paper, we propose a retrospective filter trust region algorithm for unconstrained optimization, which is based on the framework of the retrospective trust region method and associated with the technique of the multi-dimensional filter. The new algorithm gives a good estimation of trust region radius, relaxes the condition of accepting a trial step for the usual trust region methods. Und...

We propose a novel stereo visual IMU-assisted (Inertial Measurement Unit) technique that extends to large inter-frame motion the use of KLT tracker (Kanade–Lucas–Tomasi). The constrained and coherent inter-frame motion acquired from the IMU is applied to detected features through homogenous transform using 3D geometry and stereoscopy properties. This predicts efficiently the projection of the o...