This paper proposes a novel three-dimensional guidance method based on clock synchronization algorithms, creatively solving the problems of randomized change, non-connection and even communication outage caused by packet loss and delay in the co-guidance of loitering munitions. The proposed method is characterized by fast convergence of the aspect angle rate in the longitudinal plane, and the attack time constrains in the lateral plane. Normal accelerations on the two sub-planes are thereby calculated, so as to control the munitions' co-attack. Simulation experiments show that the proposed method can ensure reliable and stable asymptotic agreement of attack time expectation for the cooperative multiple munitions under the switching and noisy networks.
Visual SLAM techniques have proven to be effective methods for estimating robust position and attitude in the field of robotics. However, current monocular SLAM algorithms cannot guarantee timeliness of system startup due to the problematic initialization time and the low success rates. This paper introduces a rectilinear platform motion hypothesis and thereby converts the estimation problem into a verification problem to achieve fast monocular SLAM initialization. The proposed method is simulation tested on a fixed-wing UAV. Tests show that the proposed method can produce faster initialization of visual SLAM and that the advantages are more profound on systems with sparse image features.
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