The ability to model the time varying dynamics of an unmanned rotorcraft is an important aspect in the development of adaptive flight controller. This paper presents a recursive Gauss-Newton based training algorithm to model the attitude dynamics of a small scale rotorcraft based unmanned aerial system using the neural network (NN) modelling approach. It focuses on selection of optimised networ...

This paper introduces tensor methods for solving large, sparse nonlinear least squares problems where the Jacobian either is analytically available or is computed by nite diier-ence approximations. Tensor methods have been shown to have very good computational performance for small to medium-sized, dense nonlinear least squares problems. In this paper we consider the application of tensor metho...

We propose a curvilinear search for nonlinear systems of equations and path-following methods that are very nonlinear with the dominant part in the tangent space. The curvilinear search is very easy to implement and should be used with the (Gauss-)Newton method. At the cost of one function evaluation the curvature along the search direction can be reduced. For zero residual nonlinear least squa...

The ability to model the time varying dynamics of an unmanned rotorcraft is an important aspect in the development of adaptive flight controller. This paper presents a recursive Gauss-Newton based training algorithm to model the attitude dynamics of a small scale rotorcraft based unmanned aerial system using the neural network (NN) modelling approach. It focuses on selection of optimised networ...

An inversion procedure for obtaining speeds, attenuation, densities, and thicknesses for a layered medium is described. The inversion is carried out using the least-squares technique and the forward modeling is based on SAFARI. The optimization is a hybrid method combining the global genetic algorithms and the local Gauss-Newton method. This is done by taking several gradient steps between each...

The problem of estimating the frequencies, phases, and amplitudes of sinusoidal signals is considered. A simplified maximumlikelihood Gauss-Newton algorithm which provides asymptotically efficient estimates of these parameters is proposed. Initial estimates for this algorithm are obtained by a variation of the overdetermined YuleWalker method and a periodogram-based procedure. Use of the maximu...

This paper investigates the use of statistical linearization to improve iterative non-linear least squares estimators. In particular, we look at improving long range stereo by filtering feature tracks from sequences of stereo pairs. A novel filter called the Iterated Sigma Point Kalman Filter (ISPKF) is developed from first principles; this filter is shown to achieve superior performance in ter...

The stable difference scheme for the numerical solution of the mixed problem for the multidimensional fractional hyperbolic equation is presented. Stability estimates for the solution of this difference scheme and for the first and second orders difference derivatives are obtained. A procedure of modified Gauss elimination method is used for solving this difference scheme in the case of one-dim...

The traversal of a self crossing closed plane curve, with points of multiplicity at most two, deenes a double occurrence sequence. C.F. Gauss conjectured 2] that such sequences could be characterized by their interlacement properties. This conjecture was proved by P. Rosenstiehl in 1976 15]. We shall give here a simple self-contained proof of his characterization. This new proof relies on the D...