2 results about "Inverse iteration" patented technology

The application discloses a spacecraft magnetic moment attitude control method based on a non-inverse iteration algorithm, and the method establishes a linear periodic model for a spacecraft attitude control system which only relies on a magnetic moment; on the basis, according to a linear quadratic optimal control theory, an optimal controller design problem is converted into a solution problem of a discrete periodic Riccati equation associated with the optimal controller design problem; on the basis of a gradient descent principle, an error function is constructed, and a non-inverse iteration algorithm based on the gradient descent principle is proposed to solve the discrete periodic Riccati equation, so that a matrix inversion operation in a traditional solution method is avoided, and the calculation efficiency and the numerical stability are effectively improved; the obtained Riccati equation solution is used to obtain an optimal state feedback control law, so that the spacecraft attitude optimal control only using the magnetic moment is realized, and a new solution scheme is provided for an attitude control problem of a limited actuator in a space task.

The application relates to the field of hand recognition, in particular to a three-dimensional coordinate construction method and device of hand key points, computer equipment and a storage medium, the method comprising the following steps: acquiring two-dimensional coordinates of hand key points on a two-dimensional image; acquiring an internal parameter matrix and an external parameter matrix of a camera, and calculating a projection matrix according to the internal parameter matrix and the external parameter matrix; the camera is a shooting camera of the two-dimensional image; establishing a projection relationship equation of the two-dimensional coordinates and three-dimensional coordinates of the hand key points according to the projection matrix; eliminating the projection relationship equation to obtain a homogeneous linear equation group of the two-dimensional coordinates and the three-dimensional coordinates; iteratively calculating the homogeneous linear equation group according to a preset inverse iteration algorithm, acquiring an equation solution when an iteration result meets preset requirements, and determining three-dimensional coordinates of the hand key points according to the equation solution. The application can improve the accuracy of conversion of two-dimensional coordinates of hand key points into three-dimensional coordinates.