Accurate trajectory prediction of concealed targets in complex, interference-laden environments present a formidable challenge for millimeter-wave sensor tracking systems. To address this, we propose a state-of-the-art autonomous prediction framework that integrates an Improved Sequential Variational Mode Decomposition (ISVMD) algorithm with an Extreme Learning Machine (ELM), synergistically optimized by the novel Red-billed Blue Magpie Optimizer (RBMO). The ISVMD enhances signal reconstruction by transforming noisy target echo signals into robust feature sequences, effectively mitigating the impacts of environmental disturbances and intentional concealment. Subsequently, the RBMO-optimized ELM leverages these feature sequences to predict the future trajectories of concealed targets with high precision. The RBMO further refines critical parameters within the ISVMD-ELM pipeline, ensuring adaptability and computational efficiency across diverse scenarios. Experimental validation using real-world data demonstrates that the RBMO-ISVMD-ELM approach surpasses state-of-the-art algorithms in both accuracy and robustness when predicting the trajectories of concealed ground targets, achieving optimal performance metrics under demanding conditions.

This paper presents a flight control framework based on neural network Model Predictive Control (NN-MPC) to tackle the challenges of acceleration command tracking for supersonic vehicles (SVs) in complex flight environments, addressing the shortcomings of traditional methods in managing nonlinearity, random disturbances, and real-time performance requirements. Initially, a dynamic model is developed through a comprehensive analysis of the vehicle’s dynamic characteristics, incorporating strong cross-coupling effects and disturbance influences. Subsequently, a predictive mechanism is employed to forecast future states and generate virtual control commands, effectively resolving the issue of sluggish responses under rapidly changing commands. Furthermore, the approximation capability of neural networks is leveraged to optimize the control strategy in real time, ensuring that rudder deflection commands adapt to disturbance variations, thus overcoming the robustness limitations inherent in fixed-parameter control approaches. Within the proposed framework, the ultimate uniform bounded stability of the control system is rigorously established using the Lyapunov method. Simulation results demonstrate that the method exhibits exceptional performance under conditions of system state uncertainty and unknown external disturbances, confirming its effectiveness and reliability.

High-precision and resilient indoor positioning is a fundamental requirement for the autonomous operation of mobile robots in GNSS-denied environments. While visual sensors are commonly used for odometry, their operational reliability can be compromised in challenging scenarios such as drastic illumination fluctuations and sparse-textured environments. To address these sensor limitations, this study presents MVO, a magneto-visual odometry framework that explores indoor magnetic field anomalies as complementary constraints for visual odometry. By integrating a 30-magnetometer planar array model with a stereo camera, the proposed system establishes a multi-modal perception framework for indoor spaces. In the frontend, magnetic field gradient information is utilized to provide relative-pose constraints, which assist in the matching of image feature points and help maintain tracking continuity under visual degradation. In the backend, a factor graph optimization (FGO) framework incorporates magnetic relative-pose factors and visual reprojection factors into a unified optimization objective, which is then solved using the incremental smoothing and mapping 2 (iSAM2) algorithm. Frontend-level simulations are conducted to analyze the effects of magnetometer spatial configuration, sensor number, and calibration-error sensitivity on magnetic relative-pose estimation and covariance. Trajectory-level evaluations are further performed on the EuRoC dataset augmented with high-fidelity synthesized magnetic field data, including localization accuracy and computational load. Under this synthesized magnetic field setting, MVO shows improved localization accuracy and moderate computational load compared with the selected MSCKF-Stereo and VINS-Fusion reference baselines. These results provide a simulation-based feasibility validation of integrating magnetic field constraints with visual information for indoor odometry, while validation with real magnetometer array measurements remains future work.