I am a beginner for CVX and I am trying to solve the below problems, however, I get a wrong message of " Cannot perform the operation norm( {mixed convex/constant}, 2 ),出错 UAV (第 196 行) s1_2=norm([1,x])-x;"

[Mark_L_Stone]

What proof do you have that your iterative method for the EKF converges to anything, let alone a global or even local minimum? You also seem to have bad numerical scaling, with some input data being very small or large magnitude; and that’s on the first iteration. Subsequent iterations could get more and more extreme.

EKF’s can be tricky. Your crude implementation might not be up to the job.

The result obtained using the SeDuMi solver is inaccurate. The optimal solution is not as good as before the optimization.

Unsafeguarded (no line search or trust region)Successive Convex Approximation (SCA) or generally, alternating variables optimization are unreliable. It might not descend (for minimization problem), i.e., iterates could get worse. It might not converge to anything; and if it does converge, it might not be to a local optimum of the original problem, let alone a global optimum. The solution of successive iterations, and therefore subproblem inputs, can become wilder and wilder, until at some point …