Small Unmanned Aircraft : Theory and Practice

✍ Scribed by Randal W. Beard, Timothy W. McLain

• Publisher: Princeton University Press
• Year: 2012
• Tongue: English
• Leaves: 300
• Category: Library

✦ Synopsis

Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The a. Read more...

Abstract:

Provides key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables students with an introductory-level background in controls or robotics to enter this important area. This title explores the essential underlying physics and sensors of unmanned air vehicles problems. Read more...

✦ Table of Contents

Content: Cover
Contents
Preface
1 Introduction
1.1 System Architecture
1.2 Design Models
1.3 Design Project
2 Coordinate Frames
2.1 Rotation Matrices
2.2 MAV Coordinate Frames
2.3 Airspeed, Wind Speed, and Ground Speed
2.4 The Wind Triangle
2.5 Differentiation of a Vector
2.6 Chapter Summary
2.7 Design Project
3 Kinematics and Dynamics
3.1 State Variables
3.2 Kinematics
3.3 Rigid-body Dynamics
3.4 Chapter Summary
3.5 Design Project
4 Forces and Moments
4.1 Gravitational Forces
4.2 Aerodynamic Forces and Moments
4.3 Propulsion Forces and Moments
4.4 Atmospheric Disturbances. 4.5 Chapter Summary4.6 Design Project
5 Linear Design Models
5.1 Summary of Nonlinear Equations of Motion
5.2 Coordinated Turn
5.3 Trim Conditions
5.4 Transfer Function Models
5.5 Linear State-space Models
5.6 Reduced-order Modes
5.7 Chapter Summary
5.8 Design Project
6 Autopilot Design Using Successive Loop Closure
6.1 Successive Loop Closure
6.2 Saturation Constraints and Performance
6.3 Lateral-directional Autopilot
6.4 Longitudinal Autopilot
6.5 Digital Implementation of PID Loops
6.6 Chapter Summary
6.7 Design Project
7 Sensors for MAVs
7.1 Accelerometers. 7.2 Rate Gyros7.3 Pressure Sensors
7.4 Digital Compasses
7.5 Global Positioning System
7.6 Chapter Summary
7.7 Design Project
8 State Estimation
8.1 Benchmark Maneuver
8.2 Low-pass Filters
8.3 State Estimation by Inverting the Sensor Model
8.4 Dynamic-observer Theory
8.5 Derivation of the Continuous-discrete Kalman Filter
8.6 Attitude Estimation
8.7 GPS Smoothing
8.8 Chapter Summary
8.9 Design Project
9 Design Models for Guidance
9.1 Autopilot Model
9.2 Kinematic Model of Controlled Flight
9.3 Kinematic Guidance Models
9.4 Dynamic Guidance Model
9.5 Chapter Summary. 9.6 Design Project10 Straight-line and Orbit Following
10.1 Straight-line Path Following
10.2 Orbit Following
10.3 Chapter Summary
10.4 Design Project
11 Path Manager
11.1 Transitions Between Waypoints
11.2 Dubins Paths
11.3 Chapter Summary
11.4 Design Project
12 Path Planning
12.1 Point-to-Point Algorithms
12.2 Coverage Algorithms
12.3 Chapter Summary
12.4 Design Project
13 Vision-guided Navigation
13.1 Gimbal and Camera Frames and Projective Geometry
13.2 Gimbal Pointing
13.3 Geolocation
13.4 Estimating Target Motion in the Image Plane
13.5 Time to Collision. 13.6 Precision Landing13.7 Chapter Summary
13.8 Design Project
APPENDIX A: Nomenclature and Notation
APPENDIX B: Quaternions
B.1 Quaternion Rotations
B.2 Aircraft Kinematic and Dynamic Equations
B.3 Conversion Between Euler Angles and Quaternions
APPENDIX C: Animations in Simulink
C.1 Handle Graphics in Matlab
C.2 Animation Example: Inverted Pendulum
C.3 Animation Example: Spacecraft Using Lines
C.4 Animation Example: Spacecraft Using Vertices and Faces
APPENDIX D: Modeling in Simulink Using S-Functions
D.1 Example: Second-order Differential Equation.

✦ Subjects

Drone aircraft -- Control systems;Drone aircraft -- Automatic control;Guidance systems (Flight);TECHNOLOGY & ENGINEERING -- Military Science;MATHEMATICS -- Applied