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Small Unmanned Aircraft : Theory and Practice /
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 p...
| Clasificación: | Libro Electrónico |
|---|---|
| Autores principales: | , |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Princeton :
Princeton University Press,
[2012]
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- 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.