Small Unmanned Aircraft ：Theory and Practice

Publication subTitle ：Theory and Practice

Author： Beard Randal W.;McLain Timothy W.

Publisher： Princeton University Press‎

Publication year： 2012

E-ISBN: 9781400840601

P-ISBN(Paperback): 9780691149219

Subject： V279 unmanned aircraft

Keyword：航空、航天,数理科学和化学

Language： ENG

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Description

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 authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision.

Designed for advanced undergra

Chapter

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 Summary

4.6 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 Gyros

7.3 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 Project

10 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 Landing

13.7 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

APPENDIX E: Airframe Parameters

E.1 Zagi Flying Wing

E. 2 Aerosonde UAV

APPENDIX F: Trim and Linearization in Simulink

F.1 Using the Simulink trim Command

F.2 Numerical Computation of Trim

F.3 Using the Simulink linmod Command to Generate a State-space Model

F.4 Numerical Computation of State-space Model

APPENDIX G: Essentials from Probability Theory

APPENDIX H: Sensor Parameters

H.1 Rate Gyros

H.2 Accelerometers

H.3 Pressure Sensors

H.4 Digital Compass/Magnetometer

H.5 GPS

Bibliography

Index

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