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Preface | |
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Introduction | |
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System Architecture | |
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Design Models | |
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Design Project | |
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Coordinate Frames | |
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Rotation Matrices | |
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MAV Coordinate Frames | |
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Airspeed, Wind Speed, and Ground Speed | |
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The Wind Triangle | |
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Differentiation of a Vector | |
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Chapter Summary | |
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Design Project | |
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Kinematics and Dynamics | |
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State Variables | |
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Kinematics | |
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Rigid-body Dynamics | |
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Chapter Summary | |
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Design Project | |
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Forces and Moments | |
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Gravitational Forces | |
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Aerodynamic Forces and Moments | |
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Propulsion Forces and Moments | |
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Atmospheric Disturbances | |
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Chapter Summary | |
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Design Project | |
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Linear Design Models | |
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Summary of Nonlinear Equations of Motion | |
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Coordinated Turn | |
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Trim Conditions | |
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Transfer Function Models | |
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Linear State-space Models | |
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Reduced-order Modes | |
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Chapter Summary | |
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Design Project | |
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Autopilot Design Using Successive Loop Closure | |
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Successive Loop Closure | |
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Saturation Constraints and Performance | |
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Lateral-directional Autopilot | |
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Longitudinal Autopilot | |
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Digital Implementation of PID Loops | |
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Chapter Summary | |
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Design Project | |
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Sensors for MAVs | |
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Accelerometers | |
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Rate Gyros | |
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Pressure Sensors | |
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Digital Compasses | |
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Global Positioning System | |
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Chapter Summary | |
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Design Project | |
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State Estimation | |
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Benchmark Maneuver | |
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Low-pass Filters | |
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State Estimation by Inverting the Sensor Model | |
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Dynamic-observer Theory | |
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Derivation of the Continuous-discrete Kalman Filter | |
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Attitude Estimation | |
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GPS Smoothing | |
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Chapter Summary | |
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Design Project | |
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Design Models for Guidance | |
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Autopilot Model | |
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Kinematic Model of Controlled Flight | |
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Kinematic Guidance Models | |
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Dynamic Guidance Model | |
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Chapter Summary | |
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Design Project | |
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Straight-line and Orbit Following | |
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Straight-line Path Following | |
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Orbit Following | |
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Chapter Summary | |
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Design Project | |
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Path Manager | |
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Transitions Between Waypoints | |
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Dubins Paths | |
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Chapter Summary | |
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Design Project | |
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Path Planning | |
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Point-to-Point Algorithms | |
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Coverage Algorithms | |
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Chapter Summary | |
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Design Project | |
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Vision-guided Navigation | |
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Gimbal and Camera Frames and Projective Geometry | |
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Gimbal Pointing | |
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Geolocation | |
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Estimating Target Motion in the Image Plane | |
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Time to Collision | |
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Precision Landing | |
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Chapter Summary | |
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Design Project | |
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Nomenclature and Notation | |
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Quaternions | |
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Quaternion Rotations | |
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Aircraft Kinematic and Dynamic Equations | |
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Conversion Between Euler Angles and Quaternions | |
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Animations in Simulink | |
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Handle Graphics in Matlab | |
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Animation Example: Inverted Pendulum | |
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Animation Example: Spacecraft Using Lines | |
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Animation Example: Spacecraft Using Vertices and Faces | |
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Modeling in Simulink Using S-Functions | |
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Example: Second-order Differential Equation | |
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Airframe Parameters | |
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Zagi Flying Wing | |
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Aerosonde UAV | |
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Trim and Linearization in Simulink | |
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Using the Simulink trim Command | |
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Numerical Computation of Trim | |
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Using the Simulink linmod Command to Generate a State-space Model | |
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Numerical Computation of State-space Model | |
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Essentials from Probability Theory | |
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Sensor Parameters | |
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Rate Gyros | |
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Accelerometers | |
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Pressure Sensors | |
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Digital Compass/Magnetometer | |
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GPS | |
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Bibliography | |
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Index | |