Small Unmanned Aircraft Theory and Practice

ISBN-10: 0691149216

ISBN-13: 9780691149219

Edition: 2012

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Book details

Copyright year: 2012
Publisher: Princeton University Press
Publication date: 2/26/2012
Binding: Hardcover
Pages: 320
Size: 7.25" wide x 10.00" long x 1.00" tall
Weight: 2.090
Language: English

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