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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 | |