《Small Unmanned Aircraft: Theory and Practice》

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《Small Unmanned Aircraft: Theory and Practice》
小型无人机理论与应用
作者：
RANDAL W. BEARD
TIMOTHY W. McLAIN
出版社：Princeton
出版时间：2012年

《Small Unmanned Aircraft: Theory and Practice》

《Small Unmanned Aircraft: Theory and Practice》

《Small Unmanned Aircraft: Theory and Practice》

《Small Unmanned Aircraft: Theory and Practice》

目录
Preface xi
1 Introduction 1
1.1 System Architecture 1
1.2 Design Models 4
1.3 Design Project 6
2 Coordinate Frames 8
2.1 Rotation Matrices 9
2.2 MAV Coordinate Frames 12
2.3 Airspeed,Wind Speed, and Ground Speed 18
2.4 TheWind Triangle 20
2.5 Differentiation of a Vector 24
2.6 Chapter Summary 25
2.7 Design Project 27
3 Kinematics and Dynamics 28
3.1 State Variables 28
3.2 Kinematics 30
3.3 Rigid-body Dynamics 31
3.4 Chapter Summary 37
3.5 Design Project 38
4 Forces and Moments 39
4.1 Gravitational Forces 39
4.2 Aerodynamic Forces and Moments 40
4.3 Propulsion Forces and Moments 52
4.4 Atmospheric Disturbances 54
4.5 Chapter Summary 57
4.6 Design Project 58
5 Linear Design Models 60
5.1 Summary of Nonlinear Equations of Motion 60
5.2 Coordinated Turn 64
5.3 Trim Conditions 65
5.4 Transfer Function Models 68
viii Contents
5.5 Linear State-space Models 77
5.6 Reduced-order Modes 87
5.7 Chapter Summary 91
5.8 Design Project 92
6 Autopilot Design Using Successive Loop Closure 95
6.1 Successive Loop Closure 95
6.2 Saturation Constraints and Performance 97
6.3 Lateral-directional Autopilot 99
6.4 Longitudinal Autopilot 105
6.5 Digital Implementation of PID Loops 114
6.6 Chapter Summary 117
6.7 Design Project 118
7 Sensors for MAVs 120
7.1 Accelerometers 120
7.2 Rate Gyros 124
7.3 Pressure Sensors 126
7.4 Digital Compasses 131
7.5 Global Positioning System 134
7.6 Chapter Summary 141
7.7 Design Project 141
8 State Estimation 143
8.1 Benchmark Maneuver 143
8.2 Low-pass Filters 144
8.3 State Estimation by Inverting the Sensor Model 145
8.4 Dynamic-observer Theory 149
8.5 Derivation of the Continuous-discrete Kalman
Filter 151
8.6 Attitude Estimation 156
8.7 GPS Smoothing 158
8.8 Chapter Summary 161
8.9 Design Project 162
9 Design Models for Guidance 164
9.1 Autopilot Model 164
9.2 Kinematic Model of Controlled Flight 165
9.3 Kinematic Guidance Models 168
9.4 Dynamic Guidance Model 170
9.5 Chapter Summary 172
9.6 Design Project 173
Contents ix
10 Straight-line and Orbit Following 174
10.1 Straight-line Path Following 175
10.2 Orbit Following 181
10.3 Chapter Summary 183
10.4 Design Project 185
11 Path Manager 187
11.1 Transitions BetweenWaypoints 187
11.2 Dubins Paths 194
11.3 Chapter Summary 202
11.4 Design Project 204
12 Path Planning 206
12.1 Point-to-Point Algorithms 207
12.2 Coverage Algorithms 220
12.3 Chapter Summary 223
12.4 Design Project 224
13 Vision-guided Navigation 226
13.1 Gimbal and Camera Frames and Projective
Geometry 226
13.2 Gimbal Pointing 229
13.3 Geolocation 231
13.4 Estimating Target Motion in the Image Plane 234
13.5 Time to Collision 238
13.6 Precision Landing 240
13.7 Chapter Summary 244
13.8 Design Project 245
APPENDIX A: Nomenclature and Notation 247
APPENDIX B: Quaternions 254
B.1 Quaternion Rotations 254
B.2 Aircraft Kinematic and Dynamic Equations 255
B.3 Conversion Between Euler Angles and
Quaternions 259
APPENDIX C: Animations in Simulink 260
C.1 Handle Graphics in Matlab 260
C.2 Animation Example: Inverted Pendulum 261
x Contents
C.3 Animation Example: Spacecraft Using Lines 263
C.4 Animation Example: Spacecraft Using Vertices and
Faces 268
APPENDIX D: Modeling in Simulink Using
S-Functions 270
D.1 Example: Second-order Differential Equation 270
APPENDIX E: Airframe Parameters 275
E.1 Zagi Flying Wing 275
E.2 Aerosonde UAV 276
APPENDIX F: Trim and Linearization in Simulink 277
F.1 Using the Simulink trim Command 277
F.2 Numerical Computation of Trim 278
F.3 Using the Simulink linmod Command to
Generate a State-space Model 282
F.4 Numerical Computation of State-space Model 284
APPENDIX G: Essentials from Probability Theory 286
APPENDIX H: Sensor Parameters 288
H.1 Rate Gyros 288
H.2 Accelerometers 288
H.3 Pressure Sensors 289
H.4 Digital Compass/Magnetometer 289
H.5 GPS 290
Bibliography 291
Index 299

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