Small Unmanned Aircraft

by Beard, Randal W.; Mclain, Timothy W.

• ISBN13: 9780691149219
• ISBN10: 0691149216
• Format: Hardcover
• Copyright: 2012-02-06
• Publisher: Princeton Univ Pr

Summary

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 Aircraftprovides 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 undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.

Author Biography

Randal W. Beard is a professor in the Department of Electrical and Computer Engineering at Brigham Young University. He is the coauthor of Distributed Consensus in Multi-vehicle Cooperative Control. Timothy W. Mclain is a professor in the Department of Mechanical Engineering at Brigham Young University.

Table of Contents

Preface	p. xi
Introduction	p. 1
System Architecture	p. 1
Design Models	p. 4
Design Project	p. 6
Coordinate Frames	p. 8
Rotation Matrices	p. 9
MAV Coordinate Frames	p. 12
Airspeed, Wind Speed, and Ground Speed	p. 18
The Wind Triangle	p. 20
Differentiation of a Vector	p. 24
Chapter Summary	p. 25
Design Project	p. 27
Kinematics and Dynamics	p. 28
State Variables	p. 28
Kinematics	p. 30
Rigid-body Dynamics	p. 31
Chapter Summary	p. 37
Design Project	p. 38
Forces and Moments	p. 39
Gravitational Forces	p. 39
Aerodynamic Forces and Moments	p. 40
Propulsion Forces and Moments	p. 52
Atmospheric Disturbances	p. 54
Chapter Summary	p. 57
Design Project	p. 58
Linear Design Models	p. 60
Summary of Nonlinear Equations of Motion	p. 60
Coordinated Turn	p. 64
Trim Conditions	p. 65
Transfer Function Models	p. 68
Linear State-space Models	p. 77
Reduced-order Modes	p. 87
Chapter Summary	p. 91
Design Project	p. 92
Autopilot Design Using Successive Loop Closure	p. 95
Successive Loop Closure	p. 95
Saturation Constraints and Performance	p. 97
Lateral-directional Autopilot	p. 99
Longitudinal Autopilot	p. 105
Digital Implementation of PID Loops	p. 114
Chapter Summary	p. 117
Design Project	p. 118
Sensors for MAVs	p. 120
Accelerometers	p. 120
Rate Gyros	p. 124
Pressure Sensors	p. 126
Digital Compasses	p. 131
Global Positioning System	p. 134
Chapter Summary	p. 141
Design Project	p. 141
State Estimation	p. 143
Benchmark Maneuver	p. 143
Low-pass Filters	p. 144
State Estimation by Inverting the Sensor Model	p. 145
Dynamic-observer Theory	p. 149
Derivation of the Continuous-discrete Kalman Filter	p. 151
Attitude Estimation	p. 156
GPS Smoothing	p. 158
Chapter Summary	p. 161
Design Project	p. 162
Design Models for Guidance	p. 164
Autopilot Model	p. 164
Kinematic Model of Controlled Flight	p. 165
Kinematic Guidance Models	p. 168
Dynamic Guidance Model	p. 170
Chapter Summary	p. 172
Design Project	p. 173
Straight-line and Orbit Following	p. 174
Straight-line Path Following	p. 175
Orbit Following	p. 181
Chapter Summary	p. 183
Design Project	p. 185
Path Manager	p. 187
Transitions Between Waypoints	p. 187
Dubins Paths	p. 194
Chapter Summary	p. 202
Design Project	p. 204
Path Planning	p. 206
Point-to-Point Algorithms	p. 207
Coverage Algorithms	p. 220
Chapter Summary	p. 223
Design Project	p. 224
Vision-guided Navigation	p. 226
Gimbal and Camera Frames and Projective Geometry	p. 226
Gimbal Pointing	p. 229
Geolocation	p. 231
Estimating Target Motion in the Image Plane	p. 234
Time to Collision	p. 238
Precision Landing	p. 240
Chapter Summary	p. 244
Design Project	p. 245
Nomenclature and Notation	p. 247
Quaternions	p. 254
Quaternion Rotations	p. 254
Aircraft Kinematic and Dynamic Equations	p. 255
Conversion Between Euler Angles and Quaternions	p. 259
Animations in Simulink	p. 260
Handle Graphics in Matlab	p. 260
Animation Example: Inverted Pendulum	p. 261
Animation Example: Spacecraft Using Lines	p. 263
Animation Example: Spacecraft Using Vertices and Faces	p. 268
Modeling in Simulink Using S-Functions	p. 270
Example: Second-order Differential Equation	p. 270
Airframe Parameters	p. 275
Zagi Flying Wing	p. 275
Aerosonde UAV	p. 276
Trim and Linearization in Simulink	p. 277
Using the Simulink trim Command	p. 277
Numerical Computation of Trim	p. 278
Using the Simulink linmod Command to Generate a State-space Model	p. 282
Numerical Computation of State-space Model	p. 284
Essentials from Probability Theory	p. 286
Sensor Parameters	p. 288
Rate Gyros	p. 288
Accelerometers	p. 288
Pressure Sensors	p. 289
Digital Compass/Magnetometer	p. 289
GPS	p. 290
Bibliography	p. 291
Index	p. 299
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