Small unmanned aircraft theory and practice

317 Pages·2012·7.648 MB·English

by  Beard, Randal W.;McLain, Timothy W

SMALL
UNMANNED
AIRCRAFT
i
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SMALL
UNMANNED
AIRCRAFT
Theory and Practice
R ANDAL W. BEARD
TIMOTHY W. McLAI N
PRINCETONUNIVERSITYPRESS
PrincetonandOxford
iii
Copyright©2012byPrincetonUniversityPress
PublishedbyPrincetonUniversityPress,41WilliamStreet,
Princeton,NewJersey08540
IntheUnitedKingdom:PrincetonUniversityPress,
6OxfordStreet,Woodstock,OxfordshireOX201TW
press.prenceton.edu
Jacketart:TempestandFarmhouse,06/02/2010.
UniversityofColoradoBoulder.©JackElston.
AllRightsReserved
ISBN978-0-691-14921-9
LibraryofCongressCataloging-in-PublicationData
Beard,RandalW.
Smallunmannedaircraft:theoryandpractice/RandalW.
Beard,TimothyW.McLain.
p.cm.
Includesbibliographicalreferencesandindex.
ISBN978-0-691-14921-9(hardcover:alk.paper) 1.Drone
aircraft–Controlsystems. 2.Droneaircraft–Automatic
control. 3.Guidancesystems(Flight) I.McLain,
TimothyW.,1963-II.Title.
UG1242.D7B432012
623.74’69–dc23
2011025926
BritishLibraryCataloging-in-PublicationDataisavailable
ThisbookhasbeencomposedinITCStone
Printedonacid-freepaper.∞
TypesetbySRNovaPvtLtd,Bangalore,India
PrintedintheUnitedStatesofAmerica
10 9 8 7 6 5 4 3 2 1
iv
v
Toourfamilies
Andrea,Laurann,Kaitlyn,Aubrey,Kelsey
Amber,Regan,Caitlin,Tab,Colby,Rorie
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Contents
Preface xi
1
Introduction 1
1.1 SystemArchitecture 1
1.2 DesignModels 4
1.3 DesignProject 6
2
CoordinateFrames 8
2.1 RotationMatrices 9
2.2 MAVCoordinateFrames 12
2.3 Airspeed,WindSpeed,andGroundSpeed 18
2.4 TheWindTriangle 20
2.5 DifferentiationofaVector 24
2.6 ChapterSummary 25
2.7 DesignProject 27
3
KinematicsandDynamics 28
3.1 StateVariables 28
3.2 Kinematics 30
3.3 Rigid-bodyDynamics 31
3.4 ChapterSummary 37
3.5 DesignProject 38
4
ForcesandMoments 39
4.1 GravitationalForces 39
4.2 AerodynamicForcesandMoments 40
4.3 PropulsionForcesandMoments 52
4.4 AtmosphericDisturbances 54
4.5 ChapterSummary 57
4.6 DesignProject 58
5
LinearDesignModels 60
5.1 SummaryofNonlinearEquationsofMotion 60
5.2 CoordinatedTurn 64
5.3 TrimConditions 65
5.4 TransferFunctionModels 68
viii Contents
5.5 LinearState-spaceModels 77
5.6 Reduced-orderModes 87
5.7 ChapterSummary 91
5.8 DesignProject 92
6
AutopilotDesignUsingSuccessiveLoopClosure 95
6.1 SuccessiveLoopClosure 95
6.2 SaturationConstraintsandPerformance 97
6.3 Lateral-directionalAutopilot 99
6.4 LongitudinalAutopilot 105
6.5 DigitalImplementationofPIDLoops 114
6.6 ChapterSummary 117
6.7 DesignProject 118
7
SensorsforMAVs 120
7.1 Accelerometers 120
7.2 RateGyros 124
7.3 PressureSensors 126
7.4 DigitalCompasses 131
7.5 GlobalPositioningSystem 134
7.6 ChapterSummary 141
7.7 DesignProject 141
8
StateEstimation 143
8.1 BenchmarkManeuver 143
8.2 Low-passFilters 144
8.3 StateEstimationbyInvertingtheSensorModel 145
8.4 Dynamic-observerTheory 149
8.5 DerivationoftheContinuous-discreteKalman
Filter 151
8.6 AttitudeEstimation 156
8.7 GPSSmoothing 158
8.8 ChapterSummary 161
8.9 DesignProject 162
9
DesignModelsforGuidance 164
9.1 AutopilotModel 164
9.2 KinematicModelofControlledFlight 165
9.3 KinematicGuidanceModels 168
9.4 DynamicGuidanceModel 170
9.5 ChapterSummary 172
9.6 DesignProject 173
Contents ix
10
Straight-lineandOrbitFollowing 174
10.1 Straight-linePathFollowing 175
10.2 OrbitFollowing 181
10.3 ChapterSummary 183
10.4 DesignProject 185
11
PathManager 187
11.1 TransitionsBetweenWaypoints 187
11.2 DubinsPaths 194
11.3 ChapterSummary 202
11.4 DesignProject 204
12
PathPlanning 206
12.1 Point-to-PointAlgorithms 207
12.2 CoverageAlgorithms 220
12.3 ChapterSummary 223
12.4 DesignProject 224
13
Vision-guidedNavigation 226
13.1 GimbalandCameraFramesandProjective
Geometry 226
13.2 GimbalPointing 229
13.3 Geolocation 231
13.4 EstimatingTargetMotionintheImagePlane 234
13.5 TimetoCollision 238
13.6 PrecisionLanding 240
13.7 ChapterSummary 244
13.8 DesignProject 245
APPENDIXA:NomenclatureandNotation 247
APPENDIXB:Quaternions 254
B.1 QuaternionRotations 254
B.2 AircraftKinematicandDynamicEquations 255
B.3 ConversionBetweenEulerAnglesand
Quaternions 259
APPENDIXC:AnimationsinSimulink 260
C.1 HandleGraphicsinMatlab 260
C.2 AnimationExample:InvertedPendulum 261