04608nam 2200733 a 450 991046180750332120200520144314.01-68015-902-X1-283-37967-897866133796721-4008-4060-010.1515/9781400840601(CKB)2670000000139866(EBL)832065(SSID)ssj0000571295(PQKBManifestationID)11351089(PQKBTitleCode)TC0000571295(PQKBWorkID)10619003(PQKB)10749732(MiAaPQ)EBC832065(OCoLC)769927217(MdBmJHUP)muse43163(DE-B1597)453777(OCoLC)979755037(DE-B1597)9781400840601(PPN)19924426Xsudoc(PPN)176039414(Au-PeEL)EBL832065(CaPaEBR)ebr10522526(CaONFJC)MIL337967(EXLCZ)99267000000013986620110719d2012 uy 0engur|n|---|||||txtccrSmall unmanned aircraft[electronic resource] theory and practice /Randal W. Beard, Timothy W. McLainCourse BookPrinceton, N.J. Princeton University Pressc20121 online resource (317 p.)Includes bibliographical references (p. [291]-298) and index.0-691-14921-6 Includes bibliographical references and index.Frontmatter -- Contents -- Preface -- 1. Introduction -- 2. Coordinate Frames -- 3. Kinematics and Dynamics -- 4. Forces and Moments -- 5. Linear Design Models -- 6. Autopilot Design Using Successive Loop Closure -- 7. Sensors for MAVs -- 8. State Estimation -- 9. Design Models for Guidance -- 10. Straight-line and Orbit Following -- 11. Path Manager -- 12. Path Planning -- 13. Vision-guided Navigation -- Appendix A. Nomenclature and Notation -- Appendix B. Quaternions -- Appendix C. Animations in Simulink -- Appendix D. Modeling in Simulink Using S-Functions -- Appendix E. Airframe Parameters -- Appendix F. Trim and Linearization in Simulink -- Appendix G. Essentials from Probability Theory -- Appendix H. Sensor Parameters -- Bibliography -- IndexAutonomous 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 Aircraft provides 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.Drone aircraftControl systemsDrone aircraftAutomatic controlGuidance systems (Flight)Electronic books.Drone aircraftControl systems.Drone aircraftAutomatic control.Guidance systems (Flight)623.74/69ZO 7400rvkBeard Randal W522967McLain Timothy W.1963-1056680MiAaPQMiAaPQMiAaPQBOOK9910461807503321Small unmanned aircraft2491216UNINA