SMALL UNMANNED AIRCRAFT i This page intentionally left blank SMALL UNMANNED AIRCRAFT Theory and Practice RANDAL W. BEARD TIMOTHY W. McLAIN PRINCETON UNIVERSITY PRESS Princeton and Oxford iii Copyright ?2012 by Princeton University Press Published by Princeton University Press, 41 William Street, Princeton, NewJersey 08540 In the United Kingdom: Princeton University Press, 6 Oxford Street, Woodstock, Oxfordshire OX20 1TW Jacket art: Tempest and Farmhouse , 06/02/2010. University of Colorado Boulder. ?Jack Elston. All Rights Reserved ISBN 978-0-691-14921-9 Library of Congress Cataloging-in-Publication Data Beard, Randal W. Small unmanned aircraft: theory and practice / Randal W. Beard, Timothy W. McLain. p. cm. Includes bibliographical references and index. ISBN 978-0-691-14921-9 (hardcover: alk. paper) 1. Drone aircraft–Control systems. 2. Drone aircraft–Automatic control. 3. Guidance systems (Flight) I. McLain, Timothy W., 1963-II. Title. 2012 ’69–dc23 2011025926 British Library Cataloging-in-Publication Data is available This book has posed in ITC Stone Printed on acid-free paper. ∞ Typeset by S R Nova Pvt Ltd, Bangalore, India Printed in the United States of America ********** iv v To our families Andrea, Laurann, Kaitlyn, Aubrey, Kelsey Amber, Regan, Caitlin, Tab, Colby, Rorie This page intentionally left blank Contents Preface xi 1 Introduction 1 System Architecture 1 Design Models 4 Design Project 6 2 Coordinate Frames 8 Rotation Matrices 9 MAVCoordinate Frames 12 Airspeed, Wind Speed, and Ground Speed 18 The Wind Triangle 20 Differentiation of a Vector 24 Chapter Summary 25 Design Project 27 3 Kinematics and Dynamics 28 State Variables 28 Kinematics 30 Rigid-body Dynamics 31 Chapter Summary 37 Design Project 38 4 Forces and Moments 39 Gravitational Forces 39 Aerodynamic Forces and Moments 40 Propulsion Forces and Moments
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