Remote Sensing and Actuation Using Unmanned Vehicles

1. Auflage 2012
ISBN: 978-1-118-12276-1
Verlag: Wiley

Buch, Englisch, 240 Seiten, Format (B × H): 157 mm x 235 mm, Gewicht: 500 g

Unmanned systems and robotics technologies have become very popular recently owing to their ability to replace human beings in dangerous, tedious, or repetitious jobs. This book fill the gap in the field between research and real-world applications, providing scientists and engineers with essential information on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes. Target scenarios include environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks.

Autoren/Hrsg.

Chao, Haiyang

Chen, Yang

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Luft- und Raumfahrttechnik, Luftverkehr
• Technische Wissenschaften Sonstige Technologien | Angewandte Technik Signalverarbeitung, Bildverarbeitung, Scanning
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Sensorik
• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Intelligente & automatisierte Transportsysteme

Inhaltsverzeichnis

List of Figures xv

List of Tables xix

Foreword xxi

Preface xxiii

Acknowledgments xxv

Acronyms xxvii

1 Introduction 1

1.1 Monograph Roadmap 1

1.1.1 Sensing and Control in the Information-Rich World 1

1.1.2 Typical Civilian Application Scenarios 3

1.1.3 Challenges in Sensing and Control Using Unmanned Vehicles 5

1.2 Research Motivations 7

1.2.1 Small Unmanned Aircraft System Design for Remote Sensing 7

1.2.2 State Estimation for Small UAVs 8

1.2.3 Advanced Flight Control for Small UAVs 9

1.2.4 Cooperative Remote Sensing Using Multiple UAVs 10

1.2.5 Diffusion Control Using Mobile Actuator and Sensor Networks 11

1.3 Monograph Contributions 11

1.4 Monograph Organization 12

References 12

2 AggieAir: A Low-Cost Unmanned Aircraft System for Remote Sensing 15

2.1 Introduction 15

2.2 Small UAS Overview 17

2.2.1 Autopilot Hardware 19

2.2.2 Autopilot Software 21

2.2.3 Typical Autopilots for Small UAVs 22

2.3 AggieAir UAS Platform 26

2.3.1 Remote Sensing Requirements 26

2.3.2 AggieAir System Structure 27

2.3.3 Flying-Wing Airframe 30

2.3.4 OSAM-Paparazzi Autopilot 31

2.3.5 OSAM Image Payload Subsystem 32

2.3.6 gRAID Image Georeference Subsystem 36

2.4 OSAM-Paparazzi Interface Design for IMU Integration 39

2.4.1 Hardware Interface Connections 40

2.4.2 Software Interface Design 41

2.5 AggieAir UAS Test Protocol and Tuning 45

2.5.1 AggieAir UAS Test Protocol 45

2.5.2 AggieAir Controller Tuning Procedure 46

2.6 Typical Platforms and Flight Test Results 47

2.6.1 Typical Platforms 47

2.6.2 Flight Test Results 48

2.7 Chapter Summary 50

References 50

3 Attitude Estimation Using Low-Cost IMUs for Small Unmanned Aerial Vehicles 53

3.1 State Estimation Problem Definition 54

3.2 Rigid Body Rotatio

Über Autor(innen)

HAIYANG CHAO, PhD, is a postdoctoral fellow in the Department of Mechanical and Aerospace Engineering at West Virginia University in Morgantown. He authored or coauthored more than twenty peer-reviewed research papers and is one of the key developers of AggieAir, a low-cost, small UAV platform for remote sensing applications.

YANGQUAN CHEN, PhD, is Associate Professor of Electrical and Computer Engineering at Utah State University in Logan. He holds fourteen U.S. patents and is the author of several research monographs and edited volumes, five textbooks, and over 500 peer-reviewed research papers.