Remote Sensing and Actuation Using Unmanned Vehicles (eBook)

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.

List of Figures

List of Tables

Foreword

Preface

Acknowledgments

Acronyms

1 Introduction

1.1 Monograph Roadmap

1.2 Research Motivations

1.3 Monograph Contributions

1.4 Monograph Organization

References

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

2.1 Introduction

2.2 Small UAS Overview

2.3 AggieAir UAS Platform

2.4 OSAM-Paparazzi Interface Design for IMU Integration

2.5 Aggie Air UAS Test Protocol and Tuning

2.6 Typical Platforms

2.7 Chapter Summary

References

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

3.1 State Estimation Problem Definition

3.2 Rigid Body Rotations Basics

3.3 Low-Cost Inertial Measurement Units: Hardware and Sensor Suites

3.4 Attitude Estimation Using Complementary Filters on SO (3)

3.5 Attitude Estimation Using Extended Kalman Filters

3.6 AggieEKF: GPS-Aided Extended Kalman Filter

3.7 chapter Summary

References

4 Lateral Channel Fractional Order Flight Controller Design for a Small UAV

4.1 Introduction

4.2 Preliminaries of UAV Flight Control

4.3 Roll-Channel System Identification and Control

4.4 Fractional Order Controller Design

4.5 Simulation Results

4.6 UAV Flight Testing Results

4.7 Chapter Summary

References

5 Remote Sensing Using Single Unmanned Aerial Vehicle

5.1 Motivations for Remote Sensing

5.2 Remote Sensing Using Small UAVs

5.3 Sample Applications for AggieAir UAS

5.4 Chapter Summary

References

6 Cooperative Remote Sensing Using Multiple Unmanned Vehicles

6.1 Consensus-Based Formation control

6.2 Surface Wind Profile Measurement Using Multiple UAVs

6.3 Chapter Summary

References

7 Diffusion Control Using Mobile Sensor and Actuator Networks

7.1 Motivation and Background

7.2 Mathematical Modelling and Problem Formulation

7.3 CVT-Based Dynamical Actuator Motion Scheduling Algorithm

7.4 Grouping Effect in CVT-based Diffusion Control

7.5 Information Consensus in CVT Algorithm

7.6 Simulation Results

7.7 Chapter Summary

References

8 Conclusions and Future Research Suggestions

8.1 Conclusions

8.2 Future Research Suggestions

References

9 Appendix

9.1 List of Documents for CSOIS Flight Test Protocol

9.2 IMU/GPS Serial Communication Protocols

9.3 Paparazzi Autopilot Software Architecture: A Modification Guide

9.4 DiffMAS2D Code Modification Guide

References

Topic Index