资源简介

Small Unmanned Aircraft:Theory and Practice 源码,小型无人机学习必备书籍项目源码,包含很多示例,全部由MATLAB/Simulink编写。 (The source code of Small Unmanned Aircraft:Theory and Practice,which is the best text for the beginers.)

资源截图

代码片段和文件信息

function drawPathError(uuVFcolors)

    % process inputs to function
    pn       = uu(1);       % inertial North position     
    pe       = uu(2);       % inertial East position
    pd       = uu(3);       % inertial Down position
    u        = uu(4);       % body frame velocities
    v        = uu(5);       
    w        = uu(6);       
    phi      = uu(7);       % roll angle         
    theta    = uu(8);       % pitch angle     
    psi      = uu(9);       % yaw angle     
    p        = uu(10);      % roll rate
    q        = uu(11);      % pitch rate     
    r        = uu(12);      % yaw rate    
    t        = uu(13);      % time
    NN = 13;
    flag_path = uu(1+NN);      % path flag
    r_path    = [uu(3+NN); uu(4+NN); uu(5+NN)];
    q_path    = [uu(6+NN); uu(7+NN); uu(8+NN)];
    c_orbit   = [uu(9+NN); uu(10+NN); uu(11+NN)];
    rho_orbit = uu(12+NN);
    lam_orbit = uu(13+NN);


    % define persistent variables 
    persistent aircraft_handle;  % figure handle for MAV

    % first time function is called initialize plot and persistent vars
    if t==0

        figure(1) clf
        S = 500;
        switch flag_path
            case 1
                XX = [r_path(1) r_path(1)+S*q_path(1)];
                YY = [r_path(2) r_path(2)+S*q_path(2)];
                ZZ = [r_path(3) r_path(3)+S*q_path(3)];
            case 2
                N = 100;
                th = [0:2*pi/N:2*pi];
                XX = c_orbit(1) + rho_orbit*cos(th);
                YY = c_orbit(2) + rho_orbit*sin(th);
                ZZ = c_orbit(3)*ones(size(th));
        end
        plot3(YYXX-ZZ‘r‘)
        hold on
                
        aircraft_handle = drawBody(VFcolors...
                                   pnpepdphithetapsi...
                                   [] ‘normal‘);
        title(‘UAV‘)
        xlabel(‘East‘)
        ylabel(‘North‘)
        zlabel(‘-Down‘)
        view(090)  % set the view angle for figure
        axis([-SS-SS-.1  S]);
        grid on
        
        
    % at every other time step redraw MAV
    else 
        drawBody(VFcolors...
                     pnpepdphithetapsi...
                     aircraft_handle);
    end
%    figure(1) plot3(pepn-pd‘.k‘);
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function handle = drawBody(VFcolors...
                               pn pe pd phi theta psi...
                               handle mode)
  V = rotate(V‘ phi theta psi)‘;  % rotate rigid body  
  V = translate(V‘ pn pe pd)‘;  % translate after rotation

  % transform vertices from NED to XYZ (for matlab rendering)
  R = [...
      0 1 0;...
      1 0 0;...
      0 0 -1;...
      ];
  V = V*R;

  if isempty(handle)
    handle = patch(‘Vertices‘ V ‘Faces‘ F...
                 ‘FaceVertexCData‘colors...
                 ‘FaceColor‘‘flat‘...
                 ‘EraseMode‘ mode);
  else
    set(handle‘Vertices‘V‘Faces‘F);
    drawnow
  end
  
end 


%%%%%%%%%%%%%

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件       3685  2010-10-22 16:09  SUAV\chap10_follow\drawPathError.m

     文件      67311  2010-11-01 10:51  SUAV\chap10_follow\mavsim_chap10.mdl

     文件      36175  2010-10-22 16:09  SUAV\chap10_follow\mavsim_chap10_model.mdl

     文件       1920  2010-11-01 11:00  SUAV\chap10_follow\path_follow.m

     文件       1687  2010-11-01 10:50  SUAV\chap10_follow\path_manager_chap10.m

     文件       1151  2010-10-22 15:09  SUAV\chap11_manager\createWorld.m

     文件       8757  2010-10-22 15:09  SUAV\chap11_manager\drawEnvironment.m

     文件       3685  2010-10-22 15:09  SUAV\chap11_manager\drawPathError.m

     文件       3459  2010-11-08 13:30  SUAV\chap11_manager\dubinsParameters.m

     文件      67853  2010-10-22 15:09  SUAV\chap11_manager\mavsim_chap11.mdl

     文件      38890  2010-10-22 15:09  SUAV\chap11_manager\mavsim_chap11_model.mdl

     文件        563  2010-11-11 18:31  SUAV\chap11_manager\param_chap11.m

     文件       2542  2010-11-08 13:30  SUAV\chap11_manager\path_manager.m

     文件       6775  2010-11-08 13:38  SUAV\chap11_manager\path_manager_dubins.m

     文件       3255  2010-11-08 13:35  SUAV\chap11_manager\path_manager_fillet.m

     文件       2621  2010-11-08 13:33  SUAV\chap11_manager\path_manager_line.m

     文件       1646  2010-11-08 13:31  SUAV\chap11_manager\path_planner_chap11.m

     文件      67861  2010-10-22 15:09  SUAV\chap12_plan\mavsim_chap12.mdl

     文件      40340  2010-11-15 09:52  SUAV\chap12_plan\mavsim_chap12_model.mdl

     文件       4146  2010-10-22 15:09  SUAV\chap12_plan\path_planner.m

     文件       5962  2010-11-15 13:09  SUAV\chap12_plan\planCover.m

     文件       8174  2010-10-22 15:09  SUAV\chap12_plan\planRRT.m

     文件       4338  2010-11-22 09:23  SUAV\chap13_camera\camera.m

     文件      13102  2010-11-22 09:24  SUAV\chap13_camera\drawEnvironmentCamera.m

     文件       2432  2010-11-29 12:52  SUAV\chap13_camera\geolocation.m

     文件       6535  2010-10-22 15:09  SUAV\chap13_camera\gimbal.jpg

     文件       3729  2010-10-22 15:09  SUAV\chap13_camera\gimbal.m

     文件      84251  2010-10-22 15:09  SUAV\chap13_camera\mavsim_chap13_geolocation.mdl

     文件      55299  2010-10-22 15:09  SUAV\chap13_camera\mavsim_chap13_geolocation_model.mdl

     文件      78323  2010-10-22 15:09  SUAV\chap13_camera\mavsim_chap13_gimbal.mdl

............此处省略156个文件信息

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