本文为美国肯塔基大学（作者：Michael David Schmidt）的硕士论文，共129页。

ANGEL项目（Aerial Network Guided Electronic Lookout）采用系统工程的方法来设计、开发、测试和实现四旋翼无人机。目前许多关于无人驾驶四旋翼机的研究都没有采用广泛的系统方法进行设计和实现。其他项目在模拟环境下使用预制的四旋翼平台和一系列外部传感器，这对于现实世界来说是不可行的。ANGEL系统是专为战斗区域而设计的，因此，鲁棒性和易控制性是最重要的。本项目开发了一个完整的ANGEL系统动力学仿真模型，并用于在Matlab和Simulink®中调整自定义控制器。然后，在硬件中实现了该控制器，并与必要的子系统组装，以完成ANGEL平台。初步试验表明，该飞行器的运行非常成功，尽管在部署到野外之前还需要进行更多的开发。为飞行器定制高级控制器的设计意图是部队可以在没有专业飞行员的情况下向平台发送命令，第二架可拆卸无人机也在开发设计中，以大大提高运输效率。

The ANGEL project (Aerial Network Guided Electronic Lookout) takes a systems engineering approach to the design, development, testing and implementation of a quadrotor unmanned aerial vehicle. Many current research endeavors into the field of quadrotors for use as unmanned vehicles do not utilize the broad systems approach to design and implementation. These other projects use pre-fabricated quadrotor platforms and a series of external sensors in a mock environment that is unfeasible for real world use. The ANGEL system was designed specifically for use in a combat theater where robustness and ease of control are paramount. A complete simulation model of the ANGEL system dynamics was developed and used to tune a custom controller in MATLAB and Simulink®. This controller was then implemented in hardware and paired with the necessary subsystems to complete the ANGEL platform. Preliminary tests show successful operation of the craft, although more development is required before it is deployed in field. A custom high-level controller for the craft was written with the intention that troops should be able to send commands to the platform without having a dedicated pilot. A second craft that exhibits detachable limbs for greatly enhanced transportation efficiency is also in development.

1 引言

2 文献回顾与研究动机

3 ANGEL仿真模型

4 ANGEL控制器设计

5 飞行平台设计

6 试验与结果

7 结论与未来研究方向

附录A 源代码

附录B CAD设计图 

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