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Unmanned Aerial Vehicle - Lecture2
Unmanned Aerial Vehicle - Lecture2
February, 2015
Modelling
Coordinate Frames
Kinematics and Dynamics
Forces and Moments
11/21/16
Lecture Concepts
1. Coordinate Frames
2.
1. Rotational Matrix
1.
2.
1. Inertial Frame
3.
2. Vehicle Frame
3. Vehicle-1 Frame
4. Vehicle-2 Frame
5. Body Frame
6. Stability Frame
3.
7. Wind Frame
3. Navigation Frames
1. Airspeed
2. Wind Speed
State Variables
Kinematics
Rigid Body Dynamics
3.
4.
Gravitational Forces
Aerodynamic Forces and
Moments
Propulsion Forces and Moments
Atmospheric Disturbance
3. Ground Speed
4. Wind Triangle
11/21/16