The modelling of a system's dynamics and performing simulation are commonly used techniques and almost critical components in the modern development of manned and unmanned systems alike. This chapter addresses the need for modelling and simulation of unmanned air vehicle systems and reviews historical developments in the field, current techniques used and future developments.

Chapter Contents:

• 5.1 Need for modelling and simulation
• 5.1.1 Control systems design
• 5.1.2 Operator training
• 5.1.3 Sub-system development and testing
• 5.2 History and adoption
• 5.2.1 Early aviation
• 5.2.2 First computerised simulations
• 5.2.3 Entry of UAVs into service
• 5.2.4 Commercial and consumer drones
• 5.3 Modelling of UAV dynamics
• 5.3.1 Model representation methods
• 5.3.1.1 Differential equations
• 5.3.1.2 State-space representation
• 5.3.2 Common reference frames
• 5.3.2.1 Inertial frame of reference
• 5.3.2.2 Earth-centre frames of reference
• 5.3.2.3 Navigation frame of reference
• 5.3.2.4 Body frames of reference
• 5.3.3 Representation of state variables
• 5.3.3.1 Euler angles
• 5.3.3.2 Rotation matrices
• 5.3.3.3 Quaternions
• 5.3.4 Deriving the system equations of motion
• 5.3.4.1 Conservation of momentum
• 5.3.4.2 Euler–Lagrange method
• 5.3.4.3 Newton–Euler recursive method
• 5.3.5 Flight physics models
• 5.3.5.1 Fixed-wing flight
• 5.3.5.2 Multi-rotors and VTOL
• 5.4 Flight dynamics simulation
• 5.4.1 Integration of the equations of motion
• 5.4.1.1 Euler method
• 5.4.1.2 Runga–Kutta methods
• 5.5 Conclusion
• References

Inspec keywords: autonomous aerial vehicles

Other keywords: unmanned air vehicle systems; critical components; UAV systems

Subjects: Mobile robots; Telerobotics; Aerospace control