Mr Anh-Tuan PHAM graduated from the INSTITUTE OF SPACE AND AERONAUTICS (ISAE / TOULOUSE). Former research and development engineer in sectors like Aerospace (ONERA) and Automotive (Peugeot) during the period 1962-2002. Now retired and Professor of Aircraft and Automotive at ESTACA (Paris). Mr Emmanuel GRUNN, former specialist engineer of mechanical design inside RENAULT affiliates. Now Professor of Automatics Systems at ESTACA (Paris).

• Introduction viiChapter 1. 0D Analytical Modeling of the Airplane Motions 11.1. References: axis systems on use 21.1.1. Galilean reference: R0 21.1.2. Airplane reference: RB (body) also called “linked reference” 21.1.3. Resultant angular velocity 61.2. Equations of motion of the airplane 91.2.1. Expression of Newton’s principle 101.2.2. Expression of the dynamic momentum 111.3. Description of external forces and torques 141.3.1. Aerodynamic forces and torques 141.3.2. Sign rules 171.4. Description of aerodynamic coefficients 181.4.1. Drag coefficient: Cx 191.4.2. Side lift coefficient CY 191.4.3. Vertical lift due to attack angle: CZα 201.4.4. Lift due to pitch angular velocity: CZq 211.4.5. Roll coefficients (due to β, δl , p) 221.4.6. Pitch coefficients (due to α, δm , q , static curvature) 251.4.7. Yaw coefficients (due to β, δn, r) 271.5. Aerodynamic data of a supersonic airliner for valuation of the software 321.6. Horizontal flight as an initial condition 331.7. Effect of gravitational forces 361.8. Calculation of the trajectory of the airplane in open space 391.9. Validation by comparison with ONERA Concorde data 471.10. Definitions of aerodynamic coefficients and derivatives 511.10.1. Aerodynamic coefficients 511.10.2. Total lift coefficient 511.10.3. Drag characteristics: (dimensionless) 551.10.4. Side lift coefficient: CY (dimensionless) 581.10.5. Roll coefficients 591.10.6. Pitch coefficients 621.10.7. Yaw coefficients 66Chapter 2. Design and Optimization of an Unmanned Aerial Vehicle (UAV) 692.1. General design of the drone 712.2. Weight estimation 722.3. Size estimation 732.4. Mass and inertia evaluation 762.4.1. Mass evaluation 762.4.2. Measurement of the roll inertia (A) 772.4.3. Measurement of pitch inertia (B) 792.4.4. Measurement of yaw inertia (C) 802.5. Convergence toward the target 82Chapter 3. Organization of the Auto-Pilot 913.1. Position of the drone in open space 933.2. The Dog Law 953.3. Flight tests 983.4. Altitude control system 1003.5. Altitude measurement on an actual drone 102Bibliography 111Index 113

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Mr Anh-Tuan PHAM graduated from the INSTITUTE OF SPACE AND AERONAUTICS (ISAE / TOULOUSE). Former research and development engineer in sectors like Aerospace (ONERA) and Automotive (Peugeot) during the period 1962-2002. Now retired and Professor of Aircraft and Automotive at ESTACA (Paris). Mr Emmanuel GRUNN, former specialist engineer of mechanical design inside RENAULT affiliates. Now Professor of Automatics Systems at ESTACA (Paris).

• Introduction viiChapter 1. 0D Analytical Modeling of the Airplane Motions 11.1. References: axis systems on use 21.1.1. Galilean reference: R0 21.1.2. Airplane reference: RB (body) also called “linked reference” 21.1.3. Resultant angular velocity 61.2. Equations of motion of the airplane 91.2.1. Expression of Newton’s principle 101.2.2. Expression of the dynamic momentum 111.3. Description of external forces and torques 141.3.1. Aerodynamic forces and torques 141.3.2. Sign rules 171.4. Description of aerodynamic coefficients 181.4.1. Drag coefficient: Cx 191.4.2. Side lift coefficient CY 191.4.3. Vertical lift due to attack angle: CZα 201.4.4. Lift due to pitch angular velocity: CZq 211.4.5. Roll coefficients (due to β, δl , p) 221.4.6. Pitch coefficients (due to α, δm , q , static curvature) 251.4.7. Yaw coefficients (due to β, δn, r) 271.5. Aerodynamic data of a supersonic airliner for valuation of the software 321.6. Horizontal flight as an initial condition 331.7. Effect of gravitational forces 361.8. Calculation of the trajectory of the airplane in open space 391.9. Validation by comparison with ONERA Concorde data 471.10. Definitions of aerodynamic coefficients and derivatives 511.10.1. Aerodynamic coefficients 511.10.2. Total lift coefficient 511.10.3. Drag characteristics: (dimensionless) 551.10.4. Side lift coefficient: CY (dimensionless) 581.10.5. Roll coefficients 591.10.6. Pitch coefficients 621.10.7. Yaw coefficients 66Chapter 2. Design and Optimization of an Unmanned Aerial Vehicle (UAV) 692.1. General design of the drone 712.2. Weight estimation 722.3. Size estimation 732.4. Mass and inertia evaluation 762.4.1. Mass evaluation 762.4.2. Measurement of the roll inertia (A) 772.4.3. Measurement of pitch inertia (B) 792.4.4. Measurement of yaw inertia (C) 802.5. Convergence toward the target 82Chapter 3. Organization of the Auto-Pilot 913.1. Position of the drone in open space 933.2. The Dog Law 953.3. Flight tests 983.4. Altitude control system 1003.5. Altitude measurement on an actual drone 102Bibliography 111Index 113

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Mr Anh-Tuan PHAM graduated from the INSTITUTE OF SPACE AND AERONAUTICS (ISAE / TOULOUSE). Former research and development engineer in sectors like Aerospace (ONERA) and Automotive (Peugeot) during the period 1962-2002. Now retired and Professor of Aircraft and Automotive at ESTACA (Paris). Mr Emmanuel GRUNN, former specialist engineer of mechanical design inside RENAULT affiliates. Now Professor of Automatics Systems at ESTACA (Paris).

• Introduction viiChapter 1. 0D Analytical Modeling of the Airplane Motions 11.1. References: axis systems on use 21.1.1. Galilean reference: R0 21.1.2. Airplane reference: RB (body) also called “linked reference” 21.1.3. Resultant angular velocity 61.2. Equations of motion of the airplane 91.2.1. Expression of Newton’s principle 101.2.2. Expression of the dynamic momentum 111.3. Description of external forces and torques 141.3.1. Aerodynamic forces and torques 141.3.2. Sign rules 171.4. Description of aerodynamic coefficients 181.4.1. Drag coefficient: Cx 191.4.2. Side lift coefficient CY 191.4.3. Vertical lift due to attack angle: CZα 201.4.4. Lift due to pitch angular velocity: CZq 211.4.5. Roll coefficients (due to β, δl , p) 221.4.6. Pitch coefficients (due to α, δm , q , static curvature) 251.4.7. Yaw coefficients (due to β, δn, r) 271.5. Aerodynamic data of a supersonic airliner for valuation of the software 321.6. Horizontal flight as an initial condition 331.7. Effect of gravitational forces 361.8. Calculation of the trajectory of the airplane in open space 391.9. Validation by comparison with ONERA Concorde data 471.10. Definitions of aerodynamic coefficients and derivatives 511.10.1. Aerodynamic coefficients 511.10.2. Total lift coefficient 511.10.3. Drag characteristics: (dimensionless) 551.10.4. Side lift coefficient: CY (dimensionless) 581.10.5. Roll coefficients 591.10.6. Pitch coefficients 621.10.7. Yaw coefficients 66Chapter 2. Design and Optimization of an Unmanned Aerial Vehicle (UAV) 692.1. General design of the drone 712.2. Weight estimation 722.3. Size estimation 732.4. Mass and inertia evaluation 762.4.1. Mass evaluation 762.4.2. Measurement of the roll inertia (A) 772.4.3. Measurement of pitch inertia (B) 792.4.4. Measurement of yaw inertia (C) 802.5. Convergence toward the target 82Chapter 3. Organization of the Auto-Pilot 913.1. Position of the drone in open space 933.2. The Dog Law 953.3. Flight tests 983.4. Altitude control system 1003.5. Altitude measurement on an actual drone 102Bibliography 111Index 113

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