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Design of Unmanned Aerial Systems Aerospace Series Helicopter Flight Dynamics Including a Treatment of Tiltrotor Aircraft, 3rd Edition Gareth D Padfield, CEng, PhD, FRAeS Space Flight Dynamics, 2nd Edition Craig A Kluever Performance of the Jet Transport Airplane Analysis Methods, Flight Operations, and Regulations Trevor M Young Small Unmanned Fixed‐wing Aircraft Design A Practical Approach Andrew J Keane, András Sóbester, James P Scanlan Advanced UAV Aerodynamics, Flight Stability and Control.
Design of Unmanned Aerial Systems Aerospace Series Helicopter Flight Dynamics: Including a Treatment of Tiltrotor Aircraft, 3rd Edition Gareth D Padfield, CEng, PhD, FRAeS Space Flight Dynamics, 2nd Edition Craig A Kluever Performance of the Jet Transport Airplane: Analysis Methods, Flight Operations, and Regulations Trevor M Young Small Unmanned Fixed‐wing Aircraft Design: A Practical Approach Andrew J Keane, András Sóbester, James P Scanlan Advanced UAV Aerodynamics, Flight Stability and Control: Novel Concepts, Theory and Applications Pascual Marqués, Andrea Da Ronch Differential Game Theory with Applications to Missiles and Autonomous Systems Guidance Farhan A Faruqi Introduction to Nonlinear Aeroelasticity Grigorios Dimitriadis Introduction to Aerospace Engineering with a Flight Test Perspective Stephen Corda Aircraft Control Allocation Wayne Durham, Kenneth A Bordignon, Roger Beck Remotely Piloted Aircraft Systems: A Human Systems Integration Perspective Nancy J Cooke, Leah J Rowe, Winston Bennett Jr., DeForest Q Joralmon Theory and Practice of Aircraft Performance Ajoy Kumar Kundu, Mark A Price, David Riordan Adaptive Aeroservoelastic Control Ashish Tewari The Global Airline Industry, 2nd Edition Peter Belobaba, Amedeo Odoni, Cynthia Barnhart Modeling the Effect of Damage in Composite Structures: Simplified Approaches Christos Kassapoglou Introduction to Aircraft Aeroelasticity and Loads, 2nd Edition Jan R Wright, Jonathan Edward Cooper Theoretical and Computational Aerodynamics Tapan K Sengupta Aircraft Aerodynamic Design: Geometry and Optimization András Sóbester, Alexander I J Forrester Stability and Control of Aircraft Systems: Introduction to Classical Feedback Control Roy Langton Aerospace Propulsion T W Lee Civil Avionics Systems, 2nd Edition Ian Moir, Allan Seabridge, Malcolm Jukes Aircraft Flight Dynamics and Control Wayne Durham Modelling and Managing Airport Performance Konstantinos Zografos, Giovanni Andreatta, Amedeo Odoni Advanced Aircraft Design: Conceptual Design, Analysis and Optimization of Subsonic Civil Airplanes Egbert Torenbeek Design and Analysis of Composite Structures: With Applications to Aerospace Structures, 2nd Edition Christos Kassapoglou Aircraft Systems Integration of Air‐Launched Weapons Keith A Rigby Understanding Aerodynamics: Arguing from the Real Physics Doug McLean Design and Development of Aircraft Systems, 2nd Edition Ian Moir, Allan Seabridge Aircraft Design: A Systems Engineering Approach Mohammad H Sadraey Introduction to UAV Systems, 4th Edition Paul Fahlstrom, Thomas Gleason Theory of Lift: Introductory Computational Aerodynamics in MATLAB/Octave G D McBain Sense and Avoid in UAS: Research and Applications Plamen Angelov Morphing Aerospace Vehicles and Structures John Valasek Spacecraft Systems Engineering, 4th Edition Peter Fortescue, Graham Swinerd, John Stark Unmanned Aircraft Systems: UAVS Design, Development and Deployment Reg Austin Gas Turbine Propulsion Systems Bernie MacIsaac, Roy Langton Aircraft Systems: Mechanical, Electrical, and Avionics Subsystems Integration, 3rd Edition Ian Moir, Allan Seabridge Basic Helicopter Aerodynamics, 3rd Edition John M Seddon, Simon Newman System Health Management: with Aerospace Applications Stephen B Johnson, Thomas Gormley, Seth Kessler, Charles Mott, Ann Patterson‐Hine, Karl Reichard, Philip Scandura Jr Advanced Control of Aircraft, Spacecraft and Rockets Ashish Tewari Air Travel and Health: A Systems Perspective Allan Seabridge, Shirley Morgan Principles of Flight for Pilots Peter J Swatton Handbook of Space Technology Wilfried Ley, Klaus Wittmann, Willi Hallmann Cooperative Path Planning of Unmanned Aerial Vehicles Antonios Tsourdos, Brian White, Madhavan Shanmugavel Design and Analysis of Composite Structures: With Applications to Aerospace Structures Christos Kassapoglou Introduction to Antenna Placement and Installation Thereza Macnamara Principles of Flight Simulation David Allerton Aircraft Fuel Systems Roy Langton, Chuck Clark, Martin Hewitt, Lonnie Richards Computational Modelling and Simulation of Aircraft and the Environment, Volume 1: Platform Kinematics and Synthetic Environment Dominic J Diston Aircraft Performance Theory and Practice for Pilots, 2nd Edition Peter J Swatton Military Avionics Systems Ian Moir, Allan Seabridge, Malcolm Jukes Aircraft Conceptual Design Synthesis Denis Howe Design of Unmanned Aerial Systems Dr Mohammad H Sadraey Southern New Hampshire University Manchester, NH, USA This edition first published 2020 © 2020 John Wiley & Sons Ltd All rights reserved No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by law Advice on how to obtain permission to reuse material from this title is available at http://www.wiley.com/go/permissions The right of Mohammad H Sadraey to be identified as the author of this work has been 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rendering professional services The advice and strategies contained herein may not be suitable for your situation You should consult with a specialist where appropriate Further, readers should be aware that websites listed in this work may have changed or disappeared between when this work was written and when it is read Neither the publisher nor authors shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages Library of Congress Cataloging-in-Publication Data Names: Sadraey, Mohammad H., author Title: Design of unmanned aerial systems / Dr Mohammad H Sadraey Description: First edition | Hoboken, NJ: John Wiley & Sons, 2020 | Series: Aerospace series | Includes bibliographical references and index Identifiers: LCCN 2019024537 (print) | LCCN 2019024538 (ebook) | ISBN 9781119508700 (hardback) | ISBN 9781119508694 (adobe pdf ) | ISBN 9781119508625 (epub) Subjects: LCSH: Drone aircraft–Design and construction Classification: LCC TL685.35 S235 2019 (print) | LCC TL685.35 (ebook) | DDC 629.133/39–dc23 LC record available at https://lccn.loc.gov/2019024537 LC ebook record available at https://lccn.loc.gov/2019024538 Cover image: © NASA, © NASA/Tony Landis Cover design by Wiley Set in 10/12pt Warnock by SPi Global, Pondicherry, India 10 9 8 7 6 5 4 3 2 1 To Fatemeh Zafarani, Ahmad, and Atieh, for all their love and understanding vii Contents Preface xix Acronyms xxv Nomenclature xxix About the Companion Website xxxvii Design Fundamentals 1.1 Introduction 1.2 UAV Classifications 1.3 Review of a Few Successful UAVs 1.3.1 Global Hawk 1.3.2 RQ‐1A Predator 1.3.3 MQ‐9 Predator B Reaper 1.3.4 RQ‐5A Hunter 10 1.3.5 RQ‐7 Shadow 200 10 1.3.6 RQ‐2A Pioneer 11 1.3.7 RQ‐170 Sentinel 11 1.3.8 X‐45A UCAV 12 1.3.9 Epson Micro‐flying Robot 12 1.4 Design Project Planning 12 1.5 Decision Making 13 1.6 Design Criteria, Objectives, and Priorities 15 1.7 Feasibility Analysis 17 1.8 Design Groups 17 1.9 Design Process 18 1.10 Systems Engineering Approach 19 1.11 UAV Conceptual Design 21 1.12 UAV Preliminary Design 27 1.13 UAV Detail Design 28 1.14 Design Review, Evaluation, Feedback 30 1.15 UAV Design Steps 30 Questions 32 Preliminary Design 35 2.1 Introduction 35 2.2 Maximum Takeoff Weight Estimation 36 2.3 Weight Buildup 36 2.4 Payload Weight 37 viii Contents 2.5 Autopilot Weight 37 2.6 Fuel Weight 39 2.7 Battery Weight 43 2.8 Empty Weight 47 2.9 Wing and Engine Sizing 48 2.10 Quadcopter Configuration 52 Questions 60 Problems 61 Design Disciplines 65 3.1 Introduction 66 3.2 Aerodynamic Design 67 3.3 Structural Design 69 3.4 Propulsion System Design 71 3.4.1 General Design Guidelines 72 3.4.2 Electric Engines 74 3.5 Landing Gear Design 75 3.6 Mechanical and Power Transmission Systems Design 78 3.7 Electric Systems 80 3.7.1 Fundamentals 80 3.7.2 Safety Recommendations 81 3.7.3 Wiring Diagrams 82 3.7.4 Wire Insulation and Shielding 83 3.7.5 Batteries 83 3.7.6 Generator 84 3.8 Control Surfaces Design 85 3.9 Safety Analysis 90 3.9.1 Design Lessons Learned 91 3.9.2 Likely Failure Modes of Sub‐Systems/Components 93 3.10 Installation Guidelines 95 3.10.1 GPS/Compass 95 3.10.2 IMU 95 3.10.3 Electric Motor 96 Questions 96 Design Questions 97 Problems 99 Aerodynamic Design 101 4.1 Introduction 102 4.2 Fundamentals of Aerodynamics 4.3 Wing Design 104 4.3.1 Wing Design Procedure 4.3.2 Airfoil Selection/Design 4.3.3 Wing Design Technique 4.3.4 Wing Design Steps 113 4.4 Tail Design 113 4.4.1 Design Procedure 113 4.4.2 Tail Configuration 115 103 105 106 108 Contents 4.4.3 Horizontal Tail Design Technique 116 4.4.4 Tail Planform Area and Tail Arm 117 4.4.5 Tail Airfoil Section 118 4.4.6 Tail Incidence 119 4.4.7 Other Horizontal Tail Parameters 119 4.5 Vertical Tail Design 119 4.5.1 Parameters 119 4.5.2 Vertical Tail Location 120 4.5.3 Vertical Tail Moment Arm (lvt) 120 4.5.4 Planform Area (Sv) 120 4.5.5 Incidence (iv) 121 4.5.6 Other Vertical Tail Parameters 122 4.5.7 Vertical Tail Design Technique 122 4.6 Fuselage Design 123 4.6.1 Fuselage Design Fundamentals 123 4.6.2 Fuselage Aerodynamics 123 4.6.3 Autopilot Compartment 126 4.6.4 Optimum Length‐to‐Diameter Ratio 126 4.6.5 Fuselage Aerodynamics 127 4.6.6 Lofting 128 4.6.7 Fuselage Design Steps 129 4.7 Antenna 130 4.7.1 Fixed Antenna 130 4.7.2 Radar Dish Antenna 131 4.7.3 Satellite Communication Antenna 131 4.7.4 Antenna Design/Installation 132 4.8 Aerodynamic Design of Quadcopters 132 4.9 Aerodynamic Design Guidelines 133 Questions 134 Problems 136 Fundamentals of Autopilot Design 141 5.1 Introduction 142 5.1.1 Autopilot and Human Operator 143 5.1.2 Primary Subsystems of an Autopilot 144 5.1.3 Autopilot Design or Selection 145 5.2 Dynamic Modeling 146 5.2.1 Modeling Technique 146 5.2.2 Fundamental Model 148 5.2.3 Transfer Function 150 5.2.4 State‐Space Representation 152 5.3 Aerodynamic Forces and Moments 153 5.3.1 Forces and Moments Equations 153 5.3.2 Stability and Control Derivatives 154 5.3.3 Non‐dimensional Stability and Control Derivatives 154 5.3.4 Dimensional Stability and Control Derivatives 155 5.3.5 Coupling Stability Derivatives 156 ix x Contents 5.4 Simplification Techniques of Dynamic Models 157 5.4.1 Linearization 157 5.4.1.1 Taylor Series 158 5.4.1.2 Direct Technique 159 5.4.2 Decoupling 159 5.5 Fixed‐Wing UAV Dynamic Models 161 5.5.1 Nonlinear Fully Coupled Equations of Motion 162 5.5.2 Nonlinear Semi‐Coupled Equations of Motion 162 5.5.3 Nonlinear Decoupled Equations of Motion 163 5.5.4 Linear Coupled Equations of Motion 163 5.5.5 Linear Decoupled Equations of Motion 165 5.5.6 Reformulated (Nonlinear Semi‐Coupled) Equations of Motion 167 5.5.7 Un‐powered Gliding Equations of Motion 168 5.6 Dynamic Model Approximation 169 5.6.1 Pure Pitching Motion Approximation 169 5.6.2 Pure Rolling Motion Approximation 169 5.6.3 Pure Yawing Motion Approximation 169 5.6.4 Longitudinal Oscillatory Modes Approximation 170 5.7 Quadcopter (Rotary‐Wing) Dynamic Model 170 5.7.1 Overall Thrust of Four Motors 170 5.7.2 Dynamic Model 174 5.7.3 Simplified Dynamic Model 175 5.8 Autopilot Categories 176 5.8.1 Stability Augmentation 176 5.8.2 Hold Functions 178 5.8.3 Navigation Functions 180 5.8.4 Command Augmentation Systems 180 5.9 Flight Simulation – Numerical Methods 181 5.9.1 Numerical Integration 182 5.9.2 Matlab/Simulink 182 5.9.3 Hardware‐In‐the‐Loop Simulation 184 5.10 Flying Qualities for UAVs 185 5.10.1 Fundamentals 185 5.10.2 Classes, Categories, and Acceptability Levels 186 5.10.3 Force Restrictions 186 5.11 Autopilot Design Process 187 Questions 188 Problems 190 Control System Design 195 6.1 Introduction 196 6.2 Fundamentals of Control Systems 197 6.2.1 Elements, Concepts and Definitions 197 6.2.2 Root Locus Design Technique 199 6.2.3 Frequency Domain Design Technique 200 6.2.4 Controller Configurations and Control Architectures 201 6.3 Servo/Actuator 203 609 Index a Absolute ceiling 52, 55, 58, 586–587 Accelerometer 79, 94, 126, 148, 197, 209, 216–219, 250, 305, 310, 311, 315, 321–324, 331–333, 337, 345, 357, 361, 384–385, 481 Accident 93, 95, 96, 280, 304, 579 Accuracy 21, 28, 83, 143, 148, 185, 187, 199, 240, 241, 259, 262, 283, 289, 294, 307, 312, 313, 315, 326–328, 331–333, 340, 344, 346, 427, 451, 470–471, 483, 490, 504–505, 518–519, 530, 543 Acoustic signature 499 Actuator 78–79, 88, 148, 160, 178, 185, 186, 194–197, 201–207, 213–214, 219, 250, 255, 369, 420–421, 490, 517 Aerial filming 47, 578 Aerodynamics 19, 68–69, 90, 102–104, 106, 119, 123–125, 127–128, 147–148, 182, 195, 508, 510–514, 543 center 104, 109, 117, 124, 160, 417, 510, 567–568 design 18, 54, 66–69, 101–134, 170, 418, 511 forces 66–67, 79, 85, 103–104, 134, 147, 149, 153–157, 162–163, 187, 334, 341 moments 149, 162, 171, 340 twist 112 AeroVironment 492 Aileron 28, 85–88, 102, 105, 126, 152– 153, 155, 160, 162, 168, 169, 171, 200, 204–208, 212–213, 215, 217, 220, 243, 255, 266–267, 269, 357, 449, 451, 476, 558, 577 Airfoil 68–70, 72, 102–110, 112–113, 116, 118–122, 127–129, 418, 420, 511 Air Force 4, 6–9, 11, 88, 91, 108, 404, 456, 467, 483, 497, 506–507, 540, 585 Airframe 47, 69–70, 186, 410, 423, 508, 515 Air launch 399, 400, 406, 413 Airspace 2–4, 6, 92, 186, 233, 234, 255, 259, 280–281, 284, 307, 459, 484, 531 Air traffic control 210, 283, 530, 535 Airworthiness 69, 106, 115, 122, 129, 240, 276, 510, 584 Algebraic Riccati Equation 223, 241 Altimeter 126, 209, 211, 292, 305, 308, 314, 315, 322, 328, 338, 361, 387, 494, 496, 535 ALTUS II 181 Aluminum 9, 69, 81, 123, 205, 483, 507, 515 Amazon 5, 486 Analog‐to‐digital 126, 231, 330, 357, 363, 451 Ancillary equipment 469 Angular acceleration 149, 324, 340–341, 350, 576 Antenna 71, 77, 81, 121, 125, 128, 130–132, 133, 215, 293–294, 328, 376, 384, 446, 447, 448, 452, 456, 480–481, 493–497, 510–512, 528, 531–537, 541–545 Arcturus T‐20 47, 243 Arduino 146, 356, 378–384, 509, 545–554 Arduino code 377–378, 389–391, 475–477, 547, 549, 550–551 Arduino Uno 366, 376, 378–380, 388–389, 475–476, 545–547, 549–551, 553 Ardupilot 48, 143, 145, 355–356, 384–385 Arresting line 400, 424–425, 432 Design of Unmanned Aerial Systems, First Edition Mohammad H. Sadraey © 2020 John Wiley & Sons Ltd Published 2020 by John Wiley & Sons Ltd Companion website: www.wiley.com/go/sadraey/unmanned-aerial-systems 610 Index Artificial intelligence 233 Aspect ratio 9, 56, 68, 102, 103, 105, 106, 109–110, 113, 116, 119–120, 122, 181 Atmosphere 143, 148, 197, 273, 327, 333, 335, 342, 503, 537, 587 Attitude gyro 211–214, 325–326, 331, 357 Attitude hold 176, 178, 180, 211–212 Augmentation systems 78, 176, 180–181 Auto landing 215–216, 387 Automatic flight control systems 86, 89, 146, 205, 232, 354, 567 Autonomous 3, 8, 11, 12, 54, 142–143, 186, 232–233, 255–256, 259–261, 274, 284, 313, 330, 384–385, 445, 486, 502–503, 525, 531 Autonomy 93, 126, 186, 232–235, 306, 502, 538 Autopilot 3, 11, 18, 23, 27–29, 36, 37–39, 79, 85, 94, 123–126, 130–131, 141–188, 195–196, 202, 208–212, 215, 217, 221, 224, 232–233, 235–237, 239, 241, 243, 254–257, 260–261, 265, 284, 290, 294, 304, 313, 322–323, 326, 344–345, 354–356, 359, 369–370, 385–387, 418, 444–446, 481, 519, 529–530, 563, 565–569, 585 Auxiliary power unit 80 Avenger 4, 10, 128, 454 Avionic 9, 72, 81, 94, 123, 126, 143–144, 233, 236, 305, 307, 314, 321, 370, 371, 481, 483, 508, 515 Axes systems 86, 307, 565 b Bandwidth 199, 260, 483, 492, 496, 512, 518, 528–529, 540, 543, 545 Battery 12, 48, 53, 72, 74–75, 80–81, 83–85, 132, 203, 330, 355, 376, 452, 461, 462, 509, 567, 581 energy 45 weight 36, 39, 43–47 Bearing 180, 320, 331, 341 Belly landing 422, 423 Belly recovery 399, 422 Bluetooth 12, 545, 549–550 Bode plot 199 Boeing 6, 12, 243, 468, 529, 535 Breguet 41–42, 125 British units 47 Bungee cord 400, 401–404, 406 c C‐5 468 C‐17 470 C‐130 9, 91, 468 C++ 371, 384 Caltech 327 Camera 2, 37, 66, 124, 243, 255, 320, 357, 399, 444, 480, 528, 568 Canard 115–116, 585 Carbon fiber 69 Cargo 91, 406, 468, 481, 482, 485–487, 567 Ceiling 9–10, 12, 25, 30, 49, 51–52, 55, 58, 63, 73, 181, 243, 423, 475, 492, 543, 586–587 Celestial navigation 305, 320–321, 330 Center of gravity 28, 31, 32, 53, 74, 76, 86, 89, 95, 110, 111, 117, 118, 120, 124, 131, 160, 173, 187, 217, 219, 227–228, 242, 250, 323–326, 338, 417–419, 509, 563, 565–568, 576 Centrifugal force 216 Centripetal acceleration 216, 258, 268 Certification 12, 30, 32, 195, 370, 562 Characteristic equation 151, 170, 197, 223, 570–573, 594 Chasing car 459 Classification 4, 5–8, 197, 232–233, 258, 272, 282, 305–306, 482, 502–504 Climb performance 416, 581–583 Clock 53, 86, 171, 173, 310, 312, 315, 330, 340, 342, 358, 362, 364, 365, 500, 569 Codes 92, 106, 144, 199, 261, 314, 356, 446, 489, 540 Collision 91, 232–234, 240, 255–260, 280–281, 283, 284–288, 289, 304, 494, 500, 528, 535, 586 Collision avoidance 232–234, 240, 258, 280–281, 283–288, 289, 494, 500, 535 Collision avoidance zone 284 Commercial off‐the‐shelf 25, 39 Index Communications relay 484 Communications system 18, 48, 80–81, 130, 509, 527–554 Compass 95, 126, 209, 321, 330–331, 343, 357, 386 Compiler 372, 374, 375, 377 Composite materials 9, 69, 510, 585 Computational Fluid Dynamics (CFD), 68, 104, 134 Computer vision 260, 384 Conceptual design 3–4, 19–31, 66, 87, 90, 123, 125, 195, 429–431, 433, 435, 475, 588 Configuration design 3, 15, 19–20, 31, 123 Controllability 28–29, 31, 79, 85–90, 112, 115, 127, 185, 195, 205, 207, 242, 510, 529, 562, 564, 567–568, 575–578 Control‐definition 195–197 Control derivative 154–157, 164, 167, 169, 213–214, 227–229, 247, 420, 578 Control law 79, 88, 143–145, 148, 150, 162, 181, 187, 196, 227, 231, 237, 241, 260, 261, 281, 370, 385 Controller 38, 79, 96, 149, 167, 178, 184–185, 195–196, 198, 199–201, 203–204, 210–211, 220, 243–244, 265, 269, 276, 358, 362–364, 371, 448, 452, 459, 461, 462, 471, 517–518, 525 Controller design 147, 197, 221–232, 388 Control surfaces 23, 28–29, 31, 66, 69–70, 78–79, 85–90, 94, 102, 108, 113, 119, 126, 155, 171, 185, 186, 194, 200–202, 204–206, 208–209, 212, 215, 217, 243, 254, 255, 260, 271, 277–278, 366, 376, 380–381, 445, 447, 449–451, 455, 550, 575 Convention 9, 53, 69, 82, 85–90, 113, 115–116, 119, 121, 122, 124–126, 132, 144, 160, 171, 197, 205, 207–209, 217, 261, 307, 313, 322, 398–400, 408, 410, 417–419, 422–423, 430–431, 445, 480, 494, 569, 571–573, 575–578, 585 Converter 82, 204, 231, 239–240, 357, 361–363, 365, 368–369, 377, 385, 451 Cooling 81–82, 123, 126 Coordinate system 86, 172, 305, 306–309, 312, 336, 566, 569 Coriolis effect 333, 341–343 Coriolis force 333, 342–343 Corner speed 280, 584, 586, 592 Cost analysis 562, 587–589 Coupling 90, 156–157, 159–163, 165, 187, 242 Course 194, 196, 233, 238, 243, 255, 257, 262–263, 271–272, 314, 341, 481, 492, 499 Crash 8, 10, 91–92, 94, 129, 280, 363, 416, 418, 484, 507, 541 Cross section 68, 71, 105–107, 125, 128–129, 132, 317, 402, 496, 512 Cross‐track error 277–279 Cruise altitude 179, 186, 210–211 Cruise control 210–211, 323, 355 Cruise speed 9, 337 Cryptography 143, 540 d Damping ratio 151, 198, 212–213, 215, 219, 242, 250, 573 Data link 3, 9, 37, 185, 243, 386, 444, 455, 483, 490, 496, 507, 515, 528–531, 536, 537–544 DATCOM 154 Dead reckoning 305, 309, 311, 330, 340 Debugging 357, 363, 372 Deception 293, 507–508 Decision making 13, 15, 21, 232–233, 235–239, 254 Decoder 357 Decoupling 156–157, 159–161, 163, 165 Decoy 5, 507–508 Delay 111, 185, 204–205, 234, 358, 362, 373–375, 507–508, 530, 553 Demodulation 315, 534 Denial of service 507, 540 Department of Defense 2, 4, 315, 458, 464, 506 Derivative 77, 117, 121, 148, 154–158, 162–164, 167, 169–170, 182, 211, 213–214, 221, 224, 227–229, 264, 292, 312, 323, 326, 420, 568–574, 578 611 612 Index Design analysis 18, 561–589 Design criteria 15–17, 21, 25, 30, 89, 161, 463 Design feedback 28, 30, 563–565 Design flowchart 114, 133, 344–346 Design groups 17–18, 104, 562 Design objectives 15–17, 69, 106, 121, 126, 215, 388, 463 Design point 49–50, 52, 59 Design priority 15–17, 127 Design process 2–4, 18–23, 26–27, 30–32, 68, 77, 86–87, 90–91, 95, 102–104, 108, 112–113, 116, 123, 145–148, 151, 187–188, 240–244, 258, 261, 291, 294–295, 344–345, 399, 418, 432–434, 465, 468, 470–471, 480, 510, 518–519, 544, 563–565 Design requirements 2, 17, 20, 22–23, 25, 28, 69–70, 72, 76–77, 87, 89, 105–107, 109–113, 115–116, 118, 119, 122–124, 126, 129–130, 133–134, 144, 146–147, 151, 187, 198, 220–221, 240, 244, 257, 295, 344–346, 388, 431–435, 445, 462–467, 470, 475, 480, 519, 531, 543, 562, 568, 569 Design review 17, 22, 30, 32, 562 Design steps 30–32, 113, 123, 129–130 Detectability 127, 129, 223 Detect and avoid 233, 255–256, 280, 281 Detection 131, 232, 258–260, 281–284, 292, 482–484, 486–487, 493–494, 496–497, 506, 507, 528, 534 Detector 493, 500, 502–503 Detent 410 Deviation 29, 157, 183, 212, 222, 263, 265, 271, 274, 309–310, 325, 330–331, 334, 341, 343, 372 Differential compass 331 Digital control 196, 231–232 Digital flight control system 79, 585 Digital‐to‐analog 126, 231, 330, 357, 363, 365 Dihedral 68, 105, 112–113, 116, 119–120, 122, 571 Directional control 85, 120, 205, 207, 208, 213, 577–578 Directional gyro 209 Directional stability 111, 115, 120–122, 131, 178, 213, 336, 569–574 Directional trim 66, 85, 115, 120–122, 207, 572, 577 Dish antenna 71, 131–132, 511–512, 536 Dispensable 481 Distortion 71, 131, 132, 514, 515 DJI 84, 146, 356, 384 DJI Phantom 54–55, 461, 483, 484–485 DJI Zenmuse 489–490 Doppler 131, 315, 495 Downlink 283, 370–371, 485, 503, 528, 530–531, 543 Drag 43–44, 49, 52, 54, 67–68, 72, 102–107, 110–113, 116, 118, 121, 123, 126–129, 131–134, 149, 154–156, 160, 162, 208, 341, 403, 414–417, 419, 425, 427–428, 489, 510–513, 518, 536, 543, 567, 575 Drag coefficient 27–28, 31, 52, 56, 68, 72, 103, 106–107, 112, 132, 134, 153, 417, 428, 512–513, 578, 580, 583 Drag polar 44, 103 Drift 305, 310, 322, 326, 333, 335, 338–342 Drone 2, 5, 10, 92, 280–281, 369, 386, 485–487, 513 Dryden Flight Research Center 125, 530, 585 Dynamic modeling 143, 146–153, 187 Dynamic pressure 88, 121, 147, 153, 327, 329, 572 Dynamic stability 569, 573 e Eigenvalue 152, 197, 571 Electric motor 43, 46, 53, 74–75, 95–96, 170, 172–173, 175, 201–203, 205, 217, 365–366, 369, 376, 405, 412, 450, 476–477, 516, 586 Electric system 71, 79–85, 199, 433, 435 Electromagnetic interference 79, 531 Electromagnetic wave 131, 328, 494, 532, 535, 537, 539 Electronic counter measure 480, 507–508 Electro‐optic payload 371 Elevation mechanism 411, 420–421, 433 Index Elevation platform 408, 410–413 Elevator 28, 85–89, 102, 108, 113, 116, 119, 126, 152–153, 155, 167–168, 171, 200–202, 205–206, 208–212, 215, 217, 243, 255, 266, 271, 323, 357, 380–381, 418–420, 447–449, 451, 475–476, 550, 558, 567, 575–576 Embedded processor 367, 368 Embedded system 355, 359, 361, 367–369 Empty weight 36, 47–48 Encoder 201, 203–204, 366, 446, 460, 540 Encryption 539–541, 545 Endurance 2–3, 5–7, 9–10, 12, 25, 28, 30, 42, 43, 46, 49, 55, 73–75, 95, 124–125, 143, 170, 176, 178, 181, 243, 294, 334, 344, 356, 399, 427, 446–447, 454, 456, 470, 481, 490, 492, 518, 520, 535, 578, 580–581 Energy density 43, 46, 48, 83–84, 581 Engagement geometry 268 Engine power 9–10, 12, 25, 27–28, 31, 36, 48, 52, 55, 59, 72, 74, 75, 92, 147, 227, 483, 579, 582 sizing 48–52, 56, 58 thrust 12, 25, 27–28, 31, 35, 36, 43, 48–50, 52, 72–73, 147, 153, 160, 173, 211, 290, 343, 398, 410, 413–416, 418–419, 582–583 Epson micro‐flying robot 12–13 Equations of motion 147–148, 150, 156–157, 161–165, 167–168, 182, 196, 306 Ergonomics 445, 459, 462–464, 469, 471 Europe 283, 484 Excess power 416 f Failure 3, 69, 71, 72, 80, 83, 90–95, 185, 207, 234–235, 240, 330, 518, 531, 557 Failure modes 91, 93–95 Fairing 69, 77, 256, 489, 511–512, 543 FAR 3, 7, 195, 210, 243, 337 Fast dynamic 168, 200–201 Fastest climb 581–582 Fastest turn 584 Fatigue 89, 462, 471 Fault monitoring 232–234 Feasibility analysis 17, 21 Fiber‐optics 79, 508 Field of view 283, 292, 294, 459, 485, 520 Filter 148, 178, 196–197, 260–261, 265, 305, 313–315, 325, 333, 337–338, 362, 370, 484, 495, 534 Filtering 261, 305, 313–315, 338, 370, 534 Finite element method 70 Fixed‐wing 3, 6–7, 27, 35–37, 45–46, 50, 54, 69, 98–99, 103, 132, 134, 153–154, 161–168, 171, 186, 213, 217, 224, 236, 340, 380, 382, 384, 399–400, 408, 419, 423, 431, 451, 457, 481, 573–574, 583–585 Flap 55–57, 68, 70, 85, 105, 112–113, 233, 408, 583 Flight controller 38, 54, 196, 358, 388 Flight envelope 71, 88, 90, 95, 176, 186, 205–207, 227, 271, 420, 510, 575, 577 Flight performance 131, 519, 562, 578–587 Flight simulation 28–29, 147–148, 181–185, 223, 308, 369, 388 Fly by wire 78 Flying qualities 15, 86, 185–187, 206–207, 213, 242, 260, 568, 575, 577 Flying wing 115 Fluent 134 Follower UAV 256, 263–265, 269, 288–290 Formation flight 241, 255–256, 258, 263–265, 288–291, 326, 581 Frame rate 487, 529, 538 Frequency 15, 83, 91, 130, 146, 151, 180, 198–200, 202, 212–213, 215, 219, 250, 283, 315, 323, 328, 336, 361, 369, 403, 420, 450, 461, 484–485, 487, 490, 492, 494–501, 507, 528–534, 537–539, 542–543, 545, 549 Frequency domain 151, 197–199 Friction coefficient 52, 403, 411–412, 415, 417 613 614 Index Fuel 10, 19, 28, 47, 70, 72–74, 92, 107, 123, 126, 128, 129–130, 148, 178–179, 197, 210–212, 227, 234, 400, 405, 469, 506, 520, 563, 565–566, 580 tank 10, 107, 124, 125, 243, 330, 483, 515, 518, 567–568, 570 weight 36, 39–42, 580 Function – of components 23, 66 Functional analysis 19, 31, 432–435 Fuselage design 18, 25, 31, 123–131 g Gain scheduling 227–229 Game theory 259 Gantt chart 12–13, 31 Garmin GSX 70, 497, 498, 539 General Atomics 4, 9–10, 145, 176, 179, 256, 316–317, 427, 445, 483, 498, 503, 506, 541 General Dynamics 4, 93 Generator 80–82, 84–85, 87, 89, 91, 176, 181, 208, 333, 358, 405, 413, 461, 467, 469, 494, 500–501, 508, 531, 532 Geodesy 308 Geodetic coordinates 308, 312–313 Gimbal 54, 243, 294, 310, 324–326, 387, 489–490, 509, 516–517 Glass fiber 69 Glide slope 126, 176, 180 g‐load 3, 268, 323, 401 Global Hawk 2, 4–9, 13, 49, 73, 77, 80–81, 91, 95, 109–110, 115–116, 123, 125, 127–128, 131, 145, 178, 202, 256, 294, 316, 342, 399, 422, 456–459, 468, 482, 483, 497–498, 502–504, 508, 512, 515–516, 519, 530, 535, 538, 539–540, 542–543, 583, 589 Global Positioning System (GPS) 11, 95, 126, 146, 209, 211, 233, 257, 273, 281, 283, 288, 305–310, 314–320, 327, 330–332, 334, 341, 344, 357, 361, 370, 386–387, 422, 462, 484–485, 487, 502, 512, 515, 529–530, 535, 540 Graphite/Epoxy 69, 71 Gray Eagle 4, 10, 91, 294, 445, 497–498, 589 Greenwich 305, 308, 317 Ground control stations 8–10, 18, 37, 66, 80, 243, 262, 307, 357, 443–471, 483, 528, 540, 549–550, 567, 585, 588 Ground moving target 256, 313, 483, 495–498, 511–512, 543 Ground roll 399, 583 Guidance law 143–144, 187, 236–237, 254–255, 257–258, 261–280, 284, 288–289, 291, 293–295, 304 Guidance process 255–256 Guidance sensor 292–294 Guidance system 143–145, 187, 215, 217, 233, 237, 239, 241, 253–295, 304, 313, 322, 333, 338, 344–346, 481, 506, 515 Guinness 9 Gust 70, 148, 178, 194, 196, 212, 276, 327, 333, 335–337, 503, 514, 516–517, 569, 571 Gyro 178, 209–214, 216, 218, 310, 315, 316, 321–322, 324–327, 331, 333, 361, 376, 386, 490, 492, 510, 516–517 Gyroscope 92, 209, 211, 305, 310–311, 321–322, 324–327, 331–333, 338, 345, 355, 357, 361, 386, 515 Gyroscopic effect 324 Gyroscopic precession 338, 340 h HALE UAV 6, 9, 124, 490, 528, 535, 575 Handheld radio controller 447–451 Hand launch 399, 400, 407–408, 413, 492 Handling qualities 115, 122, 185, 187, 240, 572, 573, 576 Hard‐points 506, 514, 518 Hardware‐in‐the‐loop 145, 181, 184–185, 381 Hazard detection 282–283 Heading 11, 126, 160, 176, 178, 194, 196, 200–201, 209, 215–216, 243, 256–257, 261, 264–266, 268–269, 271–275, 278–279, 285–287, 290, 293, 305, 309, 311–312, 314, 320, 324, 326, 331–332, 334–336, 338, 340–343, 448, 460 Headwind 333–334 Helicopter 7, 53–54, 76, 82, 92, 133, 170, 223, 228, 230–231, 274, 280–281, 293, 314, 384, 399, 422–423, 432, 458, 462, 485, 496–497, 499, 515 Index Hellfire 9–10, 92, 484, 506 Hemisphere 308, 342 High altitude long endurance 5, 458, 490, 535 High lift device 108, 112 HiMAT UAV 585 Hobbyist 3, 145, 460 Hold function 176, 178–180, 211 Horizontal tail 23, 28–29, 31, 66, 69, 85, 102, 110, 114–122, 133, 417–420, 502, 566, 570–573 Human error 93, 95, 235, 462 Human factor 95, 123, 186, 240, 431, 433, 435, 462–464, 470 Hummingbird 172 Humvee 460, 468 Hunter 5, 7, 10–11, 73, 399, 454, 458, 460, 483–484, 497–498, 543 Hydraulic system 71, 79, 243 i Ideal lift coefficient 108–109 Illuminance 490 Ikhana 454–455, 503, 542 Imager 487, 490, 492–493 Image resolution 488–490, 492, 520 Imagery 5, 453–454, 459–460, 468, 471, 484, 489, 494, 503, 517 Impact 2, 17, 19, 28, 81, 90, 95, 108, 111, 123, 255, 326, 333, 422, 423, 425, 427–429, 431–432, 480, 518, 563, 588 Incidence 68, 105, 109, 111–113, 116– 117, 119–122, 416 Inertial measurement unit 95, 310, 332, 376, 515 Inertial navigation systems 39, 305, 307, 309–313, 316, 330–331, 334, 340–341, 345, 359, 529 Infrared 73, 282, 292–293, 447, 459, 475, 483–485, 487–488, 490, 492–493, 499, 501, 503, 528, 537 Inmarsat 529–530, 533, 542 Installation 73, 81, 95–96, 116, 131–133, 295, 327, 346, 376, 399, 401, 410, 431, 456, 481, 508–519, 543, 567, 569 Insitu 78, 405, 410, 423, 425–426, 428, 454, 504 Integration 4, 19, 31, 82, 90, 107, 126, 174, 182, 186, 187, 215, 280–281, 283, 295, 305, 310–311, 314, 322, 330, 332, 344–345, 368, 370, 371, 386, 399, 458, 471, 481, 483, 486, 508, 514–515, 517–519, 543 Intelligent flight 233–234 Interception 263–264, 267, 271, 505, 531 Interior layout 455, 475 j Jammer 81, 484, 507–508, 540 Jamming 293, 305, 316, 330, 507–508, 535, 539–540 Jet engine 27, 44, 52, 72–73, 147, 342, 578, 580, 581–584, 586–587, 592 k Kalman estimator 314 Kalman filter 260, 313–314, 338, 495 Kalman filtering 261, 313–315, 338, 370 l Landing 8, 39, 66, 109, 142, 206, 281, 328, 357, 398, 459, 486, 535, 563 Landing gear design 18, 31, 75–77, 399 Laser 293, 316, 321, 323, 328, 484, 493, 499–500, 504, 506, 515, 528, 530, 537 Laser designator 484, 500–502 Lateral control 85, 110, 206, 208, 576–577 Lateral stability 76, 111–112, 115, 120, 128–129, 212, 569, 572 Latitude 305, 308–310, 312–313, 315, 317–320, 330, 342, 343 Launch 8, 66, 109, 243, 315, 385, 397, 444, 481, 539, 583 Launcher 7, 11, 78, 109, 398–400, 402–406, 408–418, 420, 429–431, 434, 445, 468, 583 Launch mechanism 402, 406, 408, 410–411, 413, 418, 420–421, 430, 433, 435, 481, 500, 509, 518, 588 Leader UAV 256, 263–265, 269, 271, 288–300 Lessons learned 3, 8, 91–93 Lidar 259–260, 281–282, 322, 389, 487, 499, 500, 502, 503, 515 615 616 Index Life cycle 17, 19–22, 241, 294, 344, 470, 518, 588 Lift 27, 42, 66, 102, 149, 208, 267, 341, 365, 399, 456, 511, 572, Lift coefficient 27, 55, 57, 103–104, 106–109, 112–113, 116–117, 119, 121, 134, 153, 179, 210, 279, 416, 418, 420, 580, 583–584 Lift curve slope 107, 112, 116, 118, 121, 420, 572 Linearization 144, 157–158, 161, 163, 165, 167 Linear model 227, 240 Line of sight 95, 115, 124, 131, 186, 236, 243, 257, 263–267, 270, 290, 293, 315, 320, 447, 452, 462, 492, 495, 500, 530, 538–539, 542–543 Load factor 70, 89, 95, 187, 194, 206, 216–218, 241–242, 267–269, 271, 275, 276, 278–280, 284, 323–324, 401, 425, 575, 584–585 Localization 281, 313, 333 Localizer 176, 180, 215–216, 535 Lockheed 3, 11, 468 Lofting 128–130, 133, 510 Longitude 305, 308–310, 313, 315, 317–320, 330, 343 Longitudinal control 85, 116, 169, 205–206, 208, 211, 575–576 Longitudinal stability 94, 115, 117, 119, 156, 169–170, 212, 568, 569–571, 574 Longitudinal trim 66, 85, 115–118, 418–420, 567, 570 Low pass filter 265, 333, 337 Long period mode 211, 571 Luminous 490 m Mach number 89, 119, 227, 329 Maintainability 15, 19, 21, 76, 89, 129, 187, 241, 294, 344, 431, 433, 435, 470, 517, 518, 543 Maintenance 3, 15, 25, 79, 81–82, 234, 387, 420 Maintenance manual 456, 459, 463–464, 468, 470, 588 Magnetometer 126, 209, 321–322, 331–333, 345, 357, 361, 384–385, 481 MALE UAV 3, 5–6, 38, 490 Maneuver 76, 79, 86, 95, 132, 186, 195, 208, 216–217, 228, 231–232, 260, 265, 271, 273, 279–280, 284–285, 323, 430, 453, 509, 578, 581, 584–585 Maneuverability 79, 85–86, 110, 116, 186–187, 195, 241–242, 265, 269, 271, 275, 279–280, 284, 287, 429, 431, 562, 584–585 Manufacturing 20, 23, 25, 27, 32, 89, 121, 127, 187, 241, 294, 344, 355, 360, 431–432, 470, 518 Map reading 320 Mars Rover 489–490, 502 Mass moment of inertia 75, 110, 126, 149, 229, 326, 340, 510, 563 Matching plot 28, 48–50, 52, 55, 58–59 Matlab 162, 182–183, 198–199, 205, 219–221, 223, 225–227, 229, 232, 314, 356, 383–384, 389, 390–391 Maximum lift coefficient 27, 55, 107–108, 112, 279, 416, 584 Maximum lift‐to‐drag ratio 42, 46, 57, 110, 580 Maximum singular value 230 Maximum speed 9–12, 25, 28, 30, 42, 49, 51, 54–56, 59, 95, 181, 243, 278, 423, 506, 520, 578–579 Maximum takeoff weight 6, 35–36, 40, 47–48, 50, 54, 78, 458 Maximum turn rate 279 Mechanical system 66, 79, 217, 332, 410 Mechatronic 79, 360 Microcontroller 144, 202, 261, 330, 353, 447, 509, 534 Microelectromechanical system (MEMS) 145, 327, 330–332, 345, 518 MicroPilot 356, 384, 386–387 Microprocessor 145, 202–203, 231, 233, 257, 354–357, 359–361, 368, 379, 386 Military payload 4, 482–483, 505–507, 510 MIL‐STD 186, 195, 371, 463 Military specification 195, 335 Minimum turn radius 279, 584 Mini UAV 6, 172, 186, 276, 429, 452 Index Mishap 91, 93, 95, 142, 471 Miss distance 258, 285, 287, 335 Missile 5, 9–10, 85, 92, 123, 162, 216, 255, 261–264, 267–268, 292, 310, 413, 482, 484, 502, 506–508, 514, 517 Mission profile 4, 40, 429 Mission planning 92, 232, 444, 446, 459–460 Mistake 91 MIT’s RAVEN 223 Mobility 408, 429–431, 434–435, 452, 465, 469–470, 543 Mockup 134 Model 3, 47, 74, 132, 142, 204, 258, 306, 356, 403, 447, 493, 535, 571 Modulation 450, 532–533, 545 Moment coefficient 107, 112, 116, 117, 153–155, 420 Moment of inertia 75, 110, 126, 149, 229, 326, 340, 510, 563 Moving target 254, 256–258, 260–261, 263, 267, 271–272, 289, 292–293, 313–314, 471, 483, 493, 495–498, 511–512, 543 MQ‐1C Gray Eagle 294, 445, 497–498 MQ‐8 Fire Scout 456, 458 MQ‐9 Predator B Reaper 7, 9–10, 483–484, 503 MQ‐9B SkyGuardian Multidisciplinary design optimization 20, 127, 434, 435 Munition 10, 12, 484–485, 506 n NACA 106–108, 118–119 NACA airfoil section 106–108, 118–119 NASA 28, 48, 70, 88, 92, 106–108, 131–132, 181, 307, 386, 454, 456–458, 489, 497, 502–504, 515–516, 530, 539, 541, 542, 579, 585 National Airspace System 280–281 Nautical mile 5, 309, 317, 504 Navigation system 39, 54, 80–81, 94, 143, 145, 180, 187, 233, 237, 241, 254–255, 258, 261–262, 276–277, 281, 290, 294–295, 303–346, 359, 387, 481, 483, 485, 494, 517, 529 Negligence 41, 150, 156, 342, 573 Net 11, 37, 108, 234, 422–425, 429 Net recovery 399, 400, 422–424, 432 Neural network 232, 448 Neutral point 117, 568–570 Newton’s laws 307, 325 Noise 71, 93, 143, 148, 196–198, 222, 229–230, 243, 261, 310, 313–314, 321, 325, 333, 337–338, 365, 507, 520, 531–533, 540 Nonlinear model 157 Normal acceleration 176, 181, 186, 267–268, 270, 323–324, 338 Normal shock wave 329 Northrop Grumman 8, 10, 73, 77, 91, 131, 145, 316, 459, 483–484, 498, 502, 540 Nose gear/wheel 75–77, 91 NTSC format 490 Numerical method 68, 104, 181–185, 404 o Obstacle 54, 94, 234, 281, 283, 288, 305, 335, 399, 430, 459, 485, 537, 584, 586, 592 Obstacle detection 232, 258, 259, 282, 284 Operating manual 456, 469 Operational Amplifier 365 Operating limits 567–568 Operator 12, 37, 79, 143, 232, 257, 312, 367, 400, 447, 485, 530 Optical camera 487–493, 499 Optical fiber 531–532 Optics 79, 323, 483 Optimal control 213, 222–227, 228, 241, 257, 261 Optimization 3, 17, 20, 23, 25, 27, 31, 32, 86, 90, 127–129, 148, 197, 222, 229, 241–242, 294, 344, 359, 363, 434, 435, 470, 519 Optimum 16–17, 27, 49, 72, 87, 108, 113–114, 116, 118, 125–127, 130, 276, 281, 284, 346, 359, 363, 387, 401, 410, 465, 492, 499, 518 Oswald’s span efficiency factor 56, 103 p PAL format 490 Parabolic dish 494 617 618 Index Parachute 92, 399, 422–423, 427–428, 432 Parent aircraft 454 Payload definition 481 weight 4, 25, 28, 36, 37, 112, 481, 506, 518 Perception 233, 258, 260, 499 Performance – UAV 15, 28, 32, 102, 265, 291, 562–564 Perseus B 92 Perturbation 79, 159, 167, 230, 261, 313–314, 569 Phoenix 413, 467–468 Phugoid 167, 170, 180, 185, 211, 571 Pilot – ground 427, 444, 447, 461–462, 485, 504, 507 Pioneer 4, 6–7, 11, 400, 423 Piston engine 9–10, 72–73, 78, 92, 181, 224, 338, 399, 405, 423, 449, 515, 587, 592 Pitch rate 85, 87, 149, 163, 167, 181, 200, 206, 208, 212, 269, 323, 325, 327, 338, 575–576 Pitching moment 67–68, 87, 102–107, 111–113, 116–117, 119, 127, 133, 153–155, 169, 208, 336, 418–420, 568, 570, 575 Pitot‐static 327–330 Pitot‐tube 126, 209, 211, 320, 327, 329, 357, 361 Pixel 488–490, 492–493, 519–520, 525 PixHawk 356, 385–386 Plain flap 85, 112 Planform area 67–68, 103, 105, 109, 116–118, 120–122, 417, 570 Pneumatic 78, 147, 202, 204, 400, 404–406, 408–410, 413, 415, 420–421, 433, 435 Podded 129, 510 Point mass 168, 285, 311–312 Portable 243, 369, 451–453, 461, 467–469, 529 Potentiometer 126, 202–203, 209, 358, 366–367, 400, 447–448, 450–451, 475–477, 480, 549–553, 557–558 Pound 3, 5, 7, 10, 19, 84, 92, 427, 447, 458, 483, 486 Power engine 9–10, 12, 25, 27–28, 31, 36, 48, 52, 55, 59, 72, 74–75, 92, 147, 227, 579, 582 required 75, 78, 80, 82, 155, 255, 344, 355, 412, 469, 519, 567 Predator A 9–10, 256, 316–317, 427, 445, 482, 483, 490 Predator B 4, 7, 9–10, 73, 94, 176, 179, 256, 399, 460, 483–484, 511, 542 Preliminary design 3–4, 19, 21, 27–28, 30–31, 35–59, 66, 434, 435, 571, 573 Pressure 68, 70–71, 88, 93, 102–104, 108, 121, 123, 147, 153, 204, 327–330, 332–333, 366, 385, 387, 404–405, 430, 465, 482, 494, 503, 572 Pressurization 3, 129 Pressurized compartment 123, 130, 515 Processor 185, 187, 232, 239, 241, 257–258, 260, 281, 294, 310, 330–332, 344–345, 355, 358, 359, 361–363, 367–368, 370–371, 386, 452, 493–495, 500, 508, 515, 534, 545 Project Planning 12–13 Programming 182, 257, 356, 369–375, 378, 382, 385, 450, 533–534 Programming languages 377, 380 Propeller 6, 43, 44, 52–54, 56, 72–74, 96, 122, 132, 147, 170, 173, 175, 207, 338–341, 399, 408, 423, 515, 577, 582–584, 586–587 Prop driven 27, 41–42, 44, 46, 50–52, 56, 58, 73, 122, 147, 401, 408, 416, 425–426, 579–583, 586 Prop efficiency 46, 56, 72, 579 Proportional‐Integral‐Derivative (PID), 211, 220–222, 227–228, 251, 276, 385, 385, 387, 389, 390 Proportional navigation guidance 262 Propulsion 19, 23, 28, 43, 70, 90, 94, 147–148, 423 Propulsion system design 18, 19, 31, 66, 71–75, 182, 340, 408, 410, 427 Protector RG.1 10 Proximity circle 274, 275, 278 Proximity distance 274–276 Index q Quadcopter 6–7, 27, 36, 38, 47, 52–59, 66, 72, 74, 84, 95, 103–104, 132–134, 153–154, 170–175, 186, 202–203, 205, 365, 398–399, 422, 449, 461, 462, 469, 483, 484–486, 490, 512, 519 r Radar absorptive material 71 altimeter 211, 315, 328, 494 cross section 496 dish 71, 115, 124, 125, 131, 512 station 529 Radio control 74, 385, 460 signal 5–6, 180, 315, 460, 494, 509, 518, 530, 534–535 wave 71, 131, 239, 328, 366, 446, 447–448, 462, 468, 493–495, 499, 528, 532–537, 539, 549 Radius of action 506 Radius of turn 280 Radome 70–71, 131–132, 510, 512, 514 Ramp 400, 402–404, 408–409, 413–418, 420–421, 433, 453 Range 2, 41, 71, 108, 170, 206, 255, 307, 355, 398, 444, 481, 531, 563 Range finder 293, 321, 389, 391, 484, 499–502, 515, 586 Raspberry Pi 355, 540 Rate gyro 79, 178, 209–210, 212–214, 216, 218, 292, 310, 321, 325–327, 331, 357, 361 Rate of climb 25, 27–28, 49, 51–52, 55, 57–58, 126, 265, 410, 416, 462, 581–582 Raven 6–7, 223, 407, 445, 490, 492 Raytheon 386, 459, 483–485, 498, 502 RC model 3, 145, 489, 535 Reaper 4, 6, 9–10, 47, 115, 176, 179, 460, 467, 483–484, 490, 511, 541, 589 Reconnaissance 4–5, 7–8, 12, 116, 176, 460, 482, 486–502, 506, 512, 540 Recovery 8, 66, 114, 232, 397, 444, 481, 539, 588 Reference line 264, 285, 565–566 Regulations, Federal Aviation 3, 180, 195 Reliability 19, 21, 79, 85, 89, 93, 95, 143, 187, 204, 233, 241–242, 283, 294, 309, 344, 369–370, 386, 429, 431–435, 460, 470, 518, 543, 588 Remote control 47, 74, 232, 235, 257, 273, 355, 358, 380, 385, 444–448, 461, 475, 484, 492, 538, 550–551 Requirements, design 2, 17, 20, 22–23, 25, 28, 69–70, 72, 76–77, 87, 89, 105–107, 109–113, 115–116, 118, 119, 122–124, 126, 129–130, 133–134, 144, 146–147, 151, 187, 198, 220–221, 240, 244, 257, 295, 344–346, 388, 431–435, 445, 462–467, 470, 475, 480, 519, 531, 543, 562, 568, 569 Resolution 284, 288, 331, 362, 454, 483, 487–490, 492–494, 496–497, 502, 509, 520, 528, 537, 540 Retractable landing gear 45 Review ‐ design 17, 22, 30, 32, 562 Reynolds number 67, 103, 108, 512 Rib 69–70, 323 Right‐of‐way rule 280 Risk 2, 5, 13, 19, 25, 31, 93, 148, 238, 280, 406, 423, 425–427, 429, 432, 459, 463, 465, 484, 503, 585 Robust control 229–232, 274 Roll control 169, 205–207, 212–213, 242, 250 Roll rate 85, 87, 149, 163, 181, 207–208, 212–213, 325–326, 577 Rolling moment 122, 127, 153–155, 208, 336, 572, 576 Root locus 197–199, 219–220 Rotary wing 2, 7, 27, 36–37, 103, 132, 170–175, 399, 456–457 RQ‐1A Predator 9, 541 RQ‐2A Pioneer 11 RQ‐4 Global Hawk 6–7, 49, 145, 399, 482–483 RQ‐5A Hunter 10, 483, 484 RQ‐7A Shadow 454 RQ‐11 Raven 7, 407, 445, 490, 492 RQ‐170 Sentinel 7, 11–12 619 620 Index Rubber bungee 409 Rudder 28, 85–89, 102, 120, 126, 129, 153, 155, 160, 168, 171, 178, 200, 207–209, 213, 215, 217–219, 243, 250, 255, 266–267, 269, 271, 279, 291, 334, 336, 342–343, 357, 449, 451–452, 459, 476, 577 Runge–Kutta method 182–183 Runway 7, 10–11, 52, 55, 77, 91, 95, 215, 331, 398–400, 407–408, 410, 413, 422, 456, 459–460, 583 s Safety analysis 90–95 Sample‐and‐hold 365 Satellite Satellite communications (SatCom) 9, 71, 125, 128, 131, 467, 492, 510–512, 529, 530, 535–537, 539–541, 543 Saturation 89, 196, 205 ScanEagle 78, 115, 405, 415, 423, 425, 426, 434, 454, 504, 529 See and avoid 233, 255, 280, 284, 543, 581 Seeker 71, 131, 257, 261, 269, 292–295, 500, 517 Selection 11, 13, 15, 18, 21–23, 25, 49, 69, 77, 84, 87, 104–108, 112, 113, 115, 118, 145–146, 187, 223, 225, 244, 262, 271, 291, 328, 345, 359, 363, 387, 431–432, 479–520, 537, 566 Self‐locking 411 Self‐separation 281, 284 Semi‐monocoque 69 Sense and avoid 233–234, 255, 256, 258, 259, 263–265, 267, 280–288, 293, 482, 584, 586 Sensing techniques 281–284 Sensors 2, 3, 5, 10–12, 16, 37, 39, 53, 54, 66, 73, 79–81, 91, 92, 116, 123, 126, 143, 144, 185, 194, 201–203, 209, 212, 213, 217, 218, 231–234, 255, 256, 258–261, 263–265, 281–284, 292–294, 305, 309, 310, 313, 314, 321–333, 344–346, 356, 357, 361, 365–368, 370, 376, 379, 381, 383–385, 389, 399, 445, 454, 457–460, 463, 468, 475, 480–490, 492–494, 499, 501–505, 508, 515–520, 528, 529, 531–533, 540, 542 Sentinel 7, 11–12 Separation circle 285 Service ceiling 9, 10, 12, 14, 49, 58, 181, 243, 423, 543 Servo 79, 178, 185, 186, 195, 201–205, 212, 213, 217, 357, 366, 367, 380, 381, 387, 447, 448, 475, 551–553, 575, 577 Servomotor 94, 201, 203, 204, 206, 366, 379–381, 550–552 Setup time 423, 425, 431, 432 Shadow 200 6, 7, 10–11, 73, 77, 85, 92, 399, 406, 454, 458, 460–461, 463, 468, 469, 482, 484 Shielding 82, 83, 116, 337 Short‐period 170, 185, 212, 261, 323, 571 SideArm 399 Signal generator 333, 500, 501 Signals intelligence(SIGINT) 483 Simulation 28, 29, 143, 145, 147, 148, 154, 157, 162, 181–185, 205, 221, 223–225, 232, 288, 308, 314, 336, 344, 345, 369, 381, 387, 388, 434, 435 Simulator 181, 185, 386 Simulink 221–223, 225, 356, 381, 384 Situational awareness 232, 281, 304, 333, 484 Skidding 208, 577 SkyGuardian 4, 10 Skyhook 400, 425, 426, 429, 432 Sky Lite 413 Slipping 208, 573, 577 Slow dynamics 168, 200, 201 Small UAV 3, 5–7, 38, 47, 52, 54, 72, 79, 80, 145, 186, 202, 203, 259, 338, 342, 384, 398, 399, 407–409, 428, 430, 446, 451, 469, 490, 531, 584 Software 3, 68, 70, 88, 91, 92, 94, 96, 104, 134, 143–146, 162, 181, 182, 185, 195, 227, 231–234, 240, 257, 263, 273, 314, 361, 363, 367–372, 375–377, 381–384, 389, 390, 444, 446, 453, 458, 464, 486, 493, 530, 540, 545 Sonar 5 Spar 69, 70, 125, 323 Specific fuel consumption (SFC) 39, 42, 580 Speed,maximum 28 Spiral 180, 185, 572, 573, 594, 595 Stability definition 154 Index augmentation 176, 178 derivative 117, 121, 154, 156–157, 167, 169, 170, 214, 229, 570–574 dynamic 569, 573 static 121, 569, 572 Stabilization 243, 384, 508, 515–517 Stabilized 243, 290, 333, 484, 490, 492, 509–511, 516, 517 Stall angle 104, 108 speed 25, 28, 42, 44, 49, 55, 58, 59, 279, 280, 398, 416, 582, 583 Standards 16, 147, 149, 151, 162, 170, 183, 185, 186, 195, 202, 214, 240, 262, 289, 305, 308, 327, 365, 370, 401, 403, 458, 459, 462, 465, 466, 487, 488, 492, 493, 509, 540, 584, 589 STARMAC quadrotor 228 Static stability 121, 569, 572 State estimation 260, 277, 305, 306, 313, 322 state‐space 144, 146, 152–153, 158, 162, 164–167, 187, 197, 204, 205, 222–227, 229, 240, 571 Stealth 5, 11, 12, 15, 16, 24, 67, 70, 115, 122, 127, 241, 294, 344, 401, 514, 518, 562 Steepest climb 581, 582 Stick 79, 129, 160, 179, 185, 186, 206, 210, 380, 381, 445, 447, 448–450, 455, 465 Store 10, 37, 39, 67, 357, 362, 374, 481, 493, 553 Structure 12, 16, 19, 24, 28, 47, 49, 69, 70, 79, 80, 94, 95, 109, 125, 152, 170, 230, 242, 274, 306, 323, 373, 374, 377, 378, 399, 401, 447–448, 481, 494, 499, 502, 508, 514–519, 536, 543 Structural design 18, 66, 69–71, 75, 102, 125, 146, 401, 514, 585 Support equipment 20, 49, 80, 445, 467–470, 496 Surveillance 4, 5, 7–9, 48, 80, 127, 142, 176, 259, 282–284, 371, 445, 482–484, 486–502, 506, 515, 517, 538, 540, 542 Supersonic 69, 106, 111, 128, 329 Swarm formation 289 Swarming 267, 289 Sweep angle 68, 105, 110, 111, 113, 116, 119–122, 129, 130 System communications 453 control 11, 194, 233, 243 electric 71, 79–85, 199, 433, 435 launch 31, 66, 397–435, 467, 588 mechanical 66, 79, 217, 332, 410 propulsion 18, 23, 31, 43, 66, 71–75, 90, 94, 147, 182, 340, 410, 427 recovery 24, 31, 66, 67, 397–435, 467, 588 Systems engineering 4, 19–22, 30, 31, 89, 90, 116, 129, 134, 195, 262 t Tactical UAVs 5–7 Tail arm 116–118, 120 Tailconfiguration 87, 88, 115–116, 119, 122 Tail design 17, 18, 20–23, 28–31, 66, 104, 113–122, 126, 132, 195, 213, 434, 435, 562, 571–573 Tail volume coefficient 116, 117, 121, 122, 571, 573 Takeoff 9–12, 36, 39, 40, 43, 45, 47–51, 54–57, 59, 67, 75, 77, 78, 94, 112, 115, 129, 142, 186, 291, 385, 398–401, 408, 416, 423, 427, 458–460, 463, 467, 537, 576, 583–584 Takeoff run 49, 51, 55–57, 59, 583, 584 Tank, fuel 10, 107, 124, 125, 243, 330, 483, 518, 567, 568, 570 Taper ratio 68, 105, 110, 113, 116, 119, 120, 122 Target 4, 5, 15, 43, 59, 94, 124, 127, 142, 176, 198, 216, 236, 239, 240, 254–269, 271, 272, 283, 288–294, 306, 313, 314, 328, 335, 406, 456, 457, 468, 471, 475, 483, 484, 486–488, 490, 492–503, 505–508, 510–512, 517 Target detection 258–260, 306, 487, 498 Taylor series 157, 158 Teaming 143, 235–241, 255 categories 236 law 236, 237, 239–241 Technology 2, 3, 5, 16, 17, 92, 187, 195, 240, 241, 283, 289, 294, 306, 313, 330, 344, 360, 361, 386, 399, 401, 408, 423, 431, 432, 470, 486, 487, 502, 503, 518, 542, 543, 549, 579, 585 621 622 Index Telemetry 81, 146, 209, 358, 384, 386, 460, 468, 531, 539, 543 Temperature limit 144 Testingwind tunnel 106–108, 134, 155 Thermometer 379, 504 Thermal images 493 Tier system Tightest turn 584–586 Tilt 53, 133, 340, 489, 490, 510 Timer 330, 358, 362–365, 452 Thickness‐to‐chord ratio 106, 107 Thrust, engine 27, 28, 43, 48–50, 72, 73, 147, 153, 160, 173, 211, 290, 343, 398, 410, 413–416, 418, 419, 568, 582, 583 Torque 53, 75, 90, 96, 171–175, 202, 203, 206, 212, 310, 326, 366, 389, 410–412, 451 Total pressure 329 Tracking 176, 177, 181, 187, 231, 240, 243, 260–264, 269, 274, 276, 277, 281, 290, 292–294, 306, 313, 314, 332, 354, 444, 458, 460, 487, 493, 495–498, 502, 508, 516, 536 Track‐while‐scan 496 Trade‐off analysis/study 23, 25, 26 Traffic Alert and Collision Avoidance (TCAS), 283 Trajectory design 291–292, 331, 343 Transceiver 81, 333, 531, 545, 549 Transfer function 144, 146, 150–152, 167, 169, 187, 196–199, 204, 213, 214, 216, 218, 219, 221, 225, 229–232, 244, 291, 403, 450 Transmitter 37, 49, 71, 80, 81, 83, 84, 94, 215, 239, 257, 282, 283, 293, 328, 333, 357, 358, 366, 380, 381, 446–449, 452, 460, 461, 468, 485, 493, 494, 498, 501, 507, 509, 515, 528, 531, 532–535, 537, 542, 543, 545, 547, 551, 552, 553, 554 Transmission 19, 28, 66, 67, 78–79, 87, 89, 123, 240, 243, 258, 328, 367, 433, 435, 446, 461, 485, 495, 507, 518, 528, 531, 532, 534–537, 543, 545, 549 Transponder 6, 92, 126, 282, 283, 333, 507, 535, 537 Transportation 20, 233, 280, 408, 431, 433, 435, 467, 468, 480, 486 Tricycle 9, 75–77, 576 T‐tail 24, 115 Turbine engine 73, 338 Turbofan engine 9, 12, 73, 125, 127 Turbojet engine 24, 72, 586 Turboprop engine 10, 24, 72, 73, 127, 449, 579, 586, 587 Turbulence 129, 133, 178, 212, 260, 333, 335, 336, 503, 511, 516 Turn coordination 176, 177, 180, 217, 218 Turn coordinator 209, 216–220, 250 Turn performance 25, 271, 584–586 Turn radius 16, 216, 217, 275, 278–280, 584–586 Turn rate 16, 176–178, 269, 275, 276, 279, 280, 299 TV camera 292, 453, 484, 488, 493, 501, 537 Typical Values 42, 44–46, 104, 117, 119, 121, 132, 171, 204, 401, 417, 428, 570, 572–574, 578 u Uncertainty 26, 187, 222, 229, 230, 244, 283 Unmanned aerial system (UAS) 2, 422, 444, 456, 468, 481, 528 Unmanned combat air vehicle (UCAV) 195, 483 Uno 366, 376, 378–380, 388–390, 545–547, 549–553 Uplink 265, 283, 446, 528, 530, 531, 539, 543 v Vision‐based 281, 284, 288, 306, 313 Vision system 485 Vertical tail 23–25, 28, 29, 31, 66, 67, 69, 77, 85, 88, 102, 103, 113–115, 119–122, 130, 131, 133, 160, 213, 566, 571–573 Voice 239, 240, 529, 541 Volume coefficient 116, 117, 121, 122, 571, 573 V‐tail 10, 24, 87, 88, 115, 116, 122 w Waypoint navigation 261, 263, 272–274, 304, 384 Waypoint guidance 262, 263, 272–280, 304 Index Weapon 5, 9, 12, 91, 107, 108, 125, 333, 444, 456, 482–485, 500, 506, 508, 510, 511, 517, 518, 567, 589 Weight and balance 510, 565–569 Weight distribution 70, 129, 510, 567–569 Weight fraction 36, 40–42, 47 Wind 32, 69, 86, 104, 106–108, 129, 131, 133, 134, 148, 155, 172, 175, 276, 285, 312, 327, 333–335, 338, 341, 342, 401, 413, 422, 427, 453, 503, 511, 516, 565 Windsock 400, 425–427, 432 Wind tunnel 69, 106–108, 129, 133, 134, 155, 511 Wing design 18, 31, 68, 69, 76, 104–113 Wing leveler 176, 178, 212–213, 217, 224, 226 Wing loading 50, 58, 59 Wing sizing 55 Wire insulation 83 Wireless telemetry 531 Wiring 81–83, 96, 367, 376, 381, 389, 475–477, 508–510, 550–552 World geodetic system 305, 308–309 x X‐45A UCAV 12, 14, 125 y Yamaha R‐50 helicopter 230 Yamaha RMAX helicopter 7, 37, 77, 82, 228, 281, 314, 457, 462, 463, 485, 499, 515 Yaw damper 176–178, 213–215 Yawing moment 67, 122, 127, 128, 153–155, 160, 169, 171, 178, 207, 208, 214, 341, 401, 570, 572, 577 z Zero lift drag coefficient 27, 28, 31, 45, 103, 578, 580 623 ... Conceptual Design Synthesis Denis Howe Design of Unmanned Aerial Systems Dr Mohammad H Sadraey Southern New Hampshire University Manchester, NH, USA This edition first published 2020 © 2020 John Wiley... Library of Congress Cataloging-in-Publication Data Names: Sadraey, Mohammad H. , author Title: Design of unmanned aerial systems / Dr Mohammad H Sadraey Description: First edition | Hoboken, NJ: John... In this text, the emphasize is on the SI units or metric system; which employs the meter (m) as the unit of length, the kilogram (kg) as the unit of mass, and the second (s) as the unit of time