The document discusses kinematics analysis of an aerodynamic model for a quadcopter UAV. It introduces the increasing importance of UAVs and the need to research their kinematic characteristics. The analysis includes simulating flight tracks, developing guidelines and validation techniques through simulation. The aerodynamic module calculates thrust and torque from propeller deflection and feeds results into the flight dynamics equation module to model the quadcopter's kinematics.

1. Kinematics analysis of Aerodynamic Model

2. → Quad copter quad‐rotor unmanned aerial vehicle (UAV) helicopter is used as a search and rescue
field robot.
→ The UAV is getting more and more important with its increasing demand in war, now each country
pays more attention to researching work of UAV, includes the early researching project, hardware
simulation, performance validation, and simulation training.
→ The researching work of kinematics characteristic is the basic work of the UAV system. The
research work includes the simulation of flight track, guideline about and related techniques the
validation work through the simulation operation.
INTRODUCTION

3. Aerodynamic Characteristic Analysis
The primary module includes tele control and remote sensing modules,
aerodynamic model, power equipment modules (includes engine model
and propeller model), task equipment module and scene module.
Aerodynamic module calculates the propeller’s thrust and torque
according to deflection of the rudder, and then the calculation results are
put into flight dynamic equation module

4. Calculation process of the kinematics equation

5. Mathematical modelling of Quadcopter
Kinematics is a branch of mechanics which studies the motion of a body or a system of bodies
without consideration of the forces and torques acting on it.
To describe the motion of a 6 DOF rigid body it is usual to define two reference
frames [33]:
• Earth inertial reference (E-frame)

6. • Body-fixed reference(B-frame)
• Linear velocity –
• Angular velocity –
• Rotation matrix –

7. • Transfer matrix –
• The derivative of the generalized position in the
earth frame

8. The Structure Model in Hovering condition

9. basic movements of quad copter
• Throttle • Roll

10. • Pitch • Yaw

11. Conclusion
 We study on 6 degrees of freedom aerodynamic model.
 we can use mathematical simulation method to check flight
characteristic of UAV.

12. THANK YOU