NASA

Reference
Publication
1207
1988

Derivation
and Definition
of a Linear Aircraft
Model

Eugene
L. Duke,
Robert
F. Antoniewicz,
and Keith D. Krambeer
Ames

Research

Dryden
Edwards,

National Aeronautics
and Space Administration
Scientific and Technical
Information Division

Flight

Center
Research

California

Facility

CONTENTS
SUMMARY
INTRODUCTION
2

SYMBOLS
Vectors

..................................................

,1

Matrices

..................................................

S ubscripts
Superscript

1.2

1.3

SYSTEM

Definition

Translational

1.2.3

Attitude

1.2.4

Earth-relative

1.3.1

Systems

acceleration
rates

Air

Flightpath-related

1.3.4

Energy-related

1.3.5

Force

parameters

1.3.6

Body

axis

1.3.7

Instruments

1.3.8

Miscellaneous

1-1
15

velocity

16

parameters

Linearization

2.3

Definition

2.4

Elements

17

.................................

1S
20

.....................................

parameters

20

...............................

21

.................................

21

......................................
and

accelerations

displaced

from

observation

the

21

.............................
vehicle

center

parameters

of gravity

.................

22

State

of the

Observation

of the

Equation

................................
Equation

in Linearized

Linearized

21
22

...........................

EQUATIONS
of the

of Matrices

CONCLUDING

....................................

parameters

rates

SYSTEM

2.2

..................................

Equations

1.3.3

data

11

.........................................

1.3.2

Linearization

ll

........................................

Observation
Accelerations

2.1

..................................

Equations
.....................................
acceleration
...................................

1.2.2

Nonlinear

EQUATIONS

of Reference

Nonlinear
State
1.2.1
Rotational

LINEAR

................................................

NONLINEAR
1.1

.................................................

............................

System

System

23

Equations

Matrices

24
.....................

...........................

26
27

REMARKS

30

APPENDIXES

31

A--AERODYNAMIC

FORCES

B--DERIVATION

OF

PARAMETERS

V,

THE
&, AND

Definitions

AND
WIND

31

MOMENTS
AXIS

TRANSLATIONAL

35

B.1

Preliminary

......................................

B.2

Derivation

of I}" Equation

.....................................

35
35

B.3

Derivation

of 5

Equation

.....................................

36

B..I

Derivation

of/)

Equation

.....................................

37

iii
PRECEDING

PAG_

RLANg

N_

FILMED

C--GENERALIZED
C.1
C.2

DERIVATIVES

Generalized
Generalized

Derivatives
Derivatives

D--EVALUATION
D.1

D,3

39
,'13
49
49
49

Pitching
moment derivatives ................................
Yawing moment derivatives .................................
Drag force derivatives ....................................
Sideforce derivatives .....................................
Lift force derivatives .....................................

50
50
51
51
52

Evaluation
of the Derivatives
of the Time Derivatives
of the State Variables
........................................

53

D.2.1
D.2.2

Roll acceleration
Pitch acceleration

derivatives ................................
derivatives ................................

53
5,'t

D.2.3

Yaw acceleration

derivatives

55

D.2.4

Decoupled

D.2.5
D.2.6
D.2.7

Decoupled
pitch acceleration
derivatives ..........................
Decoupled
yaw acceleration
derivatives ..........................
Total vehicle acceleration
derivatives ...........................

D.2.8
D.2.9
D.2.10
D.2.11

Angle-of-attack
rate derivatives ..............................
Angle-of-sideslip
rate derivatives ..............................
Roll attitude
rate derivatives ................................
Pitch attitude
rate derivatives ...............................

D.2.12
D.2.13

IIeading
Altitude

......................................
derivatives .................................

roll acceleration

rate
rate

derivatives
derivatives

................................
derivatives

...........................

56
57

57 1
58
59
60
62
62

6666

...................

D.3.1
D .3.2

Longitudinal
kinematic
acceleration
derivatives ......................
Lateral kinematic
acceleration
derivatives .........................

D.3.3
D .3.4
D.3.5

Z-body
x body

axis kinematic
acceleration
axis accelerometer
output

67 :
68

derivatives ......................
derivatives .......................

69
69
70

D .3.6
D.3.7
D .3.8

y body axis accelerometer

output derivatives .......................
z body axis accelerometer
output derivatives .......................
Normal accelerometer
output
derivatives .........................
Derivatives
of x body axis accelerometer
output not at the vehicle

D.3.9

of gravity ...........................................
Derivatives
of y body axis accelerometer

output

not at vehicle

center

D.3.10

of gravity ...........................................
Derivatives
of z body axis accelerometer

output

not at vehicle

center

D.3.11

of gravity ...........................................
Derivatives
of normal accelerometer

D.3.14

71
center
72
72
73

output

63
64
65
65

..................................
..................................

D.2.14 North acceleration

derivatives ...............................
D.2.15 East acceleration
derivatives ................................
Evaluation
of the Derivatives
of the Observation
Variables

D.3.12
D.3.13

iV

..............

DERIVATIVES

Preliminary
Evaluation
D.I.1
Rolling moment
D.1.2
D.1,3
D.1.4
D.1.5
D.1.6

D.2

OF

39

of the Time Derivatives

of State Variables
of the Observation
Variables
......................

not at vehicle

center

of gravity ...........................................
Load factor derivatives ...................................

74
75

Speed of sound derivatives .................................

Mach number derivatives ..................................

76
77

D.3.15
D.3.16
D.3.17

Reynolds
Reynolds
Dynamic

D.3.18
D.3.19

hnpact
pressure derivatives .................................
Mach meter calibration
ratio derivatives ..........................

80
81

D .3.20
D.3.21
D.3.22

Total temperature
Flightpath
angle

82
82

D.3.23
D.3.24
D.3.25
D.3.26

number
number
pressure

derivatives ................................
per unit length derivatives .......................
derivatives ................................

derivatives ...............................
derivatives ................................

Flightpath
acceleration
derivatives .............................
Vertical acceleration
derivatives ..............................

83
84

Specific

energy

.................................

85

Specific
Normal

power derivatives ..................................

force derivatives ..................................

86
87

derivatives

D.3.27
D.3.28

Axial
x body

axis rate

D.3.29
D.3.30
D.3.31

y body
z body

axis rate derivatives

axis rate derivatives

x body
y body

axis acceleration
axis acceleration

D.3.32
D.3.33

77
78
79

force derivatives

....................................

derivatives

........................
.................................
.................................

derivatives
derivatives

............................
............................

87
. .........

88
89
90
90
91

z body axis acceleration

derivatives ............................
Angle-of-attack
sensor output derivatives .........................

92
93

Angle-of-sideslip
sensor output derivatives ........................
Altimeter
output
derivatives ................................
Altitude
rate sensor output derivatives ..........................

93
9-t
95

D.3.39
D.3.40

Total angular momentum

derivatives ...........................
Stability
axis roll rate derivatives .............................
Stability
axis pitch rate derivatives ............................

96
97
97

D.3.41

Stability

98

D.3.34
D.3.35
D.3.36
D.3.37
D.3.38

REFERENCES

axis yaw rate

derivatives

.............................

101

SUMMARY
This report

documents

the derivation

and definition

of a linear

aircraft

model

for a rigid aircraft

of constant

mass flying over a fiat, nonrotating

earth.
The derivation
makes no assumptions
of reference
trajectory
or
vehicle symmetry.
The linear system equations
are derived and evaluated
along a general trajectory
and
include both aircraft dynamics
and observation
variables.

INTRODUCTION
The

need

for linear

models

of aircraft

for the

analysis

of vehicle

dynamics

and

control

law design

is well

known. These models are widely used, not only for computer
applications
but also for quick approximations
and desk calculations.
Whereas
the use of these models is well understood
and well documented,
their
derivation
is not. The lack of documentation
and, occasionally,
understanding
of the derivation
of linear
models

is a hindrance

This report
fiat, nonrotating

to communication,

training,

and application.

details the development

of the linear model of a rigid aircraft of consta_t
mass, flying over a
earth. This model consists of a state equation
and an observation
(or measurement)
equa-

tion. The system equations

5ave been broadly formulated
The linear state equation
is derived from the nonlinear

to accommodate
six-degree-of-freedom

a wide variety of applications.

equations
of motion.
The

linear observation
equa.tion is derived from a collection
of nonlinear
equations
representing
state variables,
time derivatives
of state variables,
control inputs, and fiightpath,
air data, and other parameters.
The linear
model is developed
about a nominal trajectory
that is general.Whereas

it is common

to assume

symmetric

aerodynamics

and mass distribution,

or a straight

and level

trajectory,
or both (Clancy,
1975; Dommasch
and others,
1967; Etkin, 1972; McRuer
and others,
1973;
Northrop
Aircraft,
1952; Thelander,
1965), these assumptions
limit the generality
of the linear model. The
prhlcipal contribution
of this report is a solution of the general problem o/" deriving a linear model of a rigid
aircraft without making these simplifying
assumptions.
By defining the initial conditions
(of the nominal
trajectory)
for straight
and level flight and setting the asymmetric
aerodynamic
one can easily obtain the more traditional
linear models from the linear model
Another

significant

contribution

of this report

is the derivation

and

and inertia terms to zero,

derived in this report.

definition

of a linear

observation

(measurement)
model.
The observation
model is often entirely
neglected
in standard
texts.
A thorough
treatment
of common aircraft measurements
is presented
by Gainer and tIoffman (1972), and Gracey (1980)
provides a detailed
discussion
of speed and altitude
measurements,
llowever,
neither of these references
present linear models of these measurements.
This report reIies heavily on these two references and uses their
results as one of the bases for the nonlinear
measurement
equations
from which the linear measurement
mode[ is derived.
Also included
in this report is a large number
of other measurements
observation
that have been found to be useful in vehicle analysis and control law design.

or variables

for

Duke and others (1987) describe a FORTRAN

program
called LINEAR
tha.t derives a linear aircraft
model by numerical
differencing
(Dieudonne,
1978). The program
LINEAR produces
a linear aircraft model
(1ooth state and observation
matrices)
that is equivalent
to the linear models defined in this report.
This report
observation

is divided

equations

into two main

(section

1) and

sections

derive

that

define

the reference

a linear

model

presented

systems

and

in the appendixes

nonlinear
(section

state

and

2). The

appendixes
contain a definition
of tl_e linear aerody2mmic
model used in this report (app. A), a derivation
of the wind axis translational
acceleration
parameters
(app. B), generalized
Iinear derivatives
of the nonlinear state and observation
equations
(app. C), and the individual
derivatives
of the state and observation
equations
(app. D). The details of the principal
results of this report are preseuted
in appendix
D.

SYMBOLS
A

total

aerodynamic

speed

of sound,

axial force, lb
ft/sec

normal

accelerometer

Hn,i

output

of normal

(Ix

output

of accelerometer

aligned

with vehicle

(lx,i

output

of accelerometer

aligned

with body

a_-,k

kinematic

(19

output

ay,i

output
of accelerometer
kinematic
acceleration

ay,k

output,

accelerometer

acceleration

in vehicle

of accelerometer

aligned

not at vehicle

body

center
body

of gravity,

z axis, g

z axis, not at vehicle

with vehicle

body

aligned with body y axis, not at vehicle

in the vehicle body y axis, g

derivative
of generalized
force or moment
reference
aerodynamic
chord, ft
total aerodynamic
drag, lb

(lz,k

of gravity,

center

of gravity,

center

of gravity,

y axis, g

C_

(I z,i

center

x axis, g

output
of accelerometer
Migned with vehicle body z axis, g
output of accelerometer
aligned with body z axis, not at vehicle
kinematic
acceleration
in vehicle body z axis, g
reference
span, ft
generalized
force or moment coefficient

az

coefficient

with respect

to arbitrary

D:c
Dy
D_
E_
F
i

fpa
g
go
h
h,i

L-L
ly - Ix
specific energy,
arbitrary
flightpath

ft

force or moment
acceleration,
g

acceleration
acceleration
altitude,
ft

due to gravity,
due to gravity

altitude
measurement
inertia tensor

ft/sec 2
at sea level, ft/sec 2

not at vehicle

center

of gravity,

moment

of inertia

about

z body

product
product
moment

of inertia
of inertia
of inertia

in x-y
in z-z
about

body axis plane, slug-ft 2

body axis plane, slug-ft 2
y body axis, slug-ft 2

product
moment

of inertia
of inertia

in y-z body axis plane, slug-ft 2

about z body axis, slug-ft 2

ft

axis, slug-ft 2

I1
I2
I4
I5
[6

.rx:,-:L

total moment about

unit length, ft
total moment about

e
M

[fl .. + 1 :#xz

:xI , x body

axis, fl-lb; or, total

aerodynamic

y body

axis, ft-lb; or, Mach number

lift, Ib

variable

vehicle mass,
total moment
load factor

N
75

slugs
about

z body

axis, ft-lb; or, total

specific power, ft/sec

roll rate (about x body axis),
static or free-stream
pressure,

stability
axis roll rate, rad/sec
total pressure,
lb/ft 2
pitch rate (about y body axis),
dynamic pressure,
lb/ff 2

qc
qc/Pa

impact
pressure,
lb/ff 2
Mach meter calibration
ratio

qs

stability
axis pitch rate, rad/sec
Reynolds
number
Reynolds
number per unit length,

Re
F
rs

S
T

velocity

vehicle velocity, ft/sec

velocity along y body axis, ft/sec
velocity Mong z body axis, ft/sec

ll7

ft -1

yaw rate (about z body axis), rad/sec

stability
axis yaw rate, rad/sec
surface area of wing, ft 2

angular momentum;
temperature,
R
along

x body

aerodynamic
gravitational

or, ambient

or fi'ee-stream

total
total

XT

total thrust force along x body axis, lb

vehicle position along x earth axis, ft

force along
force along

total
total
total
total

vehicle position along y

total aerodynamic
force
total gravitational
force
total thrust force along
vehicle position along z

ZT
z

earth
along
along
z body
earth

rad
measurement

angle of sideslip, rad

angle-of-sideslip
measurement

tt

P
0

x body
x body

axis, lb
axis, lb

aerodynamic
sideforce, lb
aerodynamic
force along y body axis, lb
gravitational
force along y body axis, lb
thrust force along y body axis, lb

angle of attack,
angle-of-attack

7
5i
0

temperature,

axis, ft/sec

X.

force,

rad/sec

total
total
time

Tt

normal

rad/sec
lb/ft 2

ps
pt
q

Re

aerodynamic

flightpath
angle, rad
ith control surface deflection
pitch angle, rad
coefficient of viscosity,
density of air, lb/ft 3
arbitrary

function

lb/ft-sec

axis, ft
z body axis, Ib
z body axis, lb
axis, lb
axis, ft
not at vehicle
not at vehicle

center
center

of gravity,
of gravity,

rad
rad

lb

bank

angle,

heading

rad

angle,

tad

Vectors
a

body

E
F

attitude
vector of Euler
total force vector

state vector function

observation
vector function

g
H
h
M
R
U

V
X

Y
_u
_x
fl

axis acceleration

vector
angles

total angular momentum

vector
sum of higher order terms in Taylor
total moment vector
position

vector

in earth

series

axis system

input or control vector

vehicle velocity vector
state vector
observation
vector
perturbation

of control

vector

perturbation
of state vector
perturbation
of time derivative
rotational
velocity vector

of state

vector

Matrices
A
A'
B
B'

state
state
control
control

matrix
matrix

of the generalized
state equation,
C'k = Ax + Bu
of the state equation,
:_ = A'x + B'u

matrix
matrix

of the generalized
state equation,
C'_ = Ax + Bu
of the state equation,
_ = A'x + B'u

C
F
FI

system matrix of the generalized

state equation,
Ck = Ax + Bu
feedforward
matrix of the generalized
observation
equation,
y = Hx
feedforward
matrix of the observation
equation,
y = H_x + 17_u

G
//
H/

derivative
observation
matrix of the generalized
observation
equation,
y = Hx + G_ + Fu
observation
matrix of the generalized
observation
equation,
y = Hx + G_ + Fu
observation
matrix of the observation
equation,
y = H_x + F'u
intertia
tensor

I
j,
LBv
R
T

scaling matrix
transformation

for inertia tensor

matrix from earth

transformation

matrix

from earth

to body
to body

0nX?_

angular velocity matrix in the generalized

n x m matrix of 0 values

lnxTn

an n x m matrix

with values

+ G_ + Fu

axes
axes
state

of 1 on the diagonal

equation,

T::: = fix(t),

:k(t), u(t)]

Subscripts
aerodynamic;

b
D
g

body

or static

or, free stream

axis system

drag
gravitation
al
displacement
of altitude

,i
,k
L

displacement
of altitude rate instrument
not at vehicle center of gravity
kinematic
lift
rolling

moment

pitching moment
yawing moment
orthogonal
power plant induced
stability
axis; or, specific
thrust
total

vehicle-carried

n
n

P
S

instrument

vertical

axis system

wind reference
axis system
displacement
in x body axis

'W
X

x--y body
x-z body
sideforce

xy
XZ

axis plane
axis plane

displacement
in y body axis
y-z body axis plane
displacement
in the z body axis
at sea level, standard
day conditions;

Y
yz
Z

or, nominal

conditions

Superscript
T

transpose

NONLINEAR

SYSTEM

EQUATIONS

The motion of an aircraft

as a rigid body can be described
order differential
equations.
These equations,
representing

by a set of six nonlinear

simultaneous
secondthe translational
and rotational
motion of the

vehicle,

and

call be formulated

time-invariant

system

in tile notation

expressed

of Kwakernaak

Sivan

(1972)

and

Dieudonne

(1978)

as a

as

= r[x(t), u(t)]

(1-i)

where x(t) is the 12-dimensional

time-varying
state vector (t being time), _(t) is the derivative
of x(t) with
_respect to time, u(t) is the k-dimensional
time-varying
input or control vector, and f is a 12-dimensional
nonlinear
function
expressing
the six-degree-of-freedom
rigid body equations.
Measurements

of the vehicle

state

can be represented
y(t)

= g[x(t),

by the observation
u(t)]

equation
(1-2)

wherey(t) is an e-dimensionaltime-varyingobservationvector and g is an C-dimensional

nonlinearflmction expressingthe relationshipof the true vehiclestateand control vectors to the observed parameters.
Typically,

the function

For the aircraft

g characterizes

analysis

the dynamics

and design

problem,

and location

both

of the sensors.

the nonlinear

and linear

system

equations

are formu-

lated more broadly

than just described
(Edwards,
1976; Maine and Iliff, 1980, 1986). The nonlinear
system
equations
include _(t) terms in both the state and observation
functions.
In fact, in the most extended
form the state equation
is expressed
in terms of transformed
variables
(discussed
in section 1.2.1). These
generalized

equations

where

T is a constant

1.1

Definition

While

numerous

form

the basis of the analysis

12 x 12 angular

of Reference
reference

systems

in this report.

The

system

equations

are

(1-3)

T;c(t)

= f[x(t),

:k(t), u(t)]

y(t)

= g[x(t),

_(t), u(l)]

velocity

generalized

matrix.

Systems
are used in aerospace

systems: the body, the wind, the vehicle-carried

vertical,
axes are also defined even though this reference system
rates (section
1.3.8).

applications,

this report

is lilnited

to four reference

and the topodetic

reference systems.
The stability
is used only to define the stability
axis rotational

Within
this report
the translational
equations
are referenced
to the wind axes, and the rotational
equations
are referenced
to the body axes. Measurement
equations
are primarily
referenced
to the body
axes when the use of a reference
system is needed.
The use of this mixed axis system definition
in both

the nonlinear
and linear models is related to the measurability
and meaningfulness
of quantities.
Because
the aerodynamic
forces act in the wind axes, this reference
system is used for the translational
equations.
For instance,
angle of attack, velocity, and angle of sideslip are either directly measurable
or closely related

to directly
measurable
quantities,
while the body axis velocities
(u, v, and w in the x, y, and z directions,
respectively)
are not. The body axis rotational
rates are measured
by sensors fixed in the body axes; wind
axis rates can be derived only from these quantities
through axis transformations.
The

first reference

system

to be described

is the topodetic

reference

system,

also called

the earth-fixed

reference frame (Etkin, 1972), the earth axes (Thelander,

1965), and the Eulerian
axes (Northrop
Aircraft,
1952). The topodetic
reference frame is considered
fixed in space (and hence, inertial)
with the orientation
of the axes as shown in figure 1; the x axis is directed north, the y axis cast, and the z axis down. The
vehicle position (x and y) and altitude (h) are measured
from the origin of this reference systeln.
The vehicle-carried
vertical axis system (fig. 2; Etkin, 1972) has its origin at the center of gravity of the
vehicle. The Xv axis is directed north, the yv axis east, and the z_ axis down. This axis system is obtained
by a translation
of the topodetic
axis system to the vehicle center of gravity.
The attitude
of the aircraft
(heading,
pitch, and bank angles , 0, and , respectively)
is described
in terms of the orientation
of the
aircraft body axes with respect to the vehicle-carried
vertical axes.
The origin of the body axis system (fig. 3) is the vehicle center of gravity. The x axis is directed toward
the nose of the aircraft,
the y axis toward the right wing, and the z axis toward the bottom of the aircraft.
The

specific

symmetrical
are located

orientation

of the actual

body

axes relative

to the

vehicle

body

is somewhat

arbitrary.

For

aircraft,
the x and z axes are in the plane of symmetry;
for asymmetrical
aircraft,
these axes
in a plane approximating
what would be the plane of symmetry.
The positive direction
for the

body axis rates (roll, pitch,

and the body axis moments

and yaw rates, p, q, and r, respectively),

the body axis velocities
(u, v, and w),
(L, M, and N about the x, y, and z axes, respectively)
are shown in figure 3.

(East)

(North)

xv

fyv
(North)
z v (Down)

(East)

.,_Y
(North)

z
(Down)

Figure

x 4

_._ y (Easl)

(Down)

7256

1.

Topodetie

axis

Figure
2. Relationship
tic and vehicle.carried
tems.

system.

between
vertical

7257

topodeaxis sys-

_'Xb _____

L,p

N,r t
z
w

Figure

3.

Body

axis

725_

system.

The relationshipbetweenthe vehicle-carriedvertical and body axesis shownin figure 4. The Euler
angles(_5,0, and _) define the orientation
of the body axes with respect
to the vehicle-carried
vertical
axes.

The

figure

.5. The

rotations

required

heading

angle

to transform

the vehicle-carried

g, is a rotation

about

(designated
(xl, 9_, Zl) in fig. 5); the pitch
axes system; the roll attitude
_5 is a rotation

vertical

axes

the z vehicle-carried

to the body

vertical

axes

are shown

in

axis into a new axis system

attitude
8 is a rotation
about the y] axis into the
about the 92 axis into the body axes.

(z2, 92, z2)

x 2, x b

Yv
\

_Yl'

Y2

-XV_

//

- "--'_

Yb

z2
Zv' :'1
7259

Figure

These

4.

Relationship

rotalions

are described

between

vehicle-carried

the total

rotation

is described

--sint_,

L_

sin _
0

cos 7,
0

Lo

0
-sinO

1
0

body

axis

0
1

systems.

(1-.5)

0
cosO

(1-6)

[,0 01
0
0

cos
sin

-sin
cos

(l-r)

by
cos 0 cos g'
sin sin Ocos

LBv = LvLeL_

and

by
COS_

and

vertical

cos 0 sin C'

- cos g5sin
cos _ sin 0 cos _5

sin _5sin 0 sin ,

+ cos _5cos V;'
cos _5sin 0 sin g,

+ sin _5sin _'

- sin _ cos _,

-sinO
sin d cos 0
(1-8)
sin 0 cos 0

Xv

x1
,
/
/
/
/
/
/
/
/
/
/
/
I
/

xI
/
/
./

z2

/
/
(Zv)

/
'..

#
_.,

Yv

/
\

/
\

/
",,

/
\
\\

/
\

/
\N\

Z v'

"_"

x2 ' x b

.///

Z1

Yl
7261

7260

(a)

Rotation

through

%5 about

zv

axis.

(b)

Rotation

through

Yl' Y2

Yb
#
/

/
/
/
/
/
/
/
/
/
/

l
/
/

/
b z2

(x2, Xb) "--..

+.]

7262

(c)
Figure

5.

Rotation
Rotation

through
of

axes

about

through

Xb

axis.

Euler

angles.

about

Yl

axis.

Because

LBV is a unitary

matrix,

the transformation

from the body

axes to the vehicle-carried

vertical

axes is LTv .
The
systems

relationships
between
the body, wind, and stability
axes are shown in figure 6. All three axis
have their orig}n at the center of gravity of the aircraft.
The x axis in the wind reference system

(xw) is aligned with the velocity vector of the aircraft.

The angle of sideslip fl and angle of attack o_ define
the orientation
of the wind axes with respect to the body axes. (The stability
axes are shown in figure 6
also. This reference
system is displaced
from the wind axis system by a rotation
fl and from the body axis
system

by a rotation

-c_.)
yw.

I
I

_
5" _2
z_, z.
/
-_...j"
_

w/-

/\

'_ _.'r'::_

s //

zk

\ i

"-- .

,,11

I
I .
v,'-v

COS/)

"_._<1

_ vi_

xs

_-v sin/3

x W
7253

Figure

6. Relationship

of body,

stability,

and

wind

a_es.

Also shown in figure 6 are the components

of the velocity vector V in the body axes (u, v, and w)
and the definition
of positive rotations
for a and ft. It should be noted that fl is a positive rotation
in a
left-handed
coordinate
system, whereas the positive sense of all other rotations
used in aircraft analysis are
positive in a right-handed
coordinate
system.
The

definitions

of the body

axis velocities

(fig. 6) are
u = V cos c_cos _

The total
velocities

velocity
as

V, angle of attack

v = Vsinfl

(1-10)

w = Vsinacos/3

(1-11)

a, and angle of sideslip

v = [vl = (u2 + v
ct = tan -1 w
It

v
/_ = sin -1 _-

10

(1-9)

fl can be expressed

w2)

1/2

in terms

of these

body

axis

(1-12)
(1-13)
(1-14)

1.2

Nonlinear

State

Equations

For the aircraft problem, the state vector x is 12 x 1 vector composed of four 3 1 subvectors
represenling
the
vehicle rotational
velocity, the vehicle translational
velocity', tile vehicle attitude,
and the vehic]e location:
X

[X T

XT

X T

(1-15)

xT] T

\vhere
X 1 =

[p

(1-16)

T] T

(1-17)

xa = [ e
x4 = [h x y]W

(1-18)
(1-19)

and position subvectors,

with xl, x2, xa, and x4 being the rotational
velocity, translational
velocity, attitude,
respectively.
The vehicle rotational
and translational
velocity are defined within the aircragt-fixed
axis
systems. In the formulation
of the state used in this report, the vehicle rotations
are body axis rates, whereas
the vehicle velocity terms are stability
axis parameters.
The vehicle attitude
and location parameters
are
earth relative.
The vector function
f, relating
the state vector its time derivative,
derivative
of the state vector with respect to time, is a 12-dimensional
3-dilnensional
vector subfunctions:
f[x(t),
where

t"1, f2, fa, and

acceleration,

t".4are the vector

translational

_(t), u(t)]

functions

acceleration,

that

attitude

and the control

vector function

= [fT fT fat f TIT

relate

rate,

the x(t),

_(t),

and earth-relative

(1-20)
and

u(t)

velocity

vectors

and others,

1.2.1
terms

1973; Thelander,

Rotational

in the 5 vector

subfunction

is based

M is the total

expression

moment

can be expanded

on the

fl of f from

on the moment

vehicle

which

the

rotational

acceleration

(1-21)

and H is the

total

angular

momentum

of the vehicle.

where 5/5t is the time derivative

and the substitution

operator

in a moving

(1-22)

a X (Ia)
reference

fl'ame (such as the vehicle

body' axis system)

H = If/
has been

used

to replace

the rotational

velocity

of the terms

in equation

This

to
M = _t ([Ft)+

In the

equation

dH
dt

M=
where

of _(t).

details of the derivation

dynamics
(Etkin,
1972;

1965).

acceleration.--The
are derived

to the rotational

subvectors

following sections,
each of these subfunctions
will be developed
separately.
The
of these subfunctions
can be found in any of the standard
references
on aircraft
McRuer

vector to the time

composed
of four

the

vector
(1-22)

total

angular

Ft. (The

inertia

(1-23)

momentum

term

tensor

is assumed

with

the product

to be constant

of the
with

inertia
time.)

tensor
The

I and

definition

follow:

M=

_M

M + kiT

(1-24)

11

with

L, M,

LT,

A[T,

where
and

and

and

N being

NT

the

I_., Iy, and

Iyz

are

the

Iz

the

sums

are

the

products

aerodynamic

total

moments

about

of all power-plant-induced

moments

of inertia

of inertia
in the

z-y,

the

x, y, and

z body

axes,

respectively,

and

moments;

about
x-z,

the
and

x, y, and
y-z

body

z body
axis

axes,

planes,

respectively,

respectively;

and

Ixy,

f_ = Xl = [p q r] T
where

p,

assumed

q,
that

and

r are

the

the

inertia

rotational
tensor

rates

about

is a constant
5
--f_
bt

This
following

is the vector
subfunction
definition
applies:

the

with

x,

to time,

ft x If_)

=/-_(M

for the

rotational

f,[x(t),_(t),

u(t)]-

y, and

respect

acceleration.

z body

axes,

equation

flx

_-/a = fi[x(t),,(t),

u(t)]

can

(1-26)

Because

be rewritten

it is
as

(1-27)

Designating

I-I[M-

respectively.

(1-22)

l_z,

and

(/ft)]

this

subfunction

as

t"1, the
(1-28)

where

Since

the

inverse

of the

inertia

tensor

5_a

= [/5 O ]T

1-1

is given

by

I2

/4

detI

5/3

[_ /-6
/31
/5

i_1_

(1-29)
(1-30)

/5

(1-31)

where

det I = ]xIyIz

- IxI_z

IzI2_u-

(1-32)
(1-33)

L.ylz

= Ixyt_z

+ Iyzzxz
+ i_I_z

(1-3_l)
(1-35)
(1-36)

12

i5 = IxT_z + 1_&_

(1-37)

I6 =

(1-3s)

IxIy-

I_y

tile expression

/')-

for the rotational

det1 [[_LI1

accelerations

Jr _I[2

- pr(IxJt

can be expanded

Jr _J13
Jr Dyh

- p2(fxzI2

- Iuzh)

as a set of scalar

- Ixyf3)

Jr q2(IuzI1

equations:

-ac?Qq(fxz[1 - Iyz[2 - Dzf3)

- IzuI3)

- qr(Dx[1

- IzyI2

Jr Ixzh)

(1-39)

- r2(I zI1 0 -

1
det i [2Lh

+ _l"_Ih

+ _]-hr/s - p2(Ixzh

- pr(Ixvh

+ D_h

- I...h)]

1 [_,L[3 Jr NMI5
det I
- pr(I_J3

- IyzIs)

- IzuIs)

+ q2(Iyzh

+ pq(IxzI2

- L:vIs)

- Iy.L_ - Dds)

- qr(D_:h

- I_I4

+ ISa)
(1-40)

4- _NI6

+ DyI5

- p_iI_z[5
IyzI6)

- [xy[6)

+ q2(Iyz[3

4- Pq([_d3

Ixu[6)

- [y:[5 - Dz[6)

qr(Dx[3

- [_y[5 + [zz[6)
(1-,11)

where
D_ = Iz-

I_

(1-42)

Dy = I_-

1_

(1-43)

D_ = Iy-I_

Equation

(1-3)

defines

the generalized

nonlinear
T*(t)

This equation,
although
more compficated
a more tractable
formulation
of the state
the rotational

accelerations

The derivation

state

= f[x(t),

equations

a.s

:k(t), u(t)]

than the nonlinear equations

equation by using the matrix

in a deconpled

of the rotational

(1-14)

defined by equation
(1-1), allows for
T to provide a means of addressing

axis system.

acceleration

terms

is based

M = 6_(If_)+
Rearranging terms and assuming that the inertia
be written as

on the moment

equation

(1-22):

f_ x

tensor is constant

with respect to time, the equation

can

t"

I_2
The rows of this vector

equation

are now scaled

= M - Z x If_
using

the following

o
0
0

1/[y
0

(1-27),

merely

J' =

This
second

matrix,

when

premultiplying

row by the pitch

inertia.

equation
Iv, and

the third

(1-45)
scaling

o
0
1/Zz
divides

(1-46)

the first

row by the yaw inertia

J = J'I

matrix:

row by the roll inertia

I_. Using

Ix, the

the definition
(1-17)
13

the resultingequationis
J_f_

and J

can be written

(1-48)

[]

can be expanded

p'

q'
,:'

1.0

=[
lY, _', and

Using

- Ixy/I_

(1-48)

x I_)

- rp[_y/G
- rpG/Iy
+ qpG/I_

' are the decoupled

the definition

-- I_JG
gzl&

and expressed

of J in equation

][]
D

- gzlg
1.o

+ pqI_z/I_
+ rqGy/Iy
- qrI_/I_

rotational

+ rqly/I_
- pqly_/I_
+ prly_/I_

accelerations

(1-49),

(1-49)

as

- &z/Ix

1.o
- S_zlg

zyz/ _
- I,:z/Ix
]
1.0

1.0

1.o
GzlI_

. - [xylI_

G,,/g
- G:IIz
_L/f_
_M/Iy
_N/I_

where

- J'(f_

as
J =

Equation

= J'M

033

03x3

13x3

_ qrI_/I_
+ prI_/I_
_ pqIy/fz

(1-5o)

of the vehicle.

the matrix

+ (q2 _ r2)lyz/ir
+ (r 2 - p2)G_/Iy
+ (p2 _ q2)[_y/&

transformation

T can be defined

as

06x6

(141)

06X6

16X6

which would be an identity matrix except for the presence of the inertia terms in the upper left-hand
corner.
Thus, the vector subfunctions
for the generalized
state equation
defining vehicle translational
acceleration,
vehicle attitude
rates, and earth-relative
velocities are the same as those defined for the standard
nonlinear
state

equations

1.2.2
f2 is based

in sections

Translational

1.2.2, 1.2.3, and

1.2.4, respectively.

acceleratlon.--Derivation

of the translational

acceleration

vector

subfunction

on the force equation

J

F = -_t (mY)
where

F is the total force acting

on the vehicle

F=m
with the assumption

of constant

(1-52)

and m is the vehicle

(_V
_

mass with respect

F = [:SX

+a

Tlfis expression

XY

can be expanded

x V)

SZ]

V = [/',t v wl T

definitions

of F and V:
(1-5d)

thrust,

to

(1-.53)

to time and the following

where EX, EY, and EZ are the sums of the aerodynamic,

z body axes, respectively,
and

ILl

mass.

and gravitational

forces

in the x, y, and
(1-55)

Rearranging

This equation

the terms

expresses

of equation

body

(1-52)

gives an expression

iv

= IF-

_t

axis accelerations

for the translational

flx v

in terms

of body

(1-5G)
axis forces,

angular

IIowever, the desired form of this relation requires the translational

accelerations
that is, in terms of the magnitude
of the total vehicle velocity V, angle of attack
which

are expressed

by equations

(1-9)

acceleration:

rates,

and

velocities.

in the wind axis system;

a, and angle of sideslip fl,

to (1-11)
u = Vcosacos/3
v = V sin/3
w = Vsin&cosfl

and equations

(1-12)

to (1-14)

v = IVl= (_=+ _=+

The

wind

axis translational

acceleration

terms

(derived

w2)

1/2

in app. B) are summarized

as:

(1-57)

[f,-,s 3]T = r_[x(O,_(t), u(t)]

where
_) = 1[

_ D cos/3 + Y sin/3 + XT cos a cos/3 + YT sin/3 + ZT sin a cos

-- rag(cos

(1-,5s)

a cos/3 sin 0 - sin/3 sin cos 0 -- sin a cos/3 cos cos 0)1

1
_1.

__

Vra

_-[- L + ZT cos c_ -- XT sin a + rag(cos

cos

& cos cos 0 + sin a sin 0)]

(1-59)

+ q - tan/3 (p cos a + r sin a)

1
= ,--_-[D

+ rag(cos
with

D being

force along

1.2.3
into body

total

sin

sin _q + Y cos _3 - XT cos a sin 3 + Yr cos fl - ZT sin a

a sin/3 sin 0 + cos _ sin cos 0 - sin a, sin _qcos cos 0)] + p sin a - r cos a

aerodynamic

the x, y, and

Attitude
axis angular

z body

rates.--The
velocities

drag;

Y total

aerodynamic

sideforce;

and

XT,

]_,

and

ZT

total

(1-60)
thrust

axes, respectively.

matrix

R that

is defined

by

R =

transforms

[1
0
0

cos
-sine

angular

sin cos 0
coscos0

velocities

in the earth-fixed

axis system

(1-6.1)

15

whereR
terms

is derived by Maine and Iliff (1986) from the total angular velocity
of the derivatives
with respect to time of the Euler angles (, t), ):

aircraft

expressed

cos
sine
-sincos

cos

transformation

from

0 cos
sine
O-sincos

sin0

cos0

(1-62)

sin0cos0

0 - sin cos cos 0

earth-fixed

_}

to body

axes can be expressed

by the equation

_= _(dE)
where

E is an attitude

vector

whose

components

both

sides of equation

(1-63)

dt
can be expanded

into the scalar

body

Earth-relatlve
axis system is defined

LBV

[(_ 0 _)]T

(1-64)

terms

yields

the equation

= R-_fi

for the

(1-65)

equations
= p+qsinCtan0+rcosCtan0

(1-66)

= qcos-

(1-67)

rsin

= qsinCsec0

1.2.4

angles:

by R -1 and rearranging

_eE
which

(1-63)

are the Euler

=

Premultiplying
attitude
rates,

+ rcosCsecO

veloclty.--The
matrix
by equation
(1-8) as

LBV that

(1-68)

transforms

earth

axis system

vectors

into the

Icos
s n 01[cos0
0s,n01[
0 0]

sine
0

cos
0

0
1

0
-sinO

sin sin 0 cos _ - cos sin

cos 0 cos _
cos sin 0 cos + sin sin

1
0

0
cosO

0
0

cos
sine

-sin
cos

sin sin 0 sin _/, + cos cos

cos 0 sin _b
cos sin 0 sin - sin cos

sin cos 0
- sin 0
cost cos 0

The specific

relationship

between

earth-relative

velocities

and body

axis velocities

is expressed

by
(1-69)

where

R is the earth

axis system

vector

defining

the location

1% = [x y z] T
16

in

I!] 0][!]
[100][ooso0-:01
[i]
0 l[i]

This

of the

of the vehicle:
(1-70)

with

z = -h.

The equation

for the earth-relative

velocity

can be formulated
dR=
dt

in which

these

definitions

velocities

of the body

expressed

in terms

are expressed
a_s

in terms

velocities

as

LB_V
of body

in equations

(1-12)

(1-71)
axis velocities.

to (1-14) allows

Using

equation

the earth-relative

(1-72)

and

velocities

the
to be

of V, a, and/3:
J_ = V(cos

a cos/3 sin 0 - sin/3 sin cos 0 - sin _ cos/3 cos cos 0)

(1-72)

= V[ cos a cos/3 cos 0 cos _b + sin fl(sin sin 0 cos - cos sin )
+ sin a cos/3(cos

sin 0 cos + sin sin 4)]

= V[ cos a cos/3 cos 0 sin + sin/3(cos

+ sin a cos/3(cos

1.3

Nonlinear

No standard

Observation

set of observation

parameters.

application.
of problems.

Thus,

cos + sin sin 0 sin )

sin 0 sin - sin cos _/,)]

(1-7d)

Equations
variables

for any guidance

and control problem,
variables.
Other common
observation
air data

(1-73)

exists for the aircraft

the main
variables

the dimension

The set of observation

The basic composition

analysis

and control

design

problem.

observation
variables generally will be a subset of the state
are the vehicle body axis translational
accelerations
and

of g[x(t),

zk(t), u(t)]

variables described
of the observation

is not fixed and

varies

from

application

control

x and
vector,

:k are the

state

vector

and y_ is defined

and

time

to

in this section was selected to address a wide range

vector y as used in this report is given by

(1-75)

Y = [x T _T u T y,T]T
where

IIowever,

derivative

of the state

vector

described

previously,

u is the

by
y/__

[y_T

y_T

y_T

y_T

YV

y_T

y_T

(1-76)

y_TIT

where

y_

[ax,k

ay,k

y_ = [a M

Re

Y; = [7 fpa

az,k

ax

Re'

77 qc q/P_ P_, Pt

_]T

av

az

an

ax,i

ay,i

az,i

Tt] T

an,i

n]T

(1-77)

(1-78)
(1-79)

y_ = [E_ p_]T

(1-80)

y_ = [L D N A] T

(l-S1)

Y6t

[l/

/t

?)

_b] T

(l-S2)

y_ = [a,i /3,i h,,i h,i] T

(1-83)

Y8' = [T P_ % r_]T

(1-84)
17

with the elementsof y_ beingtermsrelatedto the vehiclebody axisacceleration,the elementsof y_ being

air dataterms,the elementsof y_ beingflightpath-relatedterms,the elementsof y_ beingtermsrelatedto
vehicleenergy,y_ beinga vehicleforcevector,the elementsof y_ beingbody axistranslationalratesandthe
time derivativesof thoseterms,y_ beinga vectorof variablesrepresentingmeasurements
frominstruments
not locatedat the vehiclecenterof gravity,andthe elementsof y_ beinga collectionof miscellaneous
terms.
Obviously,this groupingof termsis somewhatarbitrary andis doneprimarily to easethe definitionof these
termsin the followingsectionsof this report. This groupingof observationvariablesparallelsthat usedby
Dukeandothers(1987).
The vectorfunction g relating the statevector,the time derivativeof the statevector,and the control
vectorto the observationvectoris an _-dimensionaI
functioncomposedof four subfunctions:
g[x(t),Sc(t),u(t)]= IxT _:T uT g,T]

(1-85)

wherex, _, and u areidentity functionson the statevector,time derivativeof the statevector,andcontrol

vector,respectively,andg_is composedof vector subfnnctionsdefiningthe y_ vector.
The state vector, time derivativeof state vector, and control vector components
vector

are not discussed

in detail

in this section

of the report.

The

equations

of the
for the elements

observation
of the time

derivative
of the state vector were developed
in section 1.1. The observation
equations
for the state and
control variables
are simply identities.
The equations
for the remaining
observation
variables
are obtained
from a variety
others (1967),
tile observation

of sources.
In addition
to the previously
cited sources,
Clancy (1975),
Dommasch
and
Gainer and IIoffman (1972), and Gracey (1980) provide the background
and derivation
of
equations
used in this report.

1.3.1
Accelerations.--The
set of observation
variables

that,

vehicle body axis accelerations

and accelerometer
outputs
after the state variables
themselves,
are most important

control analysis and design problem.

These
of g and are derived directly from the body
vector a can be expressed
as

constitute
the
in the aircraft

accelerations
and accelerometer
outputs are measured
in units
axis forces defined in section 1.2.2. The body axis acceleration

dr=
a = dt

V + _2 x V

(1-86)

It is important
to note here that the _, 73, and _b body axis velocity rates, derived in appendix
13 and
defined by equation
(B-l), are not the body axis accelerations.
The body axis accelerations
contain not
only the body axis velocity rates
terms. Thus, expanding
equation

but also the

(1-86) yields

a =

rotational

ax,k, ay,k , and

az,k are the kinematic

accelerations

=
(v
(stated

as eq. (B-l)

in app.

%,k

18

+
(1/m)(ZT

B), equation

(1-87)

and

translational

in the vehicle

velocity

cross-product

(1-87)

i_ + ru - pw
iz + qwrv ]
go + pv - qu

ay,k
az,k

where
Using

velocity

body

x, y, and z axes, respectively.

(1-88)

+ Za + Zg) + qu - pv

can be rewritten

as

(1/m)(Yw

+ Y_ + Yg)

(l/m)(zs

+& +

(1-89)

whereX_,

Y_, and

Z_ are total

the x, y, and z body

forces

aerodynamic

axes, respectively.

to give (in units

go is the acceleration

This can be expanded

gore

Zg are total

in terms

gravitational

of the gravitational

forces

from equation

aT

due to gravity

--

(1-90)

(1-90)

D sin c_ - L cos a +gm

cos cos 0

at sea level.
at the vehicle center of gravity
are simply
forces. The accelerometer
output equations

the body axis

can be written

as

iax
]a 1[xTcoo+Lsin
+Y
az

gom

(1-91)

ZT -- D sin a - L cos a

where ax, ay, and az are the outputs of accelerometers

at the vehicle center
vehicle body x, y, and z axes, respectively.
Because the normal acceleration

of gravity and aligned

an is defined by

with the

an = -az
an expression

for this variable

can be extracted

+ Dsina

The equations
defining the output
of accelerometers
from the vehicle center of gravity are derived by Gainer
given

in equation

definition

The results

of inertial

from Gainer

(1-91):

(1-9a)

+ Lcosa)/gom

aligned with the vehicle body axes but displaced

and IIoffman (1972) using the definition of inertial

(1-86)
a=

and the

(1-92)

from equation

a,, = (--ZT

acceleration

along

and aerodynamic

YT+Y+gmsincosO

The outputs
of body axis accelerometers
accelerations
due to the thrust and aerodynamic
directly

and Xg, ]_, and

of g)

a y,k
az,k
where

forces

velocity

5
V = _r+

and IIoffman

au,i

az,

_-V+fl

(1972)

x V

fl x r

are reproduced

here without

ay + [(pq + i')Xy - (p2 + r2)yy

az + [(pT- O)x +

(1-94)
rederivation:

_ (qr - p)zy]/9o

(1-95)

+ )Yz - (q2+

where a_.i, ay,i, and az,i are outputs at accelerometers

aligned with the x, y, and z body axes but not located
at the vehicle center of gravity; the subscripts
x, y, and z refer to the x, y, and z body axes, respectively;
and the symbols x, y, and z refer to the x, y, and z body axis locations
of the sensors relative to the vehicle
center

of gravity.

output

of a normal

is given

Because

the

accelerometer

normal

acceleration

not at the vehicle

is the
center

negative
of gravity

of the

z body

but aligned

axis accelerometer,

with the z body

the

axis, an,i,

by
an,i = an - [(pr - gt)xz + (qr + P)Yz - (q2 + p2)Zz]/g

The final quantity

included in the general category of accelerations
defined without inclusion of the z body axis force component
as

is load

(1-96)
factor

n.

This

quantity

is

(1-97)

mg
19

1.3.2 Air data parameters._The air data parametershaving the greatestapplicationto aircraft i
dynanlicsandcontrolproblemsarethe sensedparametersandthe referenceandscalingparameters.Chosen ]
for inclusionasthe sensedparametersareimpactpressureqc, static or free-stream pressure p_, total pressure
!
pt, ambient

or free-stream

parameters

are Mach

temperature

number

M,

T, and

dynamic

pressure

number per unit length Re', and the Mach meter

is treated
extensively
by Gracey (1980).
The

nonlinear

equations

defining

these

total

temperature
q, speed

calibration

quantities

Tt.

The

of sound
ratio

selected

a, Reynohls

q/p_.

reference
number

The derivation

and

scaling

Re, Reynolds

of these

"

quantities

are

a = [1.4 Po T] 1/2
[
poTo J

(1-98)

V
M = --

(1-99)

Re-

pVg
#

(1-100)

Re'-

pV
Iz

(1-101)
z

(1-102)

(t = lP V2

q_ =

{ {1.2M215.70M2/(5.6M2
+ O.2M ) - 1.0M_

0.8)] 2"s-

1.0}p_

q____
= f (1.0 + 0.2/}12) 3.5 - 1.0
P_

_ 1.2M215.76M2/(

Tt = T(1.0

5.6M2

- 0.8)] 2.5 - 1.0

(M
(M

_< 1.0)
> 1.0)

(1-103)

(M _< 1.0)
(M _> 1.0)

=
-

(1-104)

(1-1o5)

+ 0.2M _)

where p is the density of the air, /z is the coefficient

of viscosity, and the subscript
0 refers to sea level,
standard
day conditions.
Free-stream
pressure,
free-stream
temperature,
and the coefficient
of viscosity are
properties
of the atmosphere
and are assumed to be functions
of altitude
alone.

1.3.3

Fllghtpath-related

parameters.--Included

in the observation

variables

are what

might

best

be termed flightpath-related
parameters
for lack of better nomenclature.
These terms include flightpath
angle 7, flightpath
acceleration
fpa, and vertical acceleration
t_. The variables
are defined by the following
equations:

7 = sin-1

1-7

fpa = -g
= a_,k sin 0 - ay,k sin cos 0 -- a_,k cos cos 0

(1-106)

(1-107)

(1-108)

2O

1.3.4
Energy-related
tion variables
considered

parameters.--Two
in this report: specific

energy-related
parameters
are included with the observaenergy Es, and specific power Ps, defined as
y

Es = h + --

(1-109)

2g
Ps -

1.3.5

Force

parameters.--The

S is the surface

1.3.6

Body

_ ]_ -t-

set of observation

parameters.
These quantities
are total
normal force N, and total aerodynamic

where

des
dt

rates

and

variables

aerodynamic
lift L, total
axial force A, defined as

(1-110)

being

considered

aerodynamic

drag

also includes
D, total

four force

aerodynamic

L = CTSCL

(1-111)

D = qSCD

(1-112)

N = Lcosa+Dsina

(1-113)

A = -Lsina

(1-114)

+ Dcosa

area of the wing, CL coefficient

axis

(rV._.._
g

of llft, and

acceleratlons.--Because

CD coefficient

they are of interest

of drag.

in the control

analysis

and

design problem,
six body axis rates and accelerations
are included
as observation
variables.
These include
the x body axis rate u, the y body axis rate v, and the z body axis rate w. Also included
are the time
derivatives
of these quantities,
/t, _?, and _b, respectively.
The

definitions

of the body

axis rates

are given

in equations

(1-9)

to (1-11)

as

u = V cos a cos
v = Vsinfl
w = Vsinacosfl
The

time derivatives

and

(1-56)

of these

terms

can be defined

using equation

(B-l)

and equations

(B-8),

(B-9),

(B-10),

as
it

XT

--

grasinO

- Dcosa

+ Lsina

+ rV sin/3 - qV sin c_cos/3

(1-115)

ij = YT + gmsincosO

+ Y + pVsinacosfl-

rVcosacosfl

(1-116)

D_

(0

--_

ZT

"JVgm cos cos 0 -- D sin a - L cos a + qV cos a cos/3 - pV sin/3

(1-117)

1.3.7
Instruments
ments from instruments

displaced
from the vehicle
center
ofgravity.--The
need to include measuredisplaced from the vehicle center of gravity arises from the fact that not all aircraft

21

instrumentationis locatedat the vehiclecenterof gravity. The mostimportantof thesequantitiesareundoubtedlythe accelerometer

outputstreatedin section1.3.1.In this sectionfour additionalparametersare
presented:angleof attack (a,i), angleof sideslip(/3,/),altitude (h,i), and altitude rate (it,/) measurements
from instrumentsdisplacedfrom centerof gravity by somex, y, and z body axis distances. The subscripts
a,/3,

h', and

]_ refer to the displacements

instruments

from the vehicle

center

of the angle-of-attack,

of gravity.

angle-of-sideslip,

The equations

used

altitude,

to compute

these

and altitude

quantities

rate

are

a,i = a + qx_ - py_

V

(1-118)

fl'; =/3+ rx_ v- pz_

(1-119)

h,i = h + Xh sin0 -- Yh sincosO

-- Zh cos COS0

(1-120)

J_,i = +O(xhcosO+yhsinCsinO+zhcosCsinO)-(b(YhCOSCcosO-zhsinCcos8)

1.3.8
Miscellaneous
observation
ill this report is a miscellaneous
collection

parameters.--The
of parameters

(1-121)

final set of observation

parameters
considered
of interest
in analysis and design problems.
These

parameters
are total angular momentum
T, stability axis roll rate Ps, stability
axis yaw rate rs. The equations
used to define these quantities
are
T = l(Ixp2

- 2Ixvpq - 2Ixzpr

axis pitch

+ [yq2 _ 2Iyzqr +/zr

rate qs, and stability

2)

(1-122)

_5

Ps =pcosa+rsina

(1-123)

qs ---- q

(1-124)

rs =

LINEAR

The

standard

--ps]n_+

SYSTEM
state

equation

EQUATIONS
differential
*(t)

where, for a time-invariant

standard
output equation

H'

is a constant

g x n matrix

equations
used with an extended
(1-4) can be characterized
by

and

y(t)
C and

matrices,
to (1-4))

n x n matrices,

(2-1)

n n matrix

= tt'x(t)

compatible

and

B _ is a constant

n k matrix.

+ F'u(t)

(2-2)

g k matrix.

with the generalized

= ax(t)

+ Bu(t)

= /Ix(l)

+ ak(t)

B is a constant

The

The

generalized

nonlinear

linear

equations

system
(1-3) and

(2-3)
+ ru(t)
n x k matrix,

(2-4)
H and

G are constant

gx n

and F is a constant gx k matrix. The nonlinear system equations

developed in section 1 (eqs. (1-1)
can be linearized
about a trajectory,
and a linear model can be formulated
that is similar to either

the standard
22

A are constant

has the form

+ B'u(t)

F r is a constant

formulation

eft(t)

where

system

= A'x(t)

system, A _ is a constant
has the form
y(t)

where

(1-125)

rcos

for a linear

or the generalized

linear

system

equations.

2.1

Linearization

of tlle State Equation

If u0(t) is giveninput to a systemdescribedby the statedifferentialequation(1-3),andif x0(t) is a known

solutionof the state differentialequation,then appro_mationsto the neighboringsolutionscan be found
for smalldeviationsin the initial stateandin the input by usinga linear state differentialequation.The
nonlinearstatedifferentialequation(1-3) canbe ]inearizedabout a generaltrajectory, as by Kwakernaak
andSivan(1972)and Dieudonne(1978),so that x0(t) satisfies
T_o(t)
Assuming

that

only slightly

where
vectors,

5u(t),

the

from

system
uo(t),

5x(t),

is operated

x0(t),

at close to nominal

and _o(t),

and 53(t) are small

= f[_0(t),xo(t),

the following

uo(t)]
conditions

expressions

with

u(t),

x(t),

and

_(t)

deviating

can be written:

u(t) = u0(t) + _u(t)

(2-5)

x(t) = x0(t) + _x(t)

(2-6)

,(t) = _0(t) + _,(t)

(2-7)

perturbations

to the control,

state,

and time derivative

of the state

respectively.

Substituting
equations
Taylor series about _o(t),

T[_o(t)

(2-5) to (2-7) into the nonlinear

state
xo(t), uo(t), and assuming
T constant

+ 5_(t)]

= f[x0(t),

differential
equation
with respect to _(t)

(1-3), expanding
yields

0f
0f
0f
+ _xx 5x + _ 5_ + _uu 5u + h(t)

;k0(t), u(t)]

in a

(2-8)

where 0f/0x,
0f/01:,
and 0f/0u
are defined in equations
(2-9) to (2-11) and h(t) represents
the sum of
the higher order terms in the Taylor series, assumed to be small with respect
to the perturbations.
The
matrices
used in the Taylor series expansion
are defined by the following relationships:
0f
0X

0f
--

0X

0f

0f

01: -

0_:

(2-9)
(Xo,_o,Uo)

(2-10)
(Xo,_0,Uo)

0f
0u
the (i, j)th

elements

of which

are defined

respectively,
where fi is the ith simultaneous
tion (1-3), xj the jth element of the state

0f
Ou

(2-11)
(xo ,*o ,Uo)

as

( _x) ;,j - 5-Zxjf'

(2-]2)

(_)i,j--

O_jOfi

(2-13)

(Oa-_fu)ij -

OujOfi

(2-14)

equation
of the nonlinear
vector, _j the jth element

state differential
function
in equaof the time derivative
of the state
23

vector,flj the jth element

(x0(t), ,0(t), .0(t)).
Subtracting
liuearizcd
state

equation
equation,

of the control

vector,

and all derivatives

(1-3) from (2-8), rearranging

r[T__xx0fj, 5_(t)=

terms

are evaluated

and neglecting

_x0f5x(t)+

at the nominal

the higher

order

condition

terms

yields

_uuOf
5u(t)

(2-15)

where the arguments

of the matrix functions
have been dropped
to simplify the notation
understood
that the matrices
are to be evaluated
along the nominal trajectory.

and

where

it is

Letting
Of
a-_

C = T-

equation

(2-15)

can be written

is precisely

Of
A = a---_

(2-17)

0f
/3 = 0---u

(2-18)

as
C 5_(t)

which

(2-16)

the formulation

= A 5x(t)

of the generalized

Premultiplying
both sides of equation
differential
equation,

+ Z 5u(t)

state

equation

(2-19) by C -1 results

(2-19)
desired.

in the standard

_,(t) = C-IA &(t) + C-_

form of the linearized

_u(t)

state

(2-20)

Letting

A'=

equation

(2-20)

can be written

C-_A

(2-21)

B' = C-'B

(2-22)

in the more usual

notation

5_(t) = A' 5x(t)

2.2

Linearization

of the

The technique
used in section
equation
(1-4),

Observation

Equation

2.1 to linearize

the state

y(t)
Performing

a Taylor

series expansion

yo(t)

+ 5y(t)

about

= g[xo(t),

(2-23)

+ B' 5u(t)

equations

= g[x(t),

uo(t)]

to the nonlinear

observation

_(t), u(t)]

the nominal

*o(t),

can be applied

trajectory

(x0(t),

_0(t),

u0(t))

0g
0g
0g
+ _x 5x + 0-_ 5' + _uu 5u + h(t)

yields

(2-24)

where
Og _ Og
OX

--

(2-25)

Ox
(Xo ,Xo ,Uo )

2:1

(2-26)

0g
0u
the (i, j)th

elements

of which

are defined

(2-27)

0g t
0u (xo,*o,Uo)

by
Og)
_xx i,j

Ogl
Ox j

(2-28)

= Og_

respectively,
all derivatives

where gi is the ith simultaneous

equation of the nonlinear observation
are evaluated
at the nominal condition
(xo(t), :ko(t), u0(t)).

Subtracting
equation
(1-4) from equation
results in a linear observation
equation,

the arguments

of the matrix

(2-24),

rearranging

terms,

equation

and neglecting

higher

(1-4).

order

0g
0g
0g
= _xx 5x + _xx 5zk + _uu 5u

5y(t)
where

(2-29)

functions

have been

tt-

dropped

Again,

terms

(2-31)

to simplify

notation.

Letting

Og

(2-32)

Og

(2-33)

0x

a = _--_
F = --0g

(2-34)

0u
equation

(2-31)

can be rewritten

as
5y(t)

which

is the generalized

The standard
into equation

linear

observation

form of the observation

(2-33).

This substitution
5y(t)

which

can be written

= II 5x(t)
equation
equation
results

= lI 5x(t)

+ G 5_(t)

(2-3._)

+ F 5u(t)

desired.
can be derived

by substituting

for 5_ from equation

(2-23)

in

+ G[A' 5x(t)

+ B' 5u(t)]

+ F 5u(t)

(2-36)

as

ey(t) = [tI + GA'I_(t) + IF + cm] _.(t)

(2-37)

By letting

equation

H' = H + GA'

(2-38)

F' = F + GB'

(2-39)

(2-37) becomes
25

_y(t) = ti' _x(t) + r' _u(t)

2.3
The

Definition
results

in terms

of Matrices

of sections

of partial

2.1 and

derivatives

state, time derivative

nominal trajectory.
Using

System

2.2 can be used

to define

of the nonlinear

of state,

the nonlinear

in Linearized

and control

state

equation

state

vectors.

(2-40)

Equations
the

matrices

and observation

All derivatives

in the linearized
functions

are understood

taken

system
with

equations

respect

to be evaluated

to the

along

the

(1-3),

Tx(t) = f[x(_),_(t), u(0]

the terms

in the generalized

form of the linearized

C 5_(t)

can be defined

state

equation

= A 5x(t)

+ B 5u(t)

as
Of
0--_

C -- T-

The terms

in the standard

(2-42)

Of
B = 0-_

(2-43)

state

= A' 5x(t)

equation

(2-20),

+ B' 5u(t)

as

A'=
B'=

In a similar

(2-41)

Of
A = 0--x-

form of the linearized

5_(t)

can be defined

(2-19),

manner,

the nonlinear

T-_

Of]-1

c0f
0x

(2-44)

[T- 0fl-'
of
0_J
0-u

observation

equation

(2-45)

(1-4),

y(0 = g[x(0, _(t),.(t)]

can be used to define

the terms

of the generalized
5y(t)

26

= r,r 5x(t)

linearized

observation

+ a 5:_(t) + F 5u(t)

equation

(2-35),

{is

si = --g

(2-46)

0x

G=_xOg
x

(2-47)

F = --g

(2-_s)

0u

The

terms

in the

standard

form

of the

linearized
5y(t)

can

be defined

observation

= H' 5x(t)

equation

(2-40),

+ F' 5u(t)

as

Og
Og [ T-_x
0---_+
_xx

H'=

Of]
Of
x -1 0---_

(2-49)

r' = 0u
(9g + _0g [T- b2
Of] -1 0u
Of
2.4

Elements

The

elements

of the
of the

linearization

method

constituting

the

Thus,

Linearized

linearized

system

matrices

with

the vector

employed

vector

for a matrix,

equations

such

as the

System

that
state

Matrices

derived

matrix

in sections

equations

define

(2-50)

the

2.1 and

in those

time

A defined

2.2 are determined

sections

to the

derivatives

of the

by equation

(2-42),

state

individual
and

by applying
scalar

observation

the

equations
variables.

Of

0x
the

element

occupying

the

ith

row

and

jth

column

of A,

(A)i,j,

can

be represented

as

Ofi
(A)i5where

fl is the

individual
generalized
Using

scalar

terms

derivatives
the

function

used

state

in the
derived

vector

defining
A,

B,

C,

the

time

H,

G,

in appendix

x defined

Oxj

derivative
and

(2-51)
of the

matrices

ith

are

state

defined

and

xj

is the

in appendix

jth

state.

I) based

The
on

the

C.

in (1-7)

as

x = [pq_-V,_Z o Vohx y]T

the

elements

of the

A matrix

can

be expressed

as

I o(_,)lOp oO;')lOq... 0(s)')/0y ]

A=

.
O(q'!/Op

:
O(q')/Oq

I O(_ilOp O(i<)lOq
L o(is)lOp o(h)lOq

"
O(q')/Oy

(2-52)

O(i_ilOu|
o(is)lO,uJ
27

Substituting

for these

partial

derivatives

using

the terms

in appendix

D gives

(1/Ix)[(gtSb_/2Vo)Ceq

--Ixyr0
A

OqLT/Oq

[xzPO

..,

+2r_zqo+ _0(r_- &)]

+ Ixzqo]

(1/Iy)[(_tSbe/2Vo)Cmp
+ OMr/Op
-2I_,po
Ivzqo
+
(1/Ix)[(gtSb2/2Vo)C_p
+ ro(/_
OLr/Op- I_)]

(1/Iu)(_tS_.2/2VO)Cmq
+Ixyro -- Ivzpo]

+ OMT/cgq

...

The elements of the B, C, H, G, and F matrices

can be determined
in a similar fashion, although
care must be taken in determining
the elements of the matrices
for the observation
equation
and
matrix.
To determine

the elements

of the nonlinear

vector

of the matrices

function

g defining

for the observation

the observation

equation,

variables

one must

consider

some
the C

the definition

(eq. (1-85)),

g[x(t),,(t), u(t)] = IxT ,T uT g,T]

and

the definitions

of the matrices

for the generalized

linear

observation

equations

(2-46)

to (2-48),

0g
-Ox

t[.=

a=O____g
02
F=Og
Ou
These

matrices

may be expressed

using a partitioning

based

on the vector

subfunctions

of g as

" OX

--D

o_
0u

gK
H=

__

-0x'_

g-ff
0_
g-ff
a

,,,_

Ou

(2-55)

b-ff

O___x
Ou

8u
F

0t!_
Ou
DB

28

(2-56)

which

become
" 112xl

01212
H

(2-57)

._

Okxl2

01212

112x12

(2-5s)

0kxl2

O12xk

012Xk

(2-59)

lkxk
_ _2u-u.
upon

evaluating

the partial

The C matrix

derivatives

may be viewed

of the identity

as a partitioned

matrix

from equation

c11 = J=

as

06X6

....

I....

03X3

I
't C22

06x6

where,

x, :_, and u.

I
tt C12

Cll

functions

(2-6o)
16X6

(1-48),

-z=/6

i'0
-Ix=lI=

I.o

-1=/z_

-I_y/I_-I=_/l=
-I_=lI=
1.0

(2-61)
1

and

C12

-o( (_,)I of_ -O( q')I oa -O( q,)I o3

[ --o(
o0;')I
I oa -o(p,)
;,) l o?
Of/ -o(/,,)
-o( ,:')1o_
-o( ;') lIob
OD

-(OSb2121'SZx)Ce_ ]
-( OSb_/2 VoIz )C_ a -( ilSb2 / 2 Vo[z )C,w_ J

i -(OSbel2VoZ_)Ce_

(2-o2)

29

o;_ =

-o(a)/of,
1.o-o(_)/o_
-0(_)/0I

_.o--o(9)/o_
o(_)/o_
-O(/:))/O&

1.0 + (r]Sg/2V02rn cos t_O)CLa

(_Sb/2Vo2m cos flo)CLb
[i.O(_Sd2Vo'_)(cOsYoCD_-sin_oC,,)(_Sb/2Vo.O(cOsYoCD_)
(_Se/2Vo2m)(sin

The inverse
tltions

-o(a.)/oql l
-o(9)/o_

1.0 - 0(,8)/0,8]

of the C matrix,

of the C matrix

t3o CD_ + cos/3o Cys)

C -a, can be expressed

1.0 - (iiSb/2Vo2rn)(sin

as a partitioned

c_-_

(2-64),
(2-21),

of the

X,

the A,
(2-22),

B, II,
(2-38),

CONCLUDING

are derived
observation

subpar-

B _, H r, and

F _ matrices

G, and F matrices,
and (2-39).

(2-64)

16X6

can be determined

using

and

for A r, B _, H _, and

the

definitions

the

C -1 matrix

defined

in

F _ given

in

REMARKS

This report derives and defines a set oflinearized

system matrices for a rigid aircraft
in a stationary
atmosphere
over _ flat, nonrotating
earth.
Both generalized
and
equations
nonlinear

of the matrix

__..........

06X6

equation
equations

in terms

06X6

Oax3r ,

C -a =

elements

13o CDi3 + cos/30 C_3)

as

The

matrix

(2-63)

from nonlinear
(measurement)

six-degree-of-freedom
equations.

equations

of motion

of constant mass, flying

standard
linear system
and

a large

collection

This derivation
of a linear model is general and makes no assumptions
on either the reference (nominal)
trajectory
about which the model is linearized
or the symmetry
of the vehicle mass and aerodynamic
properties.

Ames

Research

Center

Dryden Flight Research Facility

National Aeronautics
and Space Administration
Edwards,

3O

California,

January

8, 1987

of

APPENDIX
The

A--AERODYNAMIC

aerodynamic

icance varies
are nonlinear

forces

and

moments

with flight condition

functions
primarily

FORCES

acting

on an aircraft

AND

are the result

as well as from vehicle to vehicle.

of Mach number,
angle of attack,

rates, and control-surface

deflections.
For the purposes of this report,
are assumed
to be functions
having the following form:

MOMENTS

of multiple

factors

whose

signif-

In general, these
angle of sideslip,

forces and moments

altitude,
rotational

the aerodynamic

forces

and moments

(A-l)

r = _(_,Z,V,h,p,q,r,e_,_,5l,...,5_)

where F is an arbitrary
force or moment,
is an arbitrary
function,
and the 5i are the n control surface
deflections.
These forces and moments
are related to the nondimensional
force and moment coefficients by
the equations

for the forces,

D = qSCD

(A-2)

Y ----(SCy
L = 4SCL

(A-3)
(A-4)

L = qSbCe
M = CTSeC_

(:_-5)
(a-6)

N -- qSbC_

(A-r)

and the moments,

where

b is reference

span and

e is reference

aerodynamic

While the nondimensional

aerodynamic
tions of the vehicle states, time derivatives

chord.

force and moment coefficients

are themselves
nonlinear
of the vehicle states, and the control surface deflections,

functhese

coefficients
are commonly
expressed
in linear form in terms of partial derivatives
of these coefficients
with
respect to the functional
variables.
These linear equations
for the aerodynamic
force and moment coefficients are derived in the same way as the linearized
system equations
(section 2); therefore,
this derivation
will not be repeated

here.
CL

These
=

linear

CL0

J-

Jr- CLa

ECL615i

equations
a

are

"[- CLe_

-k

J-

-}" CLqq

CLpP

CLhh

-k CLv

-Jr- CL_+

I/"

-[- CLa_

(a-s)

-[- CL_/_

i:1
CD

---- CDo

'[- CD_

-[- ECD6iSi

O: -{- CD_/3

-[- CDp/_

CDh

CDq

CDv

0 or- CDrr

-{- CDa_

(A-O)

-k CD_J3

i=1
Cy

Cy

o -}- Cy_a

-_

Cy_/_

J-

CYhh

CYvV

rL

,,

+ _ Cy_ _i + Cy,/_ + Cy_ 0 + Cy, _ + Cy_ h + C_

(A-10)

i=l

Ce = Ceo + Ce_a + Cee_ + Cehh + CevV

77,

+ __, ce_,_ + c_

+ c_,o + ce_ + ce_a, + c_j

(a-ll)

i=1

31

Cm = Cmo + Cm_,e_ + Cm_3 + Cmh h + C_v V

+ _

Cm_,Si + C,_,_

+ CmqO + Cmr + Cma& + CmS3

(A-12)

/-----1

+ Cnh h + Cnv V

Cn = Cno + C,_ a + C_3

+ _

0,% 5i + C,_p_ + CnqO + Cn_" + Cn_

+ C,,_3

(A-13)

i=l

where

C_o is the value

of the coefficient

along

the nominal

C_.--

trajectory

and the notation

OC_
Ox

C_. is defined

as
(a-1,l)

E
=
=

with C_ being an arbitrary

force or moment coefficient and x being an arbitrary
or control-related
parameter
that for the usual derivatives
is nondimensional.
respect to altitude
and
of these nondimensional
nondimensional

stability

velocity are not taken

stability
and control
derivatives

state, time derivative of state,

Itowever, the derivatives
with

with respect to a nondimensional

derivatives
are given in terms

are defined

quantity.
The definitions
of the coefficient
C(.
The

as

|
=_

=
=_

C_-

OC_
Oa

(A-15)

OC_

(A-16)

Ce,_= 03

i
,ira

The two other

stability

derivatives

C_v -

OC_
O(bp/2Vo)

C_

O(eq/2Vo)

oc_

(a-10)

oc_
c_c,- o(e,s/2_,,t,)

(A-2o)

oc_
C_ = O(b3/2Vo)

(Am)

are not nondimensional

C_h _

32

control

derivatives

are defined

(A- _s)

oc_
c_ = o(l,,,/2Vo)

and are defined

as

oc_

(a-22)

OC_
Oh

(A-23)

OC(

(A-24)

C_v =- OV

The

(A-17)

as

The rotational termsin equations(A-8) to (A-13) arenondimensional

versionsof the correspondingvariablewith
@

(t-25)

eq

A-26)

- 2v0
q-

2Vo
br

A-27)

2Vo
:

C'&

A-28)

2Vo

2v0

Because the C_0 terms are included,

the force and moment coefficients are total force and moment coefficients.
The state, time derivative
of state, and control parameters
on the right-hand
side of equations
(A-8) to
(A-13)

are differentials.

33

APPENDIX

B--DERIVATION

TRANSLATIONAL
The

derivation

OF

THE

PARAMETERS

of the wind

axis translational

WIND

AXIS

V, d, AND

acceleration

parameters

is based

primarily

on the definitions

in equations
(1-9) to (1-14), the body axis translational
acceleration
equations
(1-56), and the expression
of the force terms defined in equation
(1-53).
In the following sections,
each of the wind axis translational acceleration
terms is derived separately
after stating some preliminary
definitions
applicable
to all
calculations.

B.1

Preliminary

Equation

Definitions

(1-56),
5__V = 1F_
5t
rn

can be expanded,

using equations

(1-54),

(1-55),

and

f/ x V
(1-26),

= |(1/m)(YT+Ya

to

+Yg)-l-pw-ru

(B-l)

L(1/m)(Zw + za + zg) + qu- pv

The body axis aerodynamic
sideforce Y:

forces

can be rewritten

X_

= -D

in terms

of the stability

axis forces

lift L, drag

cos oe + L sin _

(B-2)

g_ = Y

The gravitational

forces

can be resolved

(u-a)

Z_ = -D

sin a - L cosc_

into body

axis components

Xg = -mgsin

Derivation

Beginning

(B-4)
such that

(B-5)

}) =mg

sin cos 0

(B-6)

Zg =mg

cos cos 0

(B-7)

These equations
will be used in the derivations
body axes can be defined and expanded
as

B.2

D, and

of the V, &, and/)

equations.

Thus,

the total

forces

in the

EX

= XT-Dcosa+Lsina-gmsinO

(B-S)

EY

= YT + Y + gmsincosO

(B-9)

EZ

= ZT -- Dsina

- Lcosa

+gmcoscosO

(B-IO)

of I'z Equation

with the definition

of V in terms

of u, v, and w in equation
V

(U 2 "_- V 2 -_

W2)

(1-12),

1/2

35
PRECEDING

PAGE

BLANK

NOT

PILMED

the equation

for 17`"becomes
=

which

after

expanding

the derivative

g
dt

_-

( u2 +

_7_

and cancelling

terms,

17 = l(u/t
By substituting
the definitions
tion (B-12) yields

for u, v, and

732

(B-11)

w2)1/2

becomes

(n-12)

+ v_ + w_2)

w from equations

(1-9)

to (1-11)

and cancelling

terms,

l) = _/cos c_cos fl + 7?sinfl + zb sin acosfl

The

definitions

for h, i,, and tb in equation

I}.

__

COS O_ COS fl (Xa

m

(B-l)
q-

XT

(B-13)

are now used with equation

q- Xg)

q-

cos

o_ cos/3(rv

+ sin/3 (Ya + YT + gg) + sin fl(pw

equa-

(B-13)

to give

qw)

- ru)

-t-

Expanding

(B-l,1)

in terms
I? = 1[

sin a cos fl (Z_

-1- Z T %- Zg)

of equations

(B-2)

through

(B-r)

-at-

sin c_cos/3(qu

and

cancelling

- pv)

(B-14)

yields

_ D cos/3 + Y sin/3 + XT cos a, cos/3 + YT sin fl + ZT sin c_cos/3

-- rag(cos _ cos fl sin 0 -- sin/3 sin cos 0 - sin a cos/3 cos cos 0)]

+ rv cos a, cos/3 - qw cos c_cos/3 + pw sin fl - ru sin fl

+ qu sin a cos//-

pv sin c_cos/3

(B-15)
=

Equation
(B-15) can be simplified by recognizing
that the terms involving the vehicle rotational
identically
zero, which becomes obvious after substituting
for u, v, and w in these terms.
Thus,
equation
becomes

1
= m[ - D cosfl + Y sin/3 +
- rag(cos

B.3

Derivation

The equation

X T cos

ct co8/3

-4- YT

rates are
the final

sin/3 + ZT sin o, cosfl

a cos/3 sin 0 - sin/3 sin cos 0 - sin n, cos fl cos cos 0)]

of & Equation

for & can be derived

fl'om the definition

of a in equation

(1-13),

ct = tan -1 w
u

Taking

the derivative

of ct with respect

to time,
d
& = _7oe=

then

expanding

and cancelling

terms,

the equation

5 36

d
w
dt tan-I-- /t

(B-17)

becomes

1
u2 + w 2 (u_b - izw)

(B-18)

Substitutingthe definitionsof u

and w from equations

(1-9) and

(1-11)

into equation

(B-18)

gives

& = _bcosa-/Lsina

(B-19)

V cos/3
Using
equation

equation
(B-19)

(B-l)

to substitute

becomes,

after

rearranging

1
& = Vmcos/3[-L

after

substituting

for u, v, and
1

Vm

_b and

equations

(B-S)

to (B-10)

to define

the

forces,

terms,

+ ZT cosa

1
+ ---------_(qucoso_
/_5"V
cos
which

for _ and

- XT sina

-t- mg(cosa,

- VV cos a - rvsin
w from equations

coscosO

+ sin a sin 0)]

a + qW sin O)
(1-9)

to (1-11)

(B-20)

and

combining

terms

gives

[-L + ZT cos _ - Xx sin _ + ._S(cos _ cos cos 0 + sin _ sin 0)]

COS

(B-2_)

+ q - tan _3(p cos a + r sin a)

B.4

Derivation

The equation

of fl Equation

for/3

is derived

from the definition

of/3

as given in equation

(i-ld),

/J = sin -1 _Taking

the derivative

of/3 with

respect

to time yields
d

. -a

(B-22)

-Sln

which

becomes,

after

expanding

the derivative,
1
/3 = V[-/_cos

Using

equation

_=

(B-l)

to substitute

m--IT[ - cos oesin/3 (-D

-- sin cx sin/3 (-D
+ V[-

Substituting

substituting
asin/3

for _, /J, and

+/,cos/3

- _b sin a sin/3]

zb and equations

cos a + L sin a + Xx
sin ce - Lcosa

for 11, and cancelling,

(B-8)

to (B-10)

(B-23)
to define

the forces,

- my sin 0) + cos/3 (Y + YT + ngg sin cos 0)

+ ZT + mg cos cos O)]

cos a sin/3 (rv - qw) + cos _q(pw - ru) - sin a sin fl (qu - pv)]

into equation
1
/3 = _--_[D

(B-24)

for u, v, and

w and

rearranging

terms

yields the

(B-24)
final equation

sin/3 + Y cos/3 - XT cos a sin/3 + YT cos/3 - ZT sin a sin/3

+ rag(cos a sin/3 sin 0 + cos/3 sin cos fl -- sin a sin/3 cos cos 0)]

+ p sin a - r cos a

(B-25)

37

APPENDIX

C--GENERALIZED

DERIVATIVES

The equations
defining the time derivatives
of the state variables (derived in sections 1.2.1 to 1.2.4) and those
defining the observation
variables (presented
in sections 1.3.1 to 1.3.8) are used to determine
the generalized
partial derivatives
of the quantities
with respect to a dummy variable _. The purpose
of these generalized
derivatives
is primarily
to facilitate
the derivation
of the terms in the linearized
equations
presented
ill
section 2.4; however, these equations
have also proved to be useful for computer
programs
and were used
to verify

C.1

the results

Generalized

obtained

(1-39)

determine

the generalized

to (1-41)

I1

(see Duke

of the

define

the

Time

rotational

accelerations

of these

quantities.

+ I2

+ I3

+ I1

OL

OM

- I_vI3)

ON

- IvzI2

- DzI3)

- [p(L:yh

+ Dv[2 - Iyzh)

1987).

of the vehicle.

+ I2

OLT

of State

OJ_IT

Variables
These

equations

are used to

+ 13 -ONT

- I_zI:

- DzI3)

+ r(Ixyh

+ D_[2 - Iw_)]

Op
0--_

+ 2q(IvzI1

- IxyI3)

- r(Dxla

- [xv5

Oq
0_

- q(I_zh

+ [P(Ixzh

and others,

Derivatives

derivatives

- [2p(IxzI2

0((i)
0_

LINEAR

Derivatives

Equations

O(p)

using

+ q(Dh

- I_I2

1 ( _:_+x4-b-Y+_-_-+_:--_-+q--_+t_
OL
OM
ON
OLT
detI

+ I_zI3)
OJ_IT

+ 2r(I_zI1

+ Ixu/3)]
-/_zI2)]

_-_

(C-1)

ONT
0--Y-

- [2p(I_J4 - I_I_) - q(I=I2 - r_zi4 - DJ_) + ,.(I_I_ + DJ4 - I_I_)] O__v

O_
+ b,(I_I2 - I_I_ - D_Is) + 2q(I_I2 - I_yls) - r(D_I: - IxJ4 + Ix_Is)] 0q
O(
- [p(I_J2 + DJ4 - I_zI5) + q(D_I2 - L:/4 + I_J5) + 2r[I_zr2 - I=I_] Or)
_
O(i')
0_-aet_ 1

{ _3-(+_--_-+I_-_-+r_--gC+s-bY
OL
02ll
ON
OLT

OJ_IT-+I_

(C-2)

ONT
0-2-Op

- [2p(/_J_

- Ij6)

- q(Ij3

- I_Js

- D_I_) + ,'(_I_

+ D_

- Z_ [_)]
Oq

+ [p(ix__r_- i,,_I_ - DJ_) + 2q(I_I_ - I_:,,I_)- r(D_I_ - I_[_ + I=I_)] O_

- [p(,%[_ + D_t_ - _I_)
The quantities
I1, 12, I3, I4, I5, I6, D_:, Dr,
(1-42) to (1-44).
Equation

(1-50)

used to determine
O(p')

defines

the

decoupled

the generalized
1 [OL

OLT

D_, and

rotational

derivatives
(rtxy

+ q(Dz[_ - [_

+ _z_)

det [ are defined

accelerations

of the decoupled

of the

in equations
vehicle

(C-3)

(1-32)

to (1-38)

and

(1_', (i', and

r'), which

are

quantities:

- qI_:_) Op

- (pixy - q[u + 2r[_:z + qI_)

+ 2,,([_J_ - I_z_)] Or
-_ t

Oq

Or]
-_

(C-4)
39

PREC_ING

PAGE

BLANK

NOT

FILMED

a(;;,)

1[aM

cop

Oq

- (pi_ - qi_. - 2,%_ - pr=) o_]

_-

o(,:')
O

l[O.,v
-

Iz [ a_

(c-,5)

o:v
+ --o-f- + (qL: + rIyz + 2pI= u - qlv)

op

aq

-_ + (pI= - rI== - 2q[= v - ply)

-_

- (qI z- ptyz)

(c-6)

Equations
to determine

(1-58) to (1-60) define the translational

accelerations
the generalized
derivatives
of these quantities:

O(I::)

O(

of the vehicle.

These

equations

are used

- cos f1-5(
+ sin/3 __
0_#
OD + cos _ cos 9 --_
OXT + sin fl 5-(
OY + sin _ cos 9 -O0__%T
0
+ [ - XT sin a cos/3 + ZT cos a cos t3 + m9(sin

0 sin a cos/3

Oa

+ cos 0 cos cos a cos #)1 O--(

+ [D sin/3 + Y cos/3 - XT sin/3 cos a + YT cos/3 - ZT sin a sin/3

0/3
+ rag(sin

0 cos a sin/3 + cos 0 sin cos/3 - cos 0 cos sin a sin/3)]

0(

0
- rag(-

cos 0 cos sin/3 + cos 0 sin sin a cos/3) _--_

- mg(cosOcosacos/3

o(_)
o(

1
mVcos/3

{ mV
+

( -_-+coscr
OL

21cos/3 [-L

+ sin 0sinCsin/3

OZT
O----c-sin_

+ sin 0 cos Csin c_cos/3)

(c-7)

0_}

OXT'_
Op
Oq
O( j-tan/3cscr_-_+_-_-ta'n/3sinao_

Or

+ ZT cos a - XT sin a + rag(cos 0 cos cos a, + sin 0 sin o_)]}or

0(

V cos/3 [- ZT sin _ -- XT cos a -- rag(cos 0 cos sin _ -- sin 0 cos c_)]

+ tan fl (p sin c_ -- r cos _) } 0_

0(
[ tan_q
+ [m-_7-f-os/3[-L
+ rag(cos

+ ZT cosc_ -- XT sina

0 cos cos c_ + sia 0 sin a)]

V c_s/3 cos0sincosa

4O

_--_-

1 .(pcosa+rsin
cos 2

oz)

o/3

(sin 0 cos cos o_- cos 0 sin a)

O-_-

(c-s)

o(3)
O_

mY

|sin9

-_-

+ cos/7 _

Op

- cos _ sin fl --

+ cos fl _59I_ _ sin c_sin fl --_c]0Zr

]

0r

+ sin_ _ - cosc_0_
1
mV_[ D sin fl + Y cos/3 - XT cos _ sin/3 + YT cos fl -- ZT sin _ sin/?
OV
+ m9(sin

0 cos a sin/3 + cos0sin

4)eosfi

n---_[- T sin c_sin fl -- ZT cos a sin fl + rag(-

+pcosa

+ rsin_

- cos0cos

4)sin asinfl)]

0_

sin 0 sin a sin/3 -- cos 0 cos 4) cos a sin fl)]

_-

+ m--_[D cos/3 - Y sin/3 - XT cos c_cos/7 - }_ sin/_ - ZT sin a cos

05
+ rag(sin

0 cos c_cos fl - cos 0 sin 4)sin t_q- cos 0 cos 4)sin ct cos 13)]

(cos 0 cos 4)cos/3 + cos 0 sin 4)sin (1sin/7)

__(cos0cos

asin]3

- sin0sin

4)cos_

Equations
(1-66) to (1-68) define the vehicle
generalized
derivatives
of these quantities:

_-

+ sin 0cos4)sin_

attitude

rates.

These

sin_)

00
_-_

equations

(c9)

are used to determine

the

Op
Oq
Or
0_ + sin 4)tan 0 _ + cos 4)tan 0 _-_ + (q cos 4)tan 0 - r sin 4)tan 0) 0_b
o_
+(q sin 4) sec 2 0 + r cos 4)sec 2 0) 590

o(0)

oq

o_

(C-10)

o
(C-11)

o---(= cos_ N - si_, N - (qsin, + _cos4))

Oq

Or

04)

- sin 4)sec0 _ + cos4)sec0 _ + (q co_4)sec0 - _sin _ sec0)

+ (qsinCsecOtanO

+ rcosCsecOtanO)

00
-_.

(c-_2)

Equations
to determine

(1-72) to (1-74) define the earth-relative

velocities
the generalized
derivatives
of these quantities:
-

of the velficle.

These

equations

are used

[cos/3 cos c_sin 0 - sin/3 sin 4 cos 0 - cos fl sin c_cos 4 cos 0] c)V

0f

- V(cos fl sin a sin 0 + cos p cos o_cos 4 cos 0) 0a

0]3
- V(sin/3
- V(sin

cos a sin 0 + cos fl sin 4 cos 0 - sin fl sin c_cos 4 cos 0) _fl cos 4 cos 0 - cos ]3 sir, a sin 4 cos 0) 04
00

+ V(cos/3

(C-13)

cos a cos 0 + sin/3 sin 4 sin 0 + cos t3 sin ozcos 4 sin 0)

[cos _qcos c_cos 0 cos + sin/3 (sin 4 sin 0 cos - cos 4 sin )

!
2_

OV
+ cos 13sin o_ (cos 4 sin 0 cos _b + sin 4 sin _b)] 0f
0_
- V[eos_sin

_ cos0cos

_, - cos/3 cos o_ (cos C sin 0 cos _ + sin sin _)] 0f

- V[ sin ]3 cos c_cos 0 cos _b - cos ]3 sin 4 sin 0 cos _b - cos 4 sin _b

0Z

7_

+ sin fl sin a (cos 4 sin 0 cos + sin 4 sin _)] 0f

04
+ V[sin fl (cos 4 sin 0 cos _b + sin 4 sin _/,) - cos ]3sin c_ (sin 4 sin 0 cos _ - cos 4 sin _,)]
- V [cos fl cos a sin 0 cos - sin fl sin 4 cos 0 cos 0 - cos fl sin a cos 4 cos 0 cos ] 00

0f

- V[cos fl cos c_cos 0 sin _b + sin _ (sin 4 sin 0 sin _ + cos 4 cos _)

(c-14)

+ cos _ sin a (cos 4 sin 0 sin _ - sin 4 cos g,)] 0_,

0(/)____))
= [cos _ cos _ cos 0 sin _ + sin/3 (cos 4 cos _b + sin 4 sin 0 sin g,)

0f

0V
+ cos fl sin a (cos 4 sin 0 sin _ - sin 4 cos _)]

0f
0o_

- V [cos/3 sin o_cos 0 sin _ - cos fl cos o_ (cos 4 sin 0 sin _ - sin 4 cos _)] -_- V[ sin fl cos _ cos 0 sin _ - cos fl (cos 4 cos _ + sin 4 sin 0 sin g,)

0Z
+ sin ]3 sin c_ (cos Csin 0 sin _b - sin 4 cos _)] 0f

42

0
- V[sin _ (sin cos - cos sin e sin ) + cos _ sin _' (sin sin e sin _, + cos cos )] 9-_
0#
- V(cos

fl cos a sin 8 sin _b - sin/_ sin cos 0 sin - cos fl sin a, cos 4' cos 8 sin ) _-_

+ V[cos fl cos o_co_0 cos _, - sin _ (cos sin - sin sin 0 cos )
(C-15)

+ cos _ sin _ (cos sin 0 cos + sin sin )]

C.2

Generalized

Derivatives

of the

Observation

The vector equation

(1-90) defining the body axis kinematic
alized derivatives
of the individual
body axis accelerations:
O(a_,k)

OXT

O(

gom

o(

O(%,k)
0_

Vector

equation

is used to determine

+ Lcosa)

o
_ - gmsinOsin--_

the gener-

_00]

_0a _ gmcosO

00]

(C-16)

(o_7)

1
OD

gore
-gm

and is used

accelerations

_OL + (Dsina

0Y + gmcos0cos
+ -_-

gom

O(az,k)

O_

OD +sina
_-

-cosa

Variables

(1-91)

to determine

0 - gm sin Ocos
cos Osin -_

defines

the output

the generalized

0(%)
(9_

1
gem

0(%)

OL _ (D cos a - L sin a) _-

of body

derivatives

(c-is)

00]

axis accelerometers

of the individual

body

at the vehicle

center

of gravity

axis accelerometers:

[OXT
OD
OL
[ O_ --cosa_+sina_+(Dsina+Lcosa)

__]
0a

(c-19)

(OYr

O_ - go._ \--5_- + o_)

O(a.)

O(

[OZT

cO(x]
_
- cos a OL
-_- _ (D cos a - L sin a) -_
- gem L-_ - - sin a OD

Using equation
(1-93), the generalized
center of gravity can be expressed
as
(9a.

"

but

The vector equation

displaced
fi'om the

derivative

+ sin a

of the output

+ cos a

of a normal

accelerometer

(C-21)

at the vehicle

+ (D cos a - L sin a) Oa

(1-95) defining the output of orthogonal accelerometers

aligned with the body axes
vehicle center of gravity is used to determine
the generalized
derivatives
of these

43

quantities:
0-_

O(ay,i)

o_

- o_

0(_,,)
o(

0_
o_

Equation
at vehicle

11
9-0[

O---_+ g--_ ( q yx + rz_) -_ + (py_: - 2qxx)

Oa u

(1-96)

(2py u _ qxu)

Op

-_ + z_: -_ - y_: _-_

Oq

Or

Ol)

Oi"

_ - (pz_+ r_) _ - (qz_- 2_v_)_ + _ _ - z_

(C-23)

(C-24)

(o25)

defines

center

-_ + (pz= - 2rx_)

the output

of gravity,

of a normal

accelerometer

an,i. This equation

aligned

is used to determine

with

the z body

the generalized

axis but not located

derivative

of an,i:

O(a,_,i)
1 [(2;z_ - rxz) Op
Oq - (px_+ qYz) Or
0)5+ x_ 0c)]
O_ - Oa_
-g-( + 97
_ + (2qzz - rUz)-_
-_ - yz -_
O(J
In equations
(C-20) to (C-23), the partial
dummy variable
_ are defined by equations

(C-26)

derivatives
of the vehicle rotational
rates with respect
(C-1) to (C-3).
The partial derivatives
of the outputs

to the
of the

body axis accelerometers

at the vehicle center of gravity are defined by equations
(C-16) to (C-19). In these
equations,
as before, the subscripts
x, y, and z refer to the x, y, and z body axes, respectively,
and the
symbols x, y, and z refer to x, y, and z body axis locations
of the sensors relative to the vehicle center
of gravity.
Using

equation

(1-97),

the generalized

derivative

0(n)
O_
Equations
(1-98)
are used to determine

o.Tpo

O_

poTo [1.4(p0/p0Tu)]

O(M)

O_
O_

10V

V Oa

a O_

a2 O_

p( OV

tL O_

V(

Op

IL O_

O(Re')
p OV V Op
+
O_
# O_
p O_
O(q)

OV

v 2 Op

o_ - pv -g-(+ 2 o_

kl,1

factor

can be defined

as

1 or
mg O_

to (1-105) define the air data parameters

of interest
for this report.
the generalized
derivatives
of the air data parameters:

O(a)

0(Re)

of the load

(C-27)
These

equations

OT
1/2 0_

(c-2s)

(c-29)
pV(

O#

#2 0_
pV O_
#2 O_

(c-3o)
(o30
(c-32)

(M _<1.o)

+ 1.4M(1.O+ 0.2M2)2"Sp_,
O_
[(1.0+ 0.2M2)3'5- 1.0]
l,,)_,r2(

5.76M 2

,_2.s

L...... k .6M- o.sJ - 1.oj

+ 3"0M2

\ 5.6M 2 - 0.8;
+p_ {2.4M

5"76M2

(c-33)
(
5.76M2
,_1.5
\5.6M 2 - 0.8J

_2.5
(M" >_ 1.0)

[(5.6M_ - 0.8)_]
1.4M(1.O

O(qc/p_)

o_

")a_

+ 0.2M2) 2.s _/

{"

5 .76M2

{ ..... _\5.6M 2-0.8]

_2.5.

{'

"aoM_\5.6M

5"76M_

_-o.s7

"_

(C-3d)

[
9.216M
]'_ 0M
[(5.6M 2 - 0.8)2J f -_
O(Tt)
O_

In the

preceding

can be expanded

(M > 1.0)

_ (1.0 + 0.2M 2) OT
--_ + 0.4T1ll

equations,
using

the generalized

equation

OM
0--#-

derivative

(c-a5)

of Mach

number

appears

several

times.

This

The definitions
of the flightpath-related
parameters
are presented
in equations
(1-106) to (1-108).
definitions
are used to derive the generalized
partial derivatives
of the flightpath-related
parameters:

0(7)_
0---_-

term

(C-29).

(V

2 --)/2)1/2

O(fpa)

10l)"

o_

g o_

[_"

OV
0 e

"+

These

(C-36)

O]_]
O_J

(C-37)

o(_)
O_

---- [--ay,k

[ax,k

+sinO

COS COS O +

cos

az,k

sin

cos

O] 00_

0 + ay,k sin sin 0 + az,k cOS sin O] O0

Oax,k
O# -sincosO

o_

cOay,.._kk
_
O_
coscosO

i)az,k
O_

(C-38)

The partial derivatives

of altitude
rate ]z and velocity rate 1) that appear oil the right-hand
side of these
equations
are defined in equations
(C-13) and (C-7), respectively.
The partial derivatives
of the body axis
accelerations
appearing
in equation
(C-38) are defined in equations
(C-16) to (C-18).

45

Using equations(1-109)and (1-110),the generalizedderivativesof the energy-relatedparametersare

defined.The partial derivativesof altitude rate andvelocityrate appearingin equation(C-40)are defined
in equations(C-13)and(C-10),respectively:
o(E.)
v oy
oh
-5_ - g 0,_+0_

(o39)

o(Ps)
__ov
v o9
oi_
0_ - g 0( + -_ --o_+ --o

(o4o)

The derivatives
of the force parameters,
lift (eq. (1-111)) and drag (eq. (1-112)),
are defined in section D.1. The generalized
derivatives
of the normal force (eq. (1-113)) and the axial force (eq. (1-114)) are
presented
in terms of the generalized
derivatives
of the lift and drag forces:
O(N)

0_ - cos_ OL
_- + sin_ OD
_-

0(A)
0{
The

body

axis rates

defined in equations
the body axis rates
O(u)
0--(-_-

_ (L sin _ - D cos a) as

(C-41)
(o42)

OL
OD _ (L cos a + D sin a) Oa
sin a -_ + cos a -_0_

are defined

in equations

(1-115) to (1-117).
and accelerations:

These

(1-9)

to (1-11).

equations

OV
cos_cosZ5-TVs:n_cos# 0a
N

_ V

are used

_oso_sin

The

time

to derive

derivatives

of these

the generalized

terms

are

derivatives

of

0#

(C-43)

fl _-

o(,)
ov
oz
o_ - sin_ N + y Cos# 0_

(c-44)

o(_)

(c-45)

o-T = _i._ _osa ov

?-( + v cos_ cosa o_
y( - y sin_ sin_ o_
O-7

O(_)
1 {OX_
OZ) - V sin_ cos_ Oq
O - ._
kN
cos_ OD
-g-(+ si. _ -_
-_ + V sin_ O_
0-_
+(rsin#_qsinc_cos/3)

+ (rVcos/_

0(_)
(9_

-_
OV + [1 (D sin a + L cos a) - qV cos a, cos ]3] 0a
0_

+ qVcosasinfl)

OY
m1 \/'0]:r
0_ -_-

+Vsino_cosp_-

r cos _ cos/3)

(p sin

o_ cos

o/3

00

--_ - gcos0

0--_

Op

cos_

cos# --Or
0

OV
Oa
_
+ (pV cos _ cos/3 + rV sin _ cos fl)
uq

o/3
- (pV sin c_sin/_ - rV cos _ sin/_)

46

(c-46)

_-_ + g cos 0 cos _-

00
- 9 sin 0 sin 0--_

(o4:)

1 (00__%T
0D
m
-- sin _-

OL)_vsin/30p
co_,_-_-

+ (qcoso_cos_-;sin_)-_-V

[-_(D

- (qV cos a sin t3 + pV cos 13) 0/3

The

outputs

of various

instruments

displaced

_ + v cos_ cos/38qo_

cos a - L sin a) + qV sin a cos/3

0
- gcos 0sin _-

from

the vehicle

(c-4s)

00

gsin 0cos

center

I _
-_-

of gravity

are

defined

in equa-

tions (1-118) to (1-121). These equations

define angle of attack, angle of sideslip, altitude,
and altitude
instrument
outputs.
The generalized
derivatives
of the quantities
are based on these equations:

0(_,i)
--=
0f
0(_,d
--=
0f

-Vy, Op
o-_+ xav Oq
of
z_ Op

x_ Or

y of + V o_

--

(c-49)

5-( + Oa
o--(

(qx_2py_)

OV

(rx_zpz_"

_ OV

]-_

v2

rate

Off

(c-50)

+ o_

O(h,d
Of

(--Yh cos COS0 + Zh sin cos 0)

O0
+(Xh cos0 + yhsinCsinO

+ Zh cosCsin

0) _

Oh
(C-51)

+ 0---_

o
[()(Yh sin Coos0

[-

+ z.h cos Coos 0) + t}(y/_ cos Csin 0 - z h sin Csin 0)]

0(_ sin 0 - u_sin cos0 - _ cos cos0) + _(U_cos sin 0 - _ sin sin0)]o0

0
00
- (yhcos cos0 - zAsin cos0) N + (x_ cos0 + yhsin siu 0 + _ cos sin 0)
+_The

generalized

dummy

variable

(c-52)

derivatives

of bank

_ are defined

angle

rate,

in equations

pitch

(C-10),

attitude

(C-11),

rate,

and

and (C-13),

altitude

rate

with

respect

to the

respectively.

The final set of observation

variables is defined in equations
(1-122) to (1-125). These equations,
defining
total angular
momentum
and the stability
axis rotational
rates, are used to determine
the generalized
derivatives
of these quantities:

O(T)

op

Oq
+ (Iuq -

o(p_)
op
of _ cos_ -_
O(q_)
of
o(_)
O( -

r_:yp - Iuzr ) -_ + (/_r - I_p

Or

Oa

+ sin a _--

(psin

a-

r cos a)_-

Oq
of
op
sin,_gg

Or
- Iy_q)

-_

(C-53)

(c-54)
(c-55)

Or

-t- cos o_ _

+ (-p

cos a - r sin a) 0_
0_

(c-56)

47

r
L

APPENDIX

D--EVALUATION

OF

DERIVATIVES

The generalized
partiM derivatives
presented
in equations
(C-l) to (C-56) contain partial derivatives
of the
state variables, thrust forces, and total aerodynamic
forces and moments with respect to the dummy variable
_. In this appendix,
these partial derivatives
are defined with respect to specific state, time derivatives
of
state, and control variables.
The derivatives
of atmospheric
parameters
are also discussed.

D.1

Preliminary

First, the partial

control variables
variables

Evaluation
derivatives
of the state variables with respect to the state, time derivatives
are considered.
All partial derivatives
of the state variables
with respect

are either

equal

to zero or unity.

Thus,

Op
Oq
Or
OV
Oa
Off
0
O0
0
O--p= Oq = 0---_= O----V: O--_ = O---fl= 0- = 0--0 = 0--_ :
and all other derivatives
derivatives
of the state

of state
variables

particular)
are equal to zero.
to the control variables.
Second,

the partial

derivatives
of state,
coefficients
presented
stability
and control

D.I.1

Rolling

Oh
Ox
Oh--_= b x -

of the partial

of the aerodynamic

forces

derivatives

of the state

and moments

with

and control variables

are evaluated.
Using the definitions
in appendix
A, the partial
derivatives
can be explicitly
derivatives.

mornent

Oy
Oy-

(D-1)

variables
with respect to state variables
are equal to zero. The partial
with respect
to the time derivatives
of the state variables
(5' and _, in

This is also true

derivatives

of state, and
to the state

variables

respect

to the

with respect

state,

time

of the force and moment

evaluated
in terms of the

derivatives.--

Op

(D-2)

2V

OL

qSb_ C

(D-3)

O__L_L_
qSb2ca

Or
2V
OL
O----V= SbpVC_
3L
Oa - qSbCe_
OL

(D-4)

(D-5)

+ _SbCev

(D-6)
(D-7)

03 - qSbCe
OL
O----h= 2 SbV_C_

Op + qSbCeh
-_

(D-S)

OL

qSb_ C

OL

qSb2 C

(D-IO)

_SbCe_,

(D-11)

(n-9)

OL
O_i -

49
PRECEDING

PAGE

BLANK

NO_

FILMED

D.1.2

Pitching moment derivatives.-OM

Op

FTSb_d7
_
_'_

(D-12)

OM__
Oq

_S_2Cm q
2V

(D-13)

OM

(tSb_

(D-14)
OM
-

S_pVC_

OM
cga OM

FtSe c7
2V _

(D-16)
(D-17)

OV

0/3

CTS_Cr_,

OM
Oh

_ SW2Cm

03,I
O& -

F1Se2
2V C_,

031

(iSb_

+ _IS_C_v

Op + _lS_Cmh
-_

(D-15)

(D-18)
(D-19)
(D-20)

OM
qS_C._,

(D-21)

ON
Op

_ gtSb_c,_p
2V

(D22)

ON
Oq

qSb_
-_ ;nq

(D-23)

(tSb 2
2V C'_T

(D-24)

O_i -

D.1.3

Yawing

moment

derivatives.--

ON
Or
ON
OV
ON
Oa
ON

- SbpVCn

+ qSbCnv

(ISbC.,

(D-26)

03

qSbC,_

(D-27)

ON
Oh

_ SbV2C'_

ON
-_-

qSb_c
2V
'_'_

ON

qSb_ C

o3-

_Op + qSbCnh

(D-25)

(D-28)
(D-29)
(D-30)

ON
06i -

5O

#SbC,_,

(D-31)

D.1.4

Drag force derivatives.-OD

_Sb C

(D-32)

OD

_Se C

(D-33)

OD

(tSb C

_--i-VD.

0r-5-i7

(D34)

o_

019
O-"-Y

(D-35)

:-

S pVCD

-_- gtSCDv

OSCD_

(D-36)

OSCD_

(D-37)

_ SV2CD

OD
O_
OD

o_
OD
O-h

_Op

(D-38)

clSCDh

OD

c_S_C

(D-39)

OD

qSb C

(D-40)

o_ - _Y o_

OD
08i

D.1.5

Sideforce

CtSCD_

(D-41)

OSb C

(D-42)

derivatives.-OY
lop

--

"-_

YP

OY _ qS_ Cy q
Oq
2V

(D-43)

OY

(D-44)

glSb

Cy

Or
2V
OY
O---V= SpVCv

(D-45)

+ qSCYv

OY
lOa

(D-46)

qSCy=

OY
(D-47)

o---_= _scv,
OY
Oh -

1 SV2Cy

OY

_Se C

OY

clSb C

Od-

2-V v_

Op -t- qSCy
-_

(D-48)
(D-49)
(D-50)

OY
O_i

_tSCy_,

(D-51)

51

D.1.6

Lift

force

derivatives.-OL

@SbC

- KV

(DS2)

cOL

N-

_S_ _

(D-53)

cOL
Orr cOL

qSb C
_
Lr

(D-54)

cOV
OL

2--V

--

Sf)VCL

(D-55)

-1- (_,-.,CLv

qCCL_

(D-56)

COG-

qSCLz

(D-57)

COL
Oh -

1 SV2CL

OOl

OL

_cop + (tSCLh

(D-58)

cOL
4S_ C
cO& - _
La

(D-59)

cOL
cOj-

(D-60)

4Sb C
_-_ L_

cOL
cOSi

--

(D-61)

4_CL6i

Next, the partial derivatives

of the powerplant-induced
forces and moments
with respect
to the state,
time derivative
of state, and control variables
are considered.
The partial derivatives
of the powerplantinduced
forces and moments
are assumed
to be zero except for moments
taken with respect to the body
axis rates (p, q, 7"), moments
and forces taken with respect
to the velocity and velocity orientation
terms
(V, a, fl), and forces
taken as primitives
"fiT, and ZT) and

an

taken

with respect

to the control

variables.

These

terms,

assumed

and not evaluated

further.
Thus, using Fp to represent
a powerplant-induced
to
represent
a powerplant-induced
moment
(LT,
_[T, and ART),

are

force (XT,

2_[p

cOp -

O----q--

cO_ -

cOO -

COt. -

CO

cO_ -

Oh

cO---O-- cO
-

COx

cOt, 0----_-

cOx -

cOy -0

(D-62)
(D-63)

05---_
- = 0

op; coF;oF; cot; OM; COM;OM;

---,
CO
V
are taken
The

as primitives

_,
Oc_

and not evaluated

final set of partial

OM;

coil , 0 5_ , COp , CO
q , Or , CO
V , Oc_ ,and _-fi

derivatives

further.

to be discussed

are the

derivatives

respect to the state, time derivative of state, and control variables.

are assumed to be functions
of altitude only. Thus, except for
OT
Oh'
all derivatives

of ambient

temperature,

density,

of atmospheric

In this report,

parameters

all atmospheric

with

parameters

Op O#
Op_
0--' O---h_'and Oh'
viscosity,

and

ambient

pressure

to zero. The nonzero quantities

listed previously
are dependent
on an atmospheric
Dommasch
and others (1967), Etkin (1972), and Gracey (1980) present discussions
In this report, the quantities
will be taken as primitives
and not evaluated
further.
52

to be nonzero,

are

assumed

to be equal

model. Clancy (1975),

of atmospheric
models.

D.2

Evaluation
of the

of

State

tile

Derivatives

of tile

Time

Derivatives

Variables

The generalized
derivatives
of the time derivatives
of the state variables are defined in appendix
C, equations (C-1) to (C-15).
In this section, these generalized
derivatives
are evaluated
in terms of the stability
and control derivatives,
primative
terms, and the state, time derivative
of state, and control variables.
In
this section, the notation
in the discussion
at the

c9(_i)/Oxi
beginning

is used to represent
of section
3. This

tation available
to express these quantities
mechanics
texts such as Etkin (1972) and

the more correct notation

Ofi/cgxj that is employed
notation
is used because
there is no convenient
no-

clearly--particularly
McRuer and others

not the usual notation

employed
ill flight
(1973). The notation
tha.t defines quantities

such as Lp = c9(fi)/Op and }Vlq = c9(gl)/0 q is misleading

in this context because the definitions of those terms
(such as L;, Mq) are based on assumptions
of symmetric
mass distributions,
symmetric
aerodynamics,
and
straight
and level flight, and additionally
do not include derivatives
with respect to atmospheric
quantities.

D.2.1

Roll

acceleration

0(i))

Op

det I

derivatives.--

VtSb 'I bC
"_0

(. 1

OLT

fP "]l- Z2c'Cmp

- 2p0(I_J2
O(/))

Oq

det I

0(/))
Or

1
det I

qSerr

+ qo(I_J1

bf ,

03JT

J- _

J-

6_l--_

- IwI2

- D_h)

%(L_5

OLT

O_IT

+ I_bc_)-N-q + W

+ Po([xz[i

DzI3)

[_,:_o(IlbCa

-- IyzI2

+/2eCm_
- Dyh

2qo([yz[1

+ IabC,_,.)+
- IyzI3)

(-.95'rT

"J- _

2-i_0t_,_,, + beck,

- po(l_y[1

0@)

- I_yh)

"J- [35Cnp)

D_h - z_5)]

(D-64)

IxyI2

[xzla)]

(D-65)

- IxJ2)]

(D-66)

0NT

+ 0--_

IxuIa)

ro(DJ_

O_T
---_-r + OM_r
---g-_r + O_VT
0-"7

- qo(DJ_

- Ixvh

+ I_,.I3)

- 2ro(IvzI_

1
m

0V

det I

IiSb(pVoCe

+ qCev ) + [2S_(pVoCm

oL_ +

+ I3Sb(pVoC,,
0(p)
0a

1
det I

0(fi)

FIS(IlbC&,

+ &_C,,v) + 1_ _

+ [2eCm_

-b I3bCn_)

+ _tCmv )

oM_ +

I2 -_-

ox_]

(D-67)

I3 _j

ONT]
oa ]

(D-6S)

OL T + h -_OMT + h ONT
]
+ h -_
Off J

(D-69)

OLT + 12 T_
OMT
+ I1 -_a

+ h

1
w

0fl

det I

OS(hbC_, + hec_ + hbC,_)

0(p) _ 0
0

(D-V0)

0(p) _ o
00
off,) _ o
o,
o(_)
s

(D-71)

Oh

det I

(D-72)

[Ilb(_17o2C_

cop

(_Vo2Cm

OD

(D-73)

53

aU,) -0

(D-74)

Ox

0(_)

=0

(D75)

Oy

0(i,)
O&

a(_)

06i

D.2.2

qSb
2Vo det i (hbCgi3 + I2_Cmi3 + I3bCni_)

(D-77)

qsi(_r, bcg_,
dct

(D-78)

Pitch

+ heG,,_, + &bC._,)

acceleration

0(,))

Op

det I

derivatives.--

qSb I bC
OLT
OMT
ONT
_0 ( 2 _, + I4eC,np + IsbCnp) + I2 -o-y I4 --_-_-p + Is -ap
- 2po([_:z[4 - I_vIs) + qo(I_,I2

0(4)

1 [(1S_.ci ,.,._,
det I [ggo t _u,_eq + hec.,q

Oq

(D76)

/(ZlbC_ + hec,._, + z3bc,,_)

2Vo det

- IvJ4

- DJs)

- ro(IxvI2

OLT
O3IT
+ lsbC,_q) + 12 _
+ LI -_q

+ DyI,, - Iv_Is)]
O]VT

+ Is

O----q-

+ po(L=h - l_,Z4 - rids) + 2qo(I_,I2- I_ds) - ,'o(D_I2- I_h

o(4)

det I [_

o (hbC&

- po(Gyh

0(0)

+ hgCm.
- Dyh

+ I5bCnr)
- I_,Is)

OLT + h _OMT
+ h -_r

- qo(Dxh

dot I

hSb(pI4Ce

+ qCtv)

+ QSa(pVoCm

oLs

- Ixyh

+ L:Js)

det1 I [ qS(I2bCG

0(0)

- 2ro(/v_h

+ qC. v ) + I2 _

det I

+ I4eCmo

OMT
+ h _

0NT l
+ 15 _j

+ Isban_)

ONT] ]
+ I2 _OLT + I4 _O.[I,[T + I5 --_

O_s+ & -_J

ONTl
qS(hbC_,+ Z4eCm,,
+ &be.,,) + h _OL_ + h -5-Y

det I

5.|

(DS3)
(D-84)

(D-86)
(D-87)
[I2b(_V2C,

(tCgh)

Op'-_-{-

OX

(D-82)

(D-85)

+ &b(_v6 c,_ ap
0(4)

(D-81)

+ qCmv)

0(0___2)
= o
0
0(4__2)
= o
0o
0(,-;,)_ o
ae
0(0)
s
Oh

- Ixz/4)]

+ 15 ONT
0---_-

0(0)

Off

(D-80)

1
w

+ IsSb(pVoCn
0_

+ l_,&)]

Or

OV

(D-79)

+14c.(1V'2Cm

Op-_-'_-'[-

qCmh)

(D-88)
(D-89)

(D-90)

a(_--!
=o
Oy

(D-91)

0(o__2)
_
0_

q_c f(hbC_
2Vo det

a + [4cCma

+ IsbC_a)

o(_)
o#

qSb
"I bC
"21_o'_et [1" 2 ! k + I4cCrn b + IsbCnb)

(D-92)
(D-93)

(_--2
_ ,#-/hbc,, + _r4_c,,,,,
+ IsbC,,,,)
O6i

Yaw

D.2.3

'

cte_ _

o()

acceleration

derivatives.--

1 [_lSb,f bC
OLT
deti[_oo
( 3
_,+Is_C._p+I6bC'_p)+h-_p+IS--_p+Ie'op

0p

- 2po(IxzI5

o(+)
Oq

- I,:vI6) + qo(I_zI3

- IyzIs

OMT

- D_I6) - ro(I=J3

OLT

ONT

_[_(I3bCG+I5_Cmq+I6bC_q)+I3--_q
det I LzvO

+I5

OMT
_-q

+ Dv/s

- I_zla)]

(D-94)

ONT
+I6"Oq

+ po(l=13
- ly_15
- z)z16)
+ 2qo(&_&- I_16)- To(mJ3- I_15+ l=r6)
1 (m95)
o()
Or

ONT
1

FEtSb-

OLT

OMT

d_tI [EVo/& ce_ + ,rs_Cm_+ [_Cn_) + 5 _

+ I_ _
+ I_ --Or
- po(I_Ja + D_,I5- I_,_I6)- qo(D_&- IxJ5 + I=I&
(D-96)

- 2_o(I_zI3- z=Isi]
o()
OV

det1 I [IsSb(pVoC_

+ CIC_v) + [sSS(pVoCm + qCmv)

+ &Sb(pVoCn+ qc,_v) + h __
o()
Oa

o(+)
o_

acti I

[OS(I3bC_o

o_IT z6-oV-j
aNT]
+ z5-O-V-+

+ IseCm_, + I6bCn_,) + I3 _OLT + I5

OMT
_
+

0NT]
I6 ---_-_-]

(D-97)
(D-98)
(D-99)

detl I [flS(hbC_

+ IseCm o + I6bC_o)

%__LflT
03_/T + I6 -_--]
aNT]
+ h -+ Is --_

(--!= o

(D-100)

0(--2
=o

(D-101)

o
O0

o() = o
o_
o()
s
Oh

det I

(D-102)

-_ +

-_ + <"0
(D-103)

0(---2)
=o

(D-104)

0(--2
=o

(D-105)

Oz

Oy
55

o(i-)
0,_

qSe

2V0 det I

(I3bCe_, + IseCr_

+ IBbCn_)

(D-106)

(i3bCei_

+ IBbC,b)

(D-107)

o(,'.)
qSb
217o det

0,5i

D.2.4

giS (IabCe6,
det I

Decoupled

+ Is_Cm_

+ IseCma,

roll

+ [6bC,%

acceleration

OLT

1-,:

O(f)')

1 ros<_

Or I_L2Io
oo;')
&i

Sb(pVoCe

+ G_po+ _[_qo + ,.o(r_- &)]

Or _

+ _tCev)

o0;')
i ((tSbCg_

0Oz

o0;')
o3
o0;') -0
o
o(,;,)

(D-109)

+ Ix_qo]

OLT

1 [_lSb2,_,
OLT
o--Si7yw e,. + --

--

OV

Ixyro

Op

N = KtVigo_ +
O(fo')

(D-108)

derivatives.--

(ISb 2 ,._

Op

+ OLT_

[zyPo

+ qo([y

+ -_-j
OLT]

- Iz)

2Iu_ro ]

(D-110)
(D-111)
(D-112)
(D-11a)

(D-114)
(D-115)
(D-116)
(D-117)
(D 11S)
(D-119)

Oz

o(p)

-0

(D-120)

Oy

o(p)
oa
o(p)

o_

qSb_
- 21,%L: Cea

(D-121)

qSb 2
-

og_

(D-122)

o(P)
O&

56

-- q-_xbCQi

(D-123)

D.2.5

Decoupled

pitch

acceleration

derivatives.--

o(O')Op-

_ L-Y_ol
Cmv
[(tSb_
+ OMTo___p_
2[_po

O(O')
Oq -

I ((ISg2c
_!ry
-_o

0(i1' )

0(0')

_1

--_=
0(0')
--Oa

(D-124)

- [u.qo++ ro(lz - I_)]

(D-125)

m+ + OMT
_
+ Izyro - ZyzPo )

[glSb6.

OMT

[S_(pVoCm

+ qCmv)

OV J
M+l

o(0')
o
o(0')
O0

(D-127)
(D-128)

1 ( gtS gC m _ + 02I_IT_
= -_u
_
]

OM_)

o(o')_ 1

(D-126)

(D-129)

gtSeCm_ + --_--2

-0

(D-130)

-0

(D-131)

o(o')
---0
o
0(09
Oh - %
o(o') -0

(D-132)
(D-133)

(D-134)

Oz

o(o')

(D-135)

-0

Oy

0(09
oa

c+se_
Cma
2_/o%

(D-136)

0(09

qSbe C

(D-137)

o(0')
os_ C
o_---_-.-% m+,

D.2.6

Decoupled

yaw

acceleration

(D-138)

derivatives.--

o(e)
2c_" + _
ov - _1 [c_Sb
5-fro
O( i,')

1 r qxbe

- g

0(')0r-L-zl

ONT

+ -_q + po(Z_- %) - 2f_qo - _%+,'o]

( qSb2-_o
Cn_+

_ [Sb(pVoCn

O( '____J
= 1
OV
Iz

+ 2_%po+ q0(I+- %) + %z,'o

ONT--Ixzq+[Y_P)Or
+ _C,w ) +

--o-i-/-J
OX+l

(D-139)

(D-140)

(D-141)

(D-l,12)

57

a(')

_ 1 {'(ISbCn_, + ONT_
I: t,
--G-a-_)

8a

o(')
a_
a(') _
o
a(')
--

O0

a(')
a
a(')
--

] (_SbCn_\
77

(D-143)
(D-144)

q- ONT)

(D-145)

--

(D-146)

--

(D-147)
&

Oh

(D-HS)

Wc. y+ocn_

a(')
--

--

Ox

a(')

(D-149)

(D-150)

4Sb_
2 VoI_ C_

(D-15i)

Oy

a(')
8&

a(')

qSb 2

(D-152)

oko(')

_5 c

O&

D.2.7

Total

vehicle

Oq

ado
01"

O('(_")
8V

qse (_
2Vorn "

_Sb
- iVoo_(1
m

(D-15a)

';_i

acceleration

ado
_Sb
as, - 2,-Vo_
(o(?) _

I.

derivatives.---

cos/30 Cnp + sin/30 Cyp)

(D-154)

sin/3o Cyq)

(D-155)

COS/30

CDq

nt-

cos/30 Co, + sin/3o

- Scos/3o

(pVoCD +

CYr

qCDv)

(D-156)

-_ S sin/3o (pVoCy

+ 0CY_)

oxs
+ cos ao cos/3o _

0o_

--

qS

COS/30

CD,

+ sin ao cos/3o -_

sin/30 CYa + cos ao cos/30

OC qS
OaT

+ sin ao cos/30 _

+ sin/30

OXT
Oa

OYT

+ sin/30 _

- XT sin ao cos/30

+ Zm cos ao cos/3o + rag(sin 0o sin ao cos/30 + cos 0o cos o cos ao cos/3o)[

58

(D-157)

0V ]

(D-158)

If

- _/_s(- co_oco,+_ngoCo+_,ngo
CY_
+_o_oc_)
0XT

8ZT

+ cos ao cos _o _

8YT

+ sin ao cos/30-fff

+ sin/_o

8fl

- XT sin/30 cos ao -- ZT sin ao sin/30 + YT cos flo

1

+ rag(sin 0o cos ao sin/30 + cos 0o sin o cos/30 - cos 0o cos o sin cto sin flo)/

(D-159)

,J

--

(D-160)

g(cos 0o cos o sin _o - cos 0o sin o sin C_ocos/30)

8
o(v) _ g(00
o(?)
0
o
0(?) _
_oh
a(t)

cos Oo cos ao cos/30 - sin Oosin o sin/50 - sin 80 cos o sin ao cos/30)

(D-161)
(D-162)

Op

(D-163)

_+

(D-164)

cox

a(?)

(D-165)

Oy
a(#)
8&

qS_'

(__

COS/_0

CDa

sin flo CYa)

cos/_0

CD_

sin _o Cy_)

(D-166)

2Vom"

o(% _

#tSb (

o_

Q_700m,

--

(D-167)

a(?)
_-(-

8,5_

cos/3o CD6i + sin/3o Cy_i )

+ --1 ( cosao
m

D.2.8

Angle-of-attack

o(a)
8p

69YT

ozs_
_i__o cos/_o-377]

(D-16S)

derivatives._

2V02m cos/50 CLp - tan 3o cos ao

qSe
2V_mcosfloCLq,,

2Fk2m
cos/_oCL,o

(D-169)
(D-It0)

+ 1.0

qSb

0(_)
_F

+ sin/3o

qSb

O(&)
Oq

rate

cos_o_OXT

o(_)
__
--_ _
1
OV
mVo cos flo

(D-171)

- tan/3o sin ao
OZT
[s(VpCL

qCLv)

--

cOSaO

OXT
+

sinao

+ V--7[-glSCL + ZT cos a0 -- XT sin

-

017

o: 0

tj

+ rag(cos 0o cos o cos ao + sin 0o sin a'o)]_

(D-172)

59

a(&)

1
[
OZ
mVo cos/30 _gtSCL_' - cos C_o _

0o:

OX T

+ sin C_o _

+ ZT sin o'o + XT cos ao

+ rag(cos 0o cos o sin ao -- sin 0o cos ao)

+ tan/3o (Po sin ao -- ro cos ao)[

o(_)
o/3

1
(
OZT
rnTv})cos 13o_ (tSCL_ - cos C_o--_
- tan/3o [-OSCL

(D- 173)

OXT

+ sin C_o 0---fi-

+ ZT cos a'o - XT _in ao

+ rag(cos 0o cos o cos C_o+ sin 0o sin a'o)]}

1

(D-17d)

cos _/3o (Po cos C_o+ ro sin ao)

o(_)
o
o(_,)

Vocos_o

O0

Iiocos3o

o(_)

g
g

cos 0o sin o cos ao

(D-175)
(D-176)

(sin 0o cos o cos C_o- cos 0o sin _o)

-0

(D-177)
mVocos3o

Oh

(D-]78)

V2CL -0--
+ qCi_

o(_)

(D-179)

O=

o(_)

(D-180)
qS_

(D-181)

Vo2mcos/3oCL_
clSb

(D-182)

2Vo2m cos ,30 CL_

05i

D.2.9

1
mVocos3o

Angle-of-sldesllp

0(3)
Op

_tSb

(D-lS3)

derivatives.--

. .

2Vo-_m (sin/3o CDp + cos/3o Cvp) + sin O_o

(D-184)

OSe
2Vo2m(Sin/3o

(D-185)

0(3)
clSb
--or_ = _(sm
_Vd,n

6O

rate

oxz]

+ cos O'o 0ZT

--06, - sin C_o "-_6i J

0(3)
Oq

-_SCLe,

,.

CDq + cos/3o Cyq)

,_ ,._

_o _D, + cos_oCy,) - cos_o

(D-186)

-.-

a(a)
m 1Vo [Ssinflo

OV

(pVo + 4CDv)

+ Scos/3o

O XT

- cos ao sin/3o --_

(pVoCy

(]CYv)

(YYT

+ cos flo _

0 ZT

- sin ao sin flo --_]

1 [qS(sin/3o CD + cos flo Cy)

m Vff
+ Vr cosflo - ZT sin ao sin flo]

- XT cos ao sin flo

1 [ qS(sinflo
mVo

- cos ao sinflo

(D-187)

o(j)
CD_ + cosflo Cy_)

_OXT + cosflo

OYr
0a

OZT
- sin % sin flo _
+ XT sin ao sin flo -- ZT cos % sin flo
-- my(sin

0o sin ao sin flo + cos 0o cos o cos ao sin flo)]

+ Po cos C_o+ ro sin ao

(D-188)

o(_)
Off

qS[sinflo

mVo

(CDfi

--

Cy)

-t- cosflo

(CD

Cyfi)]

0YT
sin % sin flo
OJ_:r + cos flo O----f-OZT
-- cos ao sin flo -Off
-- XT cos ao cos flo -- YT sin/30 -- ZT sin ao cos flo
+ my(sin

0o cos _o cos flo -- cos 0o sin o sin flo -- cos 0o cos o sin % cos rio)}

(D-189)
(D-190)

0(/)_____)
= _-_ (cos 0o cos o cos flo + cos 0o sin o sin ao sin flo)

o(3_2)o0
= _( _o_0ocos_o_n #o- s_n0os_nocos#o
(D-191)

+ sin 0o cos o sin ao sin rio)

o(_) _ o

(D-192)

o
0(j__))
Oh -

S
[sinflo
mVo

lvo2C D Op
-ff_
+ qCD_ +cos_o

_-#+
(1VdCv
Op (TCy.)]

(D-193)

O(j)
Oz

_ 0

(D-194)

O(j)
Og

_ 0

(D-195)

0(_)
O_
o(_)

(IS_

._

O) - zvdm

o(j)
06_

(D-196)

2v-_m(sin_ocD_+ cos9oCy_)

1[

mVo

(D-197)

(sin flo CD_ + cosflo Cy_)

qS(sin

OXT
-cos
_o
sin
flo
-_/
flo CD6, + cos flo CY_ i

oz_ 1
- sin ao sin flo --_-/j

OYT
+ cos flo 06i
(D-]9S)

61

D.2.10

Roll attitude rate derivatives.--1

(D-199)

8p
8q

sin o tan Oo

(D-200)
(D-201)

8r

=
z

(D-202)

ov
8_

o3

-0

(D-203)

-0

(D-204)

qo cos o tan Oo - ro sin o tan 0o

(D-205)

ae

qo sin o sec 2 _o + ro cos o sec 2 0o

(D-206)

8_

-0

(D-207)

oh

(D-208)

8x

(D-209)

0(4,) -0

(D-210)

8y

o_
o_

D.2.11

Pitch

attitude

rate

-0

(D-211)

-0

(D-212)

=0

(D-213)

derivatives.--

a(o) _ 0

(D-214)

Op

8(0)
Oq
Or

--

COS

o(o) _ o
8V

;2

_)0

sin o

(D-215)

(D-216)
(D-217)

o(o__))
=o

(D-218)

0(0---2)= 0

(D-219)

09
o(#)
o

-- -qo sin o - ro cos o

o(0--2)
=o
oo
(0--!)
=o
0

o(_) _ o

(D-224)

Oy

o(_) _ o
oa
o(o) _ o

(--2)
= o
0,5_

rate

(D-222)

(D-223)

o(0--2)
=o

Heading

(D-221)

o(#) _ o
oh
Ox

D.2.12

(D-220)

(D-225)
(D-226)
(D-227)

(D-228)

derivatives.--

o()

-0

(D-229)

Op
0()

sin &o sec Oo

(D-230)

0()
Or

cos 6o see Oo

(D-231)

0()
OV

-0

(D-232)

-0

(D-233)

-0

(D-234)

Oq

o()
0()
0Z

o(_;)
o

o(_)
oo
o()
Oh

qo cos 0o see Oo - ro sin o sec Oo

(D-235)

qo sin o see Oo tan Oo + ro cos o see Oo tan Oo

(D-236)

-0

(D-237)

63

o(_) _ o
(gz

o() _ o
egg

o(_) _ o
o_
o(_) _ o

oa

o(_) _ o
05i

(D-238)

(D-239)

(D-240)
[

(D-241)

(D-242)

D.2.13

Altitude

rate

derivatives.--

0(t0 _ o
Op

O(t_)_ o
oz
a(h) _ o
Or

a(h)
OV

o(t_)
Oa

o(t0
o3
o(h)
o
ado
ae

(D-244)

(D-245)

sin 0o cos flo cos ao - sin o cos 00 sin/3o - cos o cos 0o cos flo sin ao

(D-246)

-Vo(cOS flo sin So sin 0o + cos flo cos So cos o cos 00)

(D-247)

-Vo(sin

(D-248)

-Yo(sin/30

Vo(cos flo cos So cos 0o + sin flo sin o sin 0o + cos flo sin O'o cos _o sin 00)

a(/,) _ o
Oh

ado _ o
Ox

o(i_) _ o
8u

ado _ o
Od

o(i_) _ o

o3

ado _ o

64

o(iO _ o

05_

(D-243)

flo cos So sin 00 + cos flo sin o cos 00 - sin flo sin o'o cos o cos 00)
cos o cos 0o - cos/_o sin So sin o cos 0o)

(D-249)
(D-250)
(D-251)

(D-252)
(D-253)
(D-2.54)

(D-255)
(D-256)

(D-257)

D.2.14

North

Op

acceleration

derivatives.--

-0

(D-258)

-0

(D-259)

-0

(D-260)

Oq
Dr

a(:_ )
OV

cos/30 cos ao cos 0o cos o + sin/3o (sin o sin 0o cos o - cos o sin o)
+ cos/30 sin ao (cos o sin 0o cos Co + sin o sin o)

a(:_)

8(:_-)
o/3

Vo[ cos/30 cos ao (cos &o sin t_ocos _bo + sin o sin o) - cos/3o sin so cos t_ocos _bo]

(D 263)

Vo[ sin/3o (cos o sin 0o cos o + sin o sin g'o)

+ cos/30 sin Veo(cos o sin _o - sin _o sin 00 cos o)]

(D-262)

Vo[ cos/30 (sin o sin 0o cos o - cos o sin _'o) - sin/30 cos _o cos 0o cos o
- sin/30 sin ao (cos o sin eo cos o + sin o sin o)]

(D-261)

(D-264)

Vo( sin/3o sin o cos 0o cos _bo- cos/3o cos C_osin 0o cos _bo
+ cos/3o sin c_ocos o cos Oo cos o)

(D-265)

0-7-_--= Vo[ - cos/30 cos C_ocos 0o sin o - sin/30 (sin o sin Oosin o + cos o cos o)
- cos/3o sin ao (cos o sin 0o sin o - sin o cos o)]

o(_) _ o

(D-267)

o(_) _ o

(D-268)

8x

O(_) _ 0

(D-269)

Oy

o(_) _ o

(D-270)

rga

o(_) _ o
0/3
o(:_) _ o

D.2.!5

(D-266)

East

(D-271)
(D-272)

acceleration

0(/'--2) =
Op

o(i/) _ o
Oq
o(_) _ o
Or

derivatives.(D-273)
(D-274)
(D-275)

65

c.3(_)) _ cos 0o sin _/'ocos/3o cos a'o + sin/3o (cos _bocos _bo + sin gSosin 0o sin _o)
8V
+ cos/30 sin a'o (cos _bosin 0o sin _bo- sin _bocos _bo)
0(____)= Vo[ cos/3o cos C_o(cos _bosin 0o sin g'o - sin _bocos _bo)
0c_
- cos/_o sin O_ocos 0o sin _bo]
-

(D-9_80)

Vo[cos/_o

cos ao cos 0o cos _bo- sin/30 (cos _o sin g'o - sin q5o sin 0o cos _'o)

+ cos,_o sin _o (cos 4)o sin 0o cos g'o + sin $o sin _bo)]
_ 0

o(_) _ o

(D-2sa)

(_----2)
= o

(D-2S4)

o(,))
_ o
8&

(D-28s)

o(_) _ o

(D-286)

o0)) _ o

(D-2S7)

0v

o3

0(5;

........

Evaluation

of the

Derivatives

of the

Observation

Tim generalized
derivatives
of the observation
variables
are defined
(C-56).
In this section,
these generalized
derivatives
are evaluated
derivatives,
primative
terms, and the s_ate, time derivative
of state,

D.3.1

(D-281)
(D-282)

Ox

D.3

(D-279)

1Io( sin flo sin _bocos 0o sin _o - cos/3o cos ao sin 0o sin _bo
+ cos _o sin C_ocos 0o cos 0o sin _bo)

0(#)
Oh

(D-278)

Vo[ sin flo (cos 4)0 sin 0o sin _o - sin _bocos Ibo)
- cos/3o sin c_o (sin qSosin 0o sin _bo+ cos qSocos _bo)]

00

(D-277)

Vo[ cosflo (cos qSocos _o + sin _bosin 0o sin go) - sin/3o cos a'o cos 0o sin _bo
- sin/3o sin C_o(cos _bosin 0o sin g_o - sin q5o cos _o)]

o(_))

(D-276)

Longitudinal

kinematic
OSb (
2V-_ora'-

0(a_,k)
Oq

O(_x,_)
Or

cos

acceleration

ao

CDv

-b

sin

in appendix
C, in equations
(C-16) to
in terms of the stability
and control
and control variables.

derivatives.--

C_o CLp)

qSe (_
2Vogom"

Variables

cos ao CDq + sin ao CLq)

qSb
.
2V--_om (- cos ao CD_ + sin eto CL_ )

(D-28S)
(D-289)
(D-290)

66

==

0(ax,k)

OV

gore

O(ax,k)

Oa

gore

c0(ax,k)

Off

gore

--S cos ct0 (pVoCD -_-(1CDv) --1-_ sin ao (pVoCL + c]CLv) + "-O--_J
OXT ]

{0S[-cosao

(CD,_ - CL) + sinao

(CL_ + CD)] + --_-j

[qS(-

CD_ + sin ao CLz) +

X
0fl lJ

cosao

ox ;

(D-291)
(D-292)
(D-293)

O(a_,k) _ 0
0

(D-294)

0(az,k)
00

_ _goose
go

(D-295)

O(az,k)

_ 0

(D-296)

o
0(ax,k)
Oh

(D-297)

gom

O(ax'k)
8Z

-- 0

(D-29S)

O(ax,k)
Oy

_ 0

(D-299)

0(_,k)

_Se

0&

2V-_om

O(a_,k)

0)
0(a_,k)
08i

D.3.2

Lateral

(
--

(D-300)

-_-sin Cto CLa)

COS C_0 CDa

(D-301)

2Vogom (- cos C_oCoo + sin _o CL/_)

1
gore

[qS(-

kinematic

x l

cos c_o CD_, + sin _o CL_, ) + --_/j

acceleration

(D-302)

derivatives.--

O(ay,k)
Op

glSb
2Vogom CYp

(D-303)

0(ay,k)
Oq

qSc
-- 2Vogom CYq

(D-304)

O(ay,k)
Or
O(ay,k)
OV
O(ay,k)

Oe_

0(ay,k)

Off

O(ay,k)

_Sb
--Cy
2Vogom

(D-305)

1
gore

(SpVoCy

qSCyo

gore
1
gore

(OSCy

+ gtSCy v + -_]
+ --O--a
]

+ --_-]

__ g cosOocoSO

go

(D-306)
(D-307)
(D-30S)
(D-309)

O( ay,k ) _ _ g__.
sin 0o sin o
O0
go

(D-310)

0(ay,k)

(D-311)

o_

_ 0

67

Oh
6_(ay'k)

(D-312)

+ QSCyh)

gore

(D-313)

Ox
0(ay,k)
_=0
8y
O(au,k

(D-314)
)

FISC

O&

2Vogom

0(amk )

_Sb

0j

D.3.3

Z-body

axis

O(a:k)
Op
O(az,k)
Oq

1
gore

O(a_,k)_
O_
--

o
0(._,k)
c90
O(az,k)

(D-317)

derivatives.--

so

CDq

COS O_0 CLq)

{,sin so

CD_

COS t 0 CLr )

, .

[S sin ao (pVoCD

(D-320)

Z l

+ CtCDv ) + S cos C_o(DVoCL + ClCLv ) -- -0V'-J

c7S [sinc_o(CD_--CL)+COSao(CL_
+CD)]+
gore
OS1 OZT
_- (sin so CDz + cos ao CL_) +
gore
gore Off

Oa

O(az,k)

acceleration

OYm "_
+ --_-i J

(D-319)

(_9(az,k)

O(_,k) _

1 (
gore \_SC'_

qSe
..
2V--a-_n-qnm
(sin

z _ ogom

OV

(D-316)

(D-318)

"V--'_

OF

Cy_

_tSb
, .
2V_oqom (sin so CDp + cos a0 CLp)

qSb

O(az,k)

kinematic

(D-315)

2Yogom

O(ay,k.__.__._
)

06i

Cy_

1 9ZT
gore Oa

(D-321)
(D-322)
(D-323)

fig- cos 0o sin o

go

(D-324)

g---sin 0o cos o
go

(D-325)

__

_[

(D-326)

0"_,
0(a:,k)
Oh

1
gore

sin so

(1

SVo2CD _

+ gtSCDh

+ cos C_o

O(a=,k)= o

(D-328)

Ox

0(_z,k! = o
ou

(D-329)

O(a_,k_:__=)
_ - qS_
(sinsoCDa
O&
2Vogom
0(az,k)

qSb

o--f- =
O(az,k)
05i

68

(D-327)

CLa)

(D-330)

2V-_omw_c_,
1
gore

+ cosao

[0S(sin

(D-331)

+ _o_oC_)

ao CD,, + cos so Cb6, ) -

oz ]
--_-/j

(D-332)

D .3.4 x body axis accelerometer output derivatives.-(D-333)

ctSb (
2Y-_om "- cos(toCDp + sin (to CLp)
qXa
(--

COS aO

CDq

sin

2 Vogo m
CTSb (2Vogom
1

ao

(D 334)

Caq)

(D-335)

cos ao CD_ + sin (t0 CL_)

(D-336)

gore
1

(D-337)

gore
1

(D-338)

go m

(D-339)
(D-340)
(D-341)

,[

g0 m

Op
cos (to (1SVo2CD

Op + qSCDh)
_-_

+sin(to(1SVo2CL-_--h

+(tSCLh)]

(D-342)
(D-a4a)
(D-344)
(D-345)
(D-346)
(D-347)

D.3.5

y body

axis

accelerometer
c)(ay)
0(%)
Oq
8(%)
Or
O(av)

OV

output
_

qSb

derivatives.-C

(D-348)

qSe
C
2V---_om Yq
qSb
2Vogom
I

gom

(D-349)
(D-350)

Cy_

(SpVoCy

q-- qSCy

-1- -_7-J

(D-351)

69

gore

qSCy,

1 (

o9

gO m

qSCy#

--_

-i-

---_-]

(D-352)

(D-353)

8(a_) _ o

(D-354)

84)
O(a_) _ 0

(D-355)

80

8(a_) _ o

(D-356)

8_
a(ay)
Oh

go Wt

8(a_)

(SVo C
-ffi + 4SCy_
p

(D-357)

-0

(D-358)

-0

(D-359)

Oy
4Se
2Vogo rn Cva

8(%)
O_

8(a_)

(D-360)

qSb
2 Vogo

(D-361)

77-t Cy_

O(a_)

D.3.6

z body

axis

O(az)
Op

accelerometer

qSb
,.
2V--_om ksm

--

2V-_-om

qSb
,.
2V_.qom(SmaoCD_

goml

o(a_)
Oq

4Se

O(a_)
Or
O(az)
OV

O(az)

Oh
70

COS (_0

(D-363)

FLy

-t- COS a' 0 Cbq

(D-364)

+ cos c_o CL_)

(D-365)

..
(sin

[S sin

ct 0 CDq

ao

gore {qS[sin

o(._)

o(_)
o_,
O(.z)

CDp

derivatives.--

(/)VoCD

(tCDv)

-1- ,_c cos

a, 0 (DVoCL

qCLv

) -

oz ]
_]

(D-366)

Oa
83
O(a_
0
O(a_
O0

output

ao

(D-362)

1 (()k_)
gora
qSCy_, + --ff-_[]

05i

gore

[(_S(sin

ao (CD_ - CL) + cos C_o(CL_ + CD)] -

a'o CD, + cos a_o CL,)

--0ZT}
Oa

ozT]

- --_-j

(D-367)
(D-368)

--0

(D-369)

--0

(D-370)

--0

(D-371)

go,nl[sina(_

SIffCDOp_

+ (]SCDh)

+ cos ao (lkZSI,_2C L Op + (]SCL,,) ]

(D-372)

(D-373)

O(a_)= 0
Oz

(D-374)

O(a_)_ o
Oy

O(az)_

_s_

0&
O(az)
Off
O(az)

ao CDa

-t- cos c_0 CLa

qSb
(sin
2Vogom

_0 CDb

-t- cos

06i

D.3.7

(sin

2Vogom

gore

Normal

[0S(sin

ao

accelerometer

O(an)

_Sb

Op

2 Vogo m

a(_,,)
oq
0(a,,)

2Vogom

C_S_

CD6,

(D-376)

0_0 CL#)

cos ao

output

(D-375)

CL6,

(D-377)

zTt

) -- --_-/]

derivatives.-(D-378)

(sin so CDp + cos ao CLp)

(sin ao CDq + cosao

(D 379)

CLq)

_Sb
, .
2V-_anm[Sm ao Cmr + cos So CLr)

OP

O(a.)

OV

gore
1

O(a.)
Oa

gore
1

a(a,,)
0t3

gore

sin

So ( S pVoCD

{OS[sin
(]S(sin

) + cos

ao

( S pV'oCL

-t- (TSCLv)

ao (CDo - CL) + cos ao (CL_ + CD)]

oz
_ ;]

o_0

+ qSCDv

(D 380)

CD_ + cos ao CL) -

-- --_-]
OZT]

OZT ]

(D-381)
(D-382)
(D-383)

_ 0

(D-aS4)

_ 0

(D-385)

O(a,,) _ 0

(D-386)

O(an)

o
O(an)
80

o_
1

O(a,)
Oh

a(_)
Oz

o(_,,)

go m

[sinao(_SVo_CD

Op_+ {SCD0

Op
+ cos c_o(2SVo2CL-_+e]SCLh)]

(D-387)

-0

(D-388)

-0

(D-389)

8y

a(_,,)
0&
0(an)

05i

gTS_ . .
-_
_smao
2Vogo m "
OSb (sin
2 Vogo m
1
gore

[qS(sin

CDa + cosao

Ct0 CDb

-_ cos

(D 39(1

CL_)

(D-391

o_0 CLB)

ao CD6, + cos ao CL_i ) -

Z l
--_-/]

(D-392)

71

D.3.8

Derivatives
of gravity.--

O(a_,i)

of x body

qSb
,
2V-_0m [-

Op

axis

accelerometer

output

not

1
cos ao CDv + sin ao CLp) + --(qoY_
go

at the

vehicle

center

(D-393)

+ rozx)

O(a_,d
Oq

qS_ (_ cos ao CDq + sin _0 C G) + 1 (PoYx - 2qoz_.)

2V0gom"

(D 394) :

qSb
,
2V-_om
[-

(D-395)

(D-396)

O(ax,i)
OT

O(ax,i)
OV

O(ax,i)
Off

gore

a(a_,i)

--SCOS

1
gore
1

cosa0

gore

O(a_,i)
Oa

G'0 (pVoCD

{ CS'[- coseo(CD,, [_S(-

}o
CL_) + --(poz_

CDr + sinao

([CDv)

Ssin

ao

-- 2roxx)

(DVoCL

qCLv

) +

(_l,

CL) + sinao (CL,, + CD)] + ox,r

--9--_--_
J

(D-397

XTl

(D-398

cosao CD_ + sin_o OLd) + -0-f-J

= 0

(D-399)

0
o(a_,_) _ o

(D-_00) L

O0

O(a.,i) -0

(D-401)

_-

(D-402)

O(ax,i)

Oh
O(a_,i)
Ox

COS _0

gore

"_

"4- q S C D h /i

"_-

C'_O

_l

"Jr

_ 0

(D-403)

O(a_,d _ o

(D-404)

Oy

O(a_,O _ o
Oi,
O(a_,i)
z_
00

(D-405)
(D--I06)

go

0(_,_)

y_
(D-407)

0 i_

qS_

0&

2Vogom

O(ax,i)

(tSb

(-

(D-40S)

cos o0 CDa + sin ao CLa)

- 2Vogo-_(-- cos ao CDb + sin ao CL_)

_ gore
1 [_qS(_

Derivatives
of gravity.--

COS a 0 CD6 i +

of y body

axis

ao CL h)

accelerometer

O(a_,i)
Op

sin

(D-409)

2_

qSb

YP

(_6i

output

- l(2poyy

go

(D-410)

not

O(ax,i)
06i

D.3.9

go

cg(az,i)

03

q0 ,Ty )

at vehicle

center

(D-411)

72

O(a_i)
Oq

O'vq + l
2VogomC7S----_-

2Vn-7_m
_.-(ISb

(D-4_2)

(pox_ + roZy)

O(ay,i)

Or

%+

_oo(qoZy

2roy,)

(D-413)

+ qSCy.

(D-41,_)

O(a_,i)
1

OV

SpVoCy

gore

O(ay,i)

(qSCYo + or
--5-g-_/
)

(D-4_5)

(qSCy_ + --5-f]
aye)

(D-416)

go m

oz
o(_,i)
o
o(_,i)
O0

O(_,_)
0

OV ]

gore

-0

(D-417)

-0

(D-418)

-0

(D-419)

O(au,i)

gore (_SV2C

Oh

(D-420)

Y Op
-_ + ctSCy,,)

O(a_,_)_ 0

(D-42J)

Ox

O(ay,i) _ 0

(D-422)

Oy
O(au,i

Zy

Oi_
O(ay,i)
0_

_ 0

O(ay,i)

Derivatives
of

gtSc

(D-426)

O(au,i )
OtJ
-

qSb
2Vogom C'%

(D-427)

O(a_,J_
05i

gore

z body

2Vogom

1 (C_scv_,+

axis

(D-428)

05i )

accelerometer

output

not

at

O(az,i)
Or

center

gSb
2Vogo m (sin

O' 0

CDp

COS

(2 0

CLp)

--

o--_(2poz_ - roXz)

O(a_,i)

Oq

vehicle

gravity.--

O(_z,i)
Op

of

(D-425)

go

cy_

O&

D.3.10

(D-424)
xy

(9i"
O(ay,i)

(D-423)

go

2v-_-_-o._(_in
_,ocD. + _o_ooeL.) rlSb
2 Vogo m

(_ino,oCD.

+ cosao

(2qo_ - ,'ou_.)

CL,) + l(pox_
9o

+ qoYz)

(D-429)
(D-430)
(D-_31)

73

O(a_,d

OV

[S

gore

O(_z,d _

sin so (pVoCD

+ qCDv ) + S cos Oeo (pVoCL

+ _CLv ) -

-- CL)

--

oz ]

--o-V-]

O_

,iS[sin

gore

O(a_,i)

So (CDo

+ cos C_o(CL_

[qS(sinso

gore

CD_ + cos so CL)

(D-433)

0----_--

oz ]

Off

+ CD)]

(D-432)

(D-434)

--_-j

0(_,_) _ o
0

(D-435)

O(az,i____2
= o

(D-436)

O0

O(a_,d _ o
0
O(az,i)

"

!
!

(D-437) _

Oh

(D-43S)

gore

O(az,d _ o

(D-439)

Oz

=
=

O(a_,,) _ o

(D-440)

"

(D-441)

..

(D-442)

Oy
O(az,i)

Y__2

O#

go

O(az,i)

xz

oo
0(a_,i)

go

(D-443) -

--0

Oi.
_Se
, .
2V-_qamtSm
So CD_ + cos Uo CL_)

O(az,i)
O&

O(az,d

qSb

2 Vogo m
O(az,i)
1
gore

D.3.11

Derivatives

(sinso

[qS(sin

of

(D-445)

CD_ + cosaoC%)

c_o CDe,

normal

(D-444)

+ cos so CL6i ) -

accelerometer

oz ]

(D-446)

--_-/j

output

not

at

vehicle

center

of gravity.-0(a.,i)

gtSb
, .
2V-_gom (sin c_o CDp + cosso

Op

CLp)+

gol(2pZz-

r0zz)

(2qoZz

- royz)

(D-447)

O(an,i)
Oq

2V--_0m

(sin so CDq + cos So CLq)

ctSb
.
2V-_om(SlnaoCD_

(D-448)

O(a_,d
_r

O(an,i)

OV

1
gore

Oa

1
gore

sin

4S[sin

so

+ cosso
(pVoCD

c_o (ODe, -

(lCDv)

eLf)

--

-1-

(D-449)

_o (poXz +qoYz)
cos

So

(pVOCL

CL) + cos So (CL, + CD)]

_-

qCLv

-- -Oa

oz ]

-_-j

(D-450)

(D-451

O(a_,i)
1
0_
gore
O(an,_)= 0
0
O(an,_)= 0

[_S(sinc_o

CD_

oz_]
+ cos_o CL_) -- --5-SJ

(D-452)
(D-453)
(D-454)

80

(D-455)

8(an,_) _ 0
0
O(a_,i)
Oh

1
[sin _o (_SVo2CD
gore

-_
Op + qSCDh)

-It- COS a'0

S_,02C,L
0p

(D-456)
(D-457)

O(a_,_)_ 0
Ox
O(a_,i)
Oy

O(_,_,i)
ab
O(a_,_)
0_
a(a_,i)
__-0
O&
O(an,i)

o_

(D-458)

_ 0

go

D.3.12

Load

(D-460)

Xz

go

(D-461)
{S_
(sin
2Vogom

O_0 CDa

COSO_0 CL_)

(D-462)

(tSb
(sin
2 Vogo m

O_0 CD#

COS O_0 CLa)

(D-463)

O(a_,i)
05i

(D-45O)

YZ

1
g0m

factor

[0S(sin

Z l

so CD_, + cos So CL_I ) - --_iJ

(D-464)

derivatives.--

o(_)
Op

o(_)
Oq

(tSb C
2V--_m Lp

(D-465)

qS_
2Vog m CLq

(D-466)

o(_)

rlSb

Or

2Vogm

CL,

o(_) - !(SpVoCL + _scL.)

OV

cg(n)

Oa
O(n)

(D-467)
(D-468)

gm
_lS CL_
gm

(D-469)

(IS CL z

(D-470)

0_
gm
o(_) =
0
O(n) -_

(D-471)
(D-472)

00
75

o(_) _ o
0
a(n)
a
gm

Oh

(D-,t73)
1

(_sv6 CL Op
-_ +

qSCLh )

a(_) _ o

(D-475)

Ox

0(_) _ o

(D-476)

Oy

o(_)

qse c
L_

(D-477)

o(n)
_Sb
O# - 2VogmCb_
O(n)
qS

(D-478)

O&

Speed

of sound

2V---_

--

06i

D.3.13

gm

CL_,

(D-479)

derivatives.--

o(_) _ o

(D-480)

Op

O(a) _ o

(D-481)

Oq

O(a) _ o

(D-482)

Or

o(a) = o

(D-483)

OV

O(a) = o

(D-484)

0o_

O(a) _ 0
Off

(D-485)

O(_) _ o
"0
O(a) _ o

(D-486)
(D-487)

O0

o(_) = o
o(,,)
o(_)
Ox

0T

poTo(1.4po/poTo)_/z Oh
-0

O(a) -0
OU
a(,) -0
06

O(a) -0

oA

(D-488)
0.7po

Oh

76

(D-474)

(D-489)
(D-490)
(D-491)
(D-492)
(D-493)

(D-494)

D.3.14

Mach number derivatives.-O(M)

op

_ 0

(D-495)

O(M)
Oq

_ o

(D-496)

O(M) _ o

(D-497)

Or

O(M)

OV

(D-498)

O(M)
Oa

_ 0

(D-499)

O(M)
09
O(M)
0
O(M)
oe
O(M)
0_

_ o

(D-500)

_ o

(D-501)

_ o

(D-502)

_ o

(D-503)

O(M)_

Vo[

Oh

_O.Tpo

a 2 LpoTo(1.4po/poTo)l/2J

O(M) _ o

] 0T
8h

(D-504)
(D-505)

Ox

O(M) _ o

(D-506)

Oy

o(M) _ o
O&

(D-507)

O(M) = o

(D-508)

O(M) _ o

(D-509)

o3

06_ .

D.3.15

Reynolds

number

derivatives.--

O(Re) _ o

(D-510)

Op

a(R_) _ o

(D-511)

Oq

8(Ro) _ o
Or

(D-512)

77

O(Re)

pe

OV

(D-513)

It

O(r_e)_ o

(D-514)

Oa

O(R_)
ap

(D-515)

-0

0(Re) _ o
0
0(Re) _ 0

(D-516)
(D-517)

00

a(_) _ o
0
a(R_)
Voe Op
Oh

Oh

(D-518)
pVoe 0#
#2

O(Re) _ 0
O(Re) _ o

(D-521)

Oy
0(Re)
0a

_ 0

0(Re)

_ 0

(D-523)

0(Re) _ o

(D-524)

o3

(D-522)

06_

Reynolds

number

per

unit

length

derivatives.--

a(Re') _ o
Op
0(Re')
Oq

_ 0

0(Re') _ o
Or
(9(Re')

OV

tt

a(Re') _ o
0_
0(Re')

aZ

_ 0

O(Re') _ 0
a
O(R_') _ o
00

O(R_') _ o
o
78

(D-519)
(D-520)

Ox

D.3.16

Oh

(D-525)
(D-526)
(D-527)
(D-528)
(D-529)
(D-530)
(D-531)
(D-532)
(D-533)

O(Re)

Vo Op

Oh

a(Re')
Ox

a(Re')

pVo Op

Oh

#2

(D-534)

Oh

-0

(D-535)

-0

(D-536)

-0

(D-537)

-0

(D-538)

-0

(D-539)

Oy
0(Re')
O&

o(Re)

o3
0(Re')
05_

D.3.17

Dynamic

pressure

derivatives.--

a(o) _ o
0
a(q) _ o

(D-540)
(D-541)

Oq
0( _) _ o
Or

(D-542)

(_---2)
= pro
ov

(D-543)

0(_--2)
=o

(D-544)

Oa

a(_-A)
=o

(D-545)

o3
o(_) _ o
0
a(_) _ o

(D-546)
(D-547)

00

(_-A)
=o

(D-548)

o
Oh

o(o) = o
Ox

(_-A)
=o

Oh

(D-549)
(D-550)
(D-551)

Oy

(--2)
=o
o_
a(o) = o

(D-552)

o(_) _ o

(D-SS4)

o_

(D-553)

79

D.3.18

hnpact pressure derivatives.--

O(qc)_ o

(D-555)

Op

,9(qc)_ o

(D-556)

Oq

O(qc) _ o

(D-557)

Ol"

(_f

o(q_)
OV
[

( 5.76M2 _.5
P--_a
2._Laf\5.6.-_---5.8]
1_'_-[_/2_'_
f_l(1.0 + 0.2M_) 2"5
+ 3.0M 2 ( S.TBM__ ,.5
9.216M
\,_.6M_- 0.8J (5.6_-_.s):j

< 1.0)
R

(D-558)

] (M > 1.0)
-

O(q)_ o
Oa

O(q_)_ o
0_
O(q_) _ o
0

O(q) _ o
80

O(qc) _ o
0,
[(1.0 + 0.2M2) 3"s - 1.0] _0_

s.6M 2-o.8j

0(%)

I_M(1.

0 + 0.2;1/2)2.s7,,_ Oa

(D-561)

(D-562)

(D-563)

5.6--M-_= _).8 /
+ 3.0M 2 (
5.76M2
,_l.S
9.216M
k5.6M:0.8/
(5.6_--_.8)2J

O(qc) _ o
Ox

O(qc) -0
Oy
O(qc) _ 0
0_
_ 0

O(qc) -0

80

(D-560)

(D-564)
a2

o_

"

(:a_r_<1.o)

Oh

O(%)

(D-559)

] Oct
85,

(_f >_1.o)
(D-56S)
(D-566)
(D-567)
(D-568)
(D-569)

D.3.19

Mach meter

calibration

ratio

derivatives.--

O(qJp_) _ o

(D-570)

Op

o(qc/p_) _ o

(D-571)

0q

O(qJp_) _ o

(D-572)

Or
L_-M(1.O
1 [2.4M

OV

+ 0.2M2) 2'5
("

5"76M2
[

(_t

_< 1.0)

,_2.5

5.76__I2

+ 30M_ \5.6-_-5.8)

(D-573)
-_1.5

9.216M
]
(5.6,,_-O.S)2 J

(M _>2.0)

o(q_/p_) _ o

(D-574)

Oa

o(%/p_) _ o
03
O(q_/p_)_ o
o

(n-575)

O(qc/p_)
O0

_ 0

(D-577)

O(qc/p_,)

_ 0

(D-578)

(D-576)

o
- x'--_-_l(1.O

O(qc/p_)
Oh

_ a____)
[2.4 M (\

Oa
+ 0.2M2) 2"5 N7

5.6-_5.76MZ b.8)
(,

5.76312

(M < 1.o)

2.5

,_1.5

+ 3.oM: \5.UM-_-i_.s/
O(q_/p_) _ o
Ox

O(q_/p_) _ o
Oy

O(qjp_) _ o
Od

(D-579)

9.216M

] Oa

(3I >__1.0)

(D-SS0)
(D-581)
(D-582)

O(qc/pa)

_ 0

(D-583)

O(qc/pa)
05i

_ 0

(D-584)

81

D.3.20

Total temperature derivatives.-O(Tt) _ o

(D-SSS)

Op

O(T_) _ o

(D-586)

Oq
0(Tt)
0r

_ 0

0(Tt)
OV

(D 5S7) -

0.4 T3f
a

O(T,) _ 0
O(T,) _ o
0_
0(Tt)0h O(Tt)
Oz

"

{1.0 + 0.2M 2

0.4 TMVo
az

[
0.7p
LpoTo(1.4po/poTo)a/2J

_ 0

] 10T
J Oh

(D-588)

(D-589)

(D-590)

"

(D-591)
(D-592)
L

0(Tt)
Oy

_ 0

0(Tt)
0&

_ 0

(D-593)
(D-594)

0(Tt) _ o
0(Tt)

-_

(D-595)

(D-596)

0&

D.3.21

Flightpath

angle

derivatives.--

a(_) _ o

(D-597)

Op

o(_) _ o

(D-598)

Oq

a(_) _ o

(D-599)

Or

ho

a(_)
OV

o(_) _ o
Oa

a(_--A)
: o
o(-y) _ o
o
o(-y) _ o
00

82

Vo(_%

2 --

(D 600)

62)1/2

(D-601)
(D-602)
(D-603)
(D-604)

o(_) _ o
o_
(v--A)
: o
x_
a(_---2
: o

(D-605)
(m-6o6)
(D-607)

Ox

o(.y) _ o

(D-60S)

Oy

a(_) _ o
o_
o(_) _ o
a_

(D-609)
(O-6_0)

o--7-= (Vo
_ - _)ln
a(_,) = o

(D-B11)
(D-6J2)

05_

D.3.22

Fllghtpath

acceleration

derivatives.-_9(fpa) _ 0
8p

(D-613)

a(fp_) _ o

(D-614)

Oq
O(fpa)
cqr

= 0

(D-615)

a(fpa)
OV

_ o

(D-616)

O(fpa)
Pa

_ 0

(D-617)

O(fp_)

_ 0

(D-61S)

_(fpa)

_ 0

(D-619)

(9(fpa)
O0

_ 0

(D-620)

(9(fpa)
8#,

_ 0

(D-621)

c_9(fpa) _ 0
Oh

(D-622)

_ 0

(D-623)

0(fpzL) _ 0
Oy

(D-624)

o_
o

O(fpa)
Ox

o(rp_)
07

(D-625)

83

a(fp_) _ o

(I)-626)

0&
0(fpa)

_ 0

03

O(fp_) -

D.3.23

Vertical

acceleration

--[sin
2I'_go m

Op

(D-627)

(D-628)

derivatives.--

Oo(- cos a'o CDp + sin ao CLp)

-- sin o cos 0o C v + cos o cos 0o (sin c_o CDp + cos (_o Cbp)]

--[
sin Oo (21/_go m

Oq

cos ao CDq + sin

Sb
w

Or

2Vogom

[ sin Oo (+ coso

o(il)
0V

CLq)

sin o cos Oo Cyq

cos

ao

ao

CDq

cos

D-630)

oz'0 CLq)]

+ sin ao CL_) -- sin o cos Oo Cy_

CDr

cos0o (sin ao CD_ + cos ao CL,.)]

D-63J)

1
-

-go m

sin 0o

-Scos

- sin 4o cos 0o

a'o (pVoCD + _tCDu) + Ssin ao (pVoCL + (tCbv)

( SpVoCv

+ cos o cos 0o IS sin ao

(tSCy

(pVoCD+

+ -'_-< j

aye)
--_j

qODv )

OZT]}
+ S cos aO (pVoCb + FtCLv ) -- -0-_7-7j
O(h,)
Oa

1
-gore

{ [
sin0o

-_Scosao

(CD_, - CL) + 4Ssinao

- sin o cos 0o (_ISCy_

(Cb_ + Co) + --_

D-632)

Oa ]

OZT]}
+ cos o cos 0o [0S sin C_o(CD_, - CL) + _S cos ao (CLo + Cm) - -_a,J
O(h)

0 /3

go ra
+ cos o cos 0o

(D-633)

4S sin ao CDz + g/S cos ao CLz +

o(?i)
0

-av cos o cos 0o + a_] sin o cos 0o

(D-635)

o(il)
0--'_

= a* cos 0o + avo sin 0o sin o + a_o cos o sin 0o

O(i;____)
= 0

o_

84

+ cos o cos 0o (sin

o(il)

ao

(D-629)

(D-636)
(D-637)

O(h)
Oh

1
gom

{ sin 0o [-- cos O_o(_SVo2C D _cgP+ qSCDh)

- sin o cos 8o

SVo2Cy

q- sin Cto (1SVo2CL

Op.

-I- qSCyh

cos

-t- qSCLh)I

o,
-_

_- + qSCD,,)
(D-638)

__()i)= o

(D-639)

0x

a(Y____)
= 0

(D-640)

Oy

o(f_)
0&

qs_

2Vogom sin 6o (-

cos ao CDa + sin ao CL_) -- sin o cos 0o Cy_

(D-641)

+ cos o cos 0o (sin C_oCDa + cos ao Cha)]

o(h)

qSb
2Vogo----_[sin 0o (-

cos ao CDb + sin ao CLt_) -- sin o cos 0o Cy_

(D-6,12)

+ cos o cos 0o (sin ao CD/_ + cos O'o CLb)]

a(_)
05i

go--_

sin 0o qS(-

cos

ao

<,1_

CDa, q- sin ao Cba, ) + --_-/]

sin

CgZT

+ coso

D.3.24

Specific

energy

cos0o [OS(sinaoCDel

+ cosao

Cn,i)

- --_/j

_0

COS 0 0

(7oCCyG

-]-

-_i//

(D-643)

derivatives.--O(E_)
Op

_ 0

(D-644)

0(Es)
Oq

_ 0

(D-645)

O(E_)
Or

_ 0

(D-646)

O(Es)
OV

Vo
__

(D-647)

O(E_)
Oct

_ 0

(D-648)

O(Es)

_ 0

(D-649)

O(E_)

_ 0

(D-650)

O(Es) _ 0
00

(D-651)

O(E_) _ o
0_

(D-652)

0(Zs)
Oh

(D-653)

= 1

85

O(E_) _ 0
Oz

O(Es) _ o
ou
O(Es) _ o
O(E_) _ o

o3

O(Es) _ o

D.3.25

Specific

power

(D-655)

i
z

(D 656) i
(D-657)

(D 65S) _

derivatives.--

o(P_) _ o
Op
O(Ps)
Oq

_ 0

O(Ps)
Or

_ 0

o(Ps)

OV

O(P_) _ 0
Oc_

o( Ps) _ o
8_
o(P_) _ o
0
o(P,) _ o
00

o(P_) _ o
o_
O(Ps)
Oh

_ 0

o(Ps) _ o
Oz

(D-659)

(D-661)

(D-663)
(D-664)
(D-OGS)
(D-666)
(D-667)
(D-668)
(D-669)

o(Ps)
v
Ov - g

(D-671)

O(P_)

Oi_ -

"

(D-662)

(D-670)

oh

(D 660)

cO(P_) _ 0
Oy

O(p_) _ o
o4
o(ps) _ o

86

(D-654)

(D-672)
(D-673)
(D-67_1)

(D-675)

D.3.26

Normal force derivatives.-0(N)

Op
O(N)
cgq

qSb,
_-V-_o
tcos ao CLp + sin ao CDp)

(D-676)

c]S_",
_o (cos ao CLq + sin ao CDq)

(D-677)

O(N) _
_vob(cos

Or
O(N)
OV
O(N)
c_ga
O(W)
O(N)

o
o(N)
O0
O(N)

o_0

CL_ + sin

(D-678)
CD,.)

S[cos ao (pYoCL + (tCLv) + sin ao (pVoCD + ,tCDv)]

(D-679)

_S(cos ao CLo + sin ao CD,_ - sin ao CL + cos ao CD)

(D-680)

qS(CO80_

oZ

O_o

0 CLz

"[-

(D-6Sl)

sin ao CD_)

(D-682)

(D-683)

(D-684)

o(g)
Oh

(D-685)

O(N)
Ox
O(N)

(D-686)

(D-687)

_S_.
_oo (cos a o CL_ + sin C_oCDa

(D-688)

_tSb,
_,cos ao CL_ -I- sin

(D-689)

Oy

O(N)
w

O&

O(N)
O(N)
05i

D.3.27

Axial

force

(IS(COS

_Sb

Op

2Vo

Oq

"_-

sin

ao

CDp)

(D-690)

ao CDp)

(D-691)

CD6,

derivatives.--

O(A)
O(A)

O: 0 CL6,

ao

(-

sin ao Cbp + cos

_S_.

_o (- sin_o c_ + _os,_oCD_)

O(A)

qSb

_r

2Vo

(-

sin a0 CLr + cos ao CD_)

(D-692)
(D-693)

87

O(A)
OV

--

,5'[--sinG'

0 (RVoCL

O(A)
0a " = _S(-

O(A)
OZ
0(A)
a
o(A)
ao
a(A)

--

sin

eTS(- sin

(1eLy)

a o CLe,

"{-O80_0

_o

CL_

cos

cos

CDc,

o_ 0 CD_

--

a'o

(pVoCD

(D-694)

(1CDv)]

(D-695)

cos ao CL -- sin ao CD)

(D-696)

-0

(D-697)

-0

(D-698)

-0

(D-699)

O_O

op )]

O(d)
Oh

-S[-

O(A)
Ox

-0

(D-r01)

-0

(D-702)

O(A)
8y

sin ao (_Vo2CL

Op

(tC'Ln

-{- COS aO

Vo2CD

(ICl)h

(D-700)

a(A)
oa

27o"

sin ao CLa + cos C_oCDa)

(D-703)

CtSb
2Vo (- sin C_oCL e + cos C_oCDo)

(D-704)

tiE(-

(D-705)

a(A)

a_
O(A)

D.3.28

x body

axis

sin ao CLa, + cos ao CDai )

rate

derivatives.--

o(_)
Op

o(_)
8q

o(_)
Or

-0

(D-706)

=0

(D 707)

-0

(D 70S)

o(_)
OV

o(_)
Oa

o(_)
0/3
o(_)
o
o(u)
O0

o(_)
o
88

--

COS Og0 COS t_0

(D-709)

Yosin ao cosflo

(D-710)

-Vo cos ao sin/30

(D-711)

-0

(D-712)

-0

(D-713)

-0

(D-714)

"

o(_) _ o

(D-715)

8h

O(u) _ o

(D-716)

Ox

o(_) _ o

(D-717)

Oy

O(u) _ o

(D-718)

05

a(_) _ o
09
o(u) _ o

(D-719)

(D-720)

O&

D.3.29

y body

axis

rate

derivatives.--

0)

-0

(D-721)

-0

(D-722)

8p

a(v)
Oq

a(v_2)
=0

(D-723)

a(.___2)
= sin/3o

(D-724)

a(v_
2)= 0

(D-725)

a(vA)= Vocos/_o

(D-726)

Or

OV
8a

aZ
O@) o
0
0(_) _ o
00

(D-727)
(D-728)

a(_--2)
=o

(D-729)

a(_--2)
=o

(D-730)

8
Oh

a(v--2)
=o
8x

a(_) _ o

(D-731)
(D-732)

Oy

a(v) _ o
O&

(D-733)

a(,_) _ o

(D-734)

O(v) _ o

(D-735)

a_

05_

89

D.3.30

z body axis rate derivatives.-o(_) _ o

(D-736)

3p

o(w) _ o

(D-737)

Oq

a(w) _ o

(D-738)

Or
8(w)
OV

_ sin O_ocos flo

(D-739)

O(w) _ Vocos_o cos_o

(D-740)

O( w) _ - Vo sin ao sin/3o

(D-741)_

0a

09
o(_) _ o
o6
o(_) _ o
o(w) _ o
o
O(w) _ o
o(_) _ o

off,)

o(_) _ o

(D-748)

o(_) _ o

(D-749)

O(w) _ o

(D-750)

2I,bm

o(_)

qSc

Oq

2Vom

o(_)

qSb

0r

2Vom

Off,)
OV

derivatives.--

4Sb

Op

(--

COS

C_0

--

(D-747)

05i

acceleration

(D-74,1)

_ 0

Od

axis

(D-746)

Ox

x body

(D-743)

(D-745)

Oh

D.3.31

CDp

sin

(D-751)

a o CLp)

(- cos Ca
o CDq + sin ao CLq) - Iib sin C_ocos flo

(D-752)

(- cos ao CDr + sin So CL_) -t- Sb sin flu

(D-753)

{S[-

cosao

-:_

(D-742)

8O

O(w)
Oy

(pVoCD -t- (]CDv) + sinao

+ro sin 3o -- qo sin so cosflo

(pI,SCL +/jCLv)]

os ;

+ -_j

(D-754)
=

9O
=

__

=lm

qc(- cos ao CD_ + sin C_oCL_ + sin ao CD + cos C_oCL) + --_aJ

OXT]
- qoVo cos So cos/30

[c]S(-

m1

(D-755)

ox ]

cos ao Cm a + sin so CLz) + --_j

(D-756)

+ roVo cos/30 + qoVo cos a'o sin/3o

o(_) _ o
o
o(_)
c90
0(_)

o
Oh

O(_)
Ox

(D-757)
(D-r_S)

-g cos Oo

_ 0

--

(D-759)
-- COS Oz0

I/':CD

+ qODn

+ sin a'o

Vo2CL _

+ qCLh

_ 0

(D-761)

o0,) _ o

(D-762)

Ou

o(_)

Os_

Od

2Vom (-

o(_)

y body

qS(--

axis

o(_)

COS Ct 0 CD6

acceleration

o(_)

qSe

cgq

2-Vo m

Cyq

o(_)
Or

o(_)
ov
o(_)
cga

o(_)
o/3
o(_)
o
o(_)
oo
o(_)
o

i -b

(D-764)

oxg

(D-765)

sin so CL_, ) + --_]

derivatives.--

qSb
21-Voom
wYP + Vo sin Ceocos/3o

Op

"

1
732

05_

D.3.32

(D-763)

cos ao CDa + sin ao CLs )

4Sb
2Vom (- cos ao CD b + sin so CLb)

0(_)

ClSb C

- _
_

(D-760)

(D-767)
(D-768)

v_ - Voco__o _o_/so

Y*I+ po sin ao cos _qo-

lm S(pVoCy

-- m

(D-766)

( FISCy_

-b #tOy v ) + --_1
+

os5
ace ]

ro cos a'o cos/30

+ poVo cos C_ocos/3o + roVo sin ao cos flo

(D-769)
(D-770)

-- m1 ( #ISCye + cgYT_
0/3 ,I - pol'{3 sin ao sin flo - roVo cos ao sin flo

(D-7n)

g cos Oo cos o

(D-772)

gsin0osino

(D-773)

-0

(D-774)
91

o(_)

- mS

Oh
0(_)

(D-775)

_,;2Cy _ + qty.

-0

(D-776)

-0

(D-777)

Ox

o(_)
09

o(_)
O&

o@)

qS_ C
2T7-om Y+

(D-778)

qSb C
2I_om Y_

(D-779)

a(_)
m1

86,

D.3.33

z body

axis

(D-780)

+ _-/]
OYT)

,iSCy_,

acceleration

derivatives.--

qSb (_

o(_)
0p

--

Oq

O(,b)

Or

O(&)Ol
.... -

21/_ore,

21,'_m

_Sb
2Vom

sin

a' 0 CDp

--

cos

o_0 CLp)

IZo sin/30

(-

sin

a'o

--

cos

o: 0 CLq)

Jr

Vo

(-

sin ao CD_ - cos

m,1 -Ssinao

CDq

(pI'_)CD +

ao

CLr

qCDv)

cos

(D-781)

o' 0 cos

(D-782)

flo

(D-783)

--

ScOSCto (pI'SCL

z"l

+ OCLv) + 017 j

(D-784)

+ qo cos aO cos/3o -- Po sin _qo

O(_b)Oct
-- ml

[(IS(-

z'"l

CD_ - cOSao CL,, - cosa'o CD + sino_o CL) -[- Oct j

sinao

(D-rSS)

-- qoVo sin ao cos/3o

_ _[

O(tb)__Ofl ml 0S(-sino'oCDz

o(,c_,)
0
o(_)
00

oz
OflJ-qI';cs'sin/J-PlTcsfl
]

COsa0CLz)+

(D-787)

g cos0osino

(D-rSS)

-gsinOcs

0('_,) _ 0
0_,

_ [

O( )Oh

mS _ sin

(D-789)
ao

(1

"_ + qCDh

Vo2CD

0( _,) _ o
o(,_,) _ o
o,j
0&

21ZVom

2t-Vom(

o(.(Q
0_
92

--

co_,_o( ,_ _,_2cL_+
p

OcL.)]

(D-790)

(D-792)

0=s_(_

(D-790

O:L"

o(.,_)

(D-786)

sin

ct 0 CDa

cos

sin

ao

--

cosa'0

a 0 Cba)

OSb ,
CD/_

CL/_)

(D-rga)
(D-79:i)

1
0(_) _ 1 [_S(- sin (2 0 CD,,,
- cos % CL,,) + -0-_/1
O,Si
m [
D .3.34

Angle-of-attack

sensor

output

(D-795)

derivatives.

(D-796)
(D-797)
(D-798)
OY
O(a,i)
Oa

HI

_ 1

(D-S00)

0(_,0 _ o

(D-801)

oz
O(_,i) _ o
o

(D-802)

0(%) _ o

(D-803)

O0

O(c_,O_ o
O_

(D-804)

0(_,0 _ o

(D S0_)

Oh

O(_,_) _ o
Oz

(D-SOt)

0(<0 _ o

(D-SOS)

O(_,d _ o

(D-809)

O(_,d _ o

(D-Sl0)

o)

06_

Angle-of-sidesllp

sensor

(D-806)

O(a,d _ o
O_
O&

D.3.35

(D-799)

output

derivatives.--

o(Z,d

zz

Op

Vo

o(a,j _ o
Oq

0(_,0
Or

_p
Vo

(D-Sll)
(D-S12)
(D-Sl3)

93

0(&) _

roxz

- pozp

(D-814)

OV

o(&) _ o

(D-815)

Oa

o(_,_)_ i
09
o(&) _ o

(D-816)

o(&) _ o

D-818)

o(&) _ o
o,#
o(&) _ o

D-819)

D-817)

D-S20)

cgh

O(fl,J _ o

D-821)

Ox

o(&) _ o

D-822)

Oy

o(&) _ o

D-823)

0,5

o(&) = o

D-824)

o(&) _ o

D-825)

oh

D.3.36

Altimeter

output

derivatives.--

o(h_) _ o

(D-S26)

01-,

8(h,;) _ o

(D-S27)

8q

O(h i) = o

(D-828)

cgr

O(h,_)_ o

(D-S20)

OV

O(h,d _ o

(D-830)

Oa,

O(h,d = o
o_
0(h,i) - --Yh cos o
0
o(#,,_) -- Xh COSO0 +
00

O(#,.,_)-0

9l

(D-831)
(D-832)

cos Oo + zh sin 540cos Oo

Yh sin o sin Oo + zh cos o Sill

0 0

(D-833)
(D-83,t)

o(h_) _ t

(D-835)

Dh

O(h,d _ o

(D-836)

Ox

a(h,_) _ o

(D-837)

Oy

a(h,_) _ o

(D-S3S)

O&

O(h,d = o

(D-839)

o(h,d _ 0

(D-840)

o)

D.3.37

Altitude

rate

sensor

output

derivatives.--

o(i,;) _ o
op

(D-841)

o(id

_ o

(D-842)

O(]_,d _ o

(D-843)

Oq
Or

o(i_) _ o

(D-844)

OV

o(i,,,d _ o

(D-S45)

o(h,d
03
o(i,,d
o
o(l,.d

(D-846)

00

-0

$(Yh sin q5ocos 0o + z h cos 45ocos 0o) + O(YL cos o sin 0o - z h sin q5osin 0o)

(D-847)

O(x h sin 0o - Y'hsin o cos 0o -- z h cos o cos 0o)

(D-848)

+ _P(Yhcos o sin 0o - zh sin o sin 0o)

O(i_,i) -0

(D-849)

o(i_,d _ o

(D-SS0)

Oh

o(i_,_)_ o

(O-SS_)

Ox

o(i_,d _ o
oy

(D-S52)

o(i_,d _ o

(D-853)

8&

o(h,d _ o
03

(O S.S,l)
95

C_

a(i,,O
0

(D-855)

-Yj, cos 6o cos Oo+ zh sin o cos Oo

o(i_,_
)
00

= x_ cos 0o + Yh sin o sin 0o + z h cos o sin 0o

a(i,,j
I
aJ_ -

(D-857) !

a(/,,J = o

D.3.38

Total

angular

(D-SSS):,

momentum

derivatives.--

O(T)
Op

I_.po - Ixyqo - L:zro

(D-859)::

[_qo -- [_po

- [y_ro

(DSG0):

- Iv=qo

(D-SG1):

O(T)
Oq
O(T)
Or

-- Ij'o

O(T) = o
ov
O(T)

_ 0

O(T)

= 0

a3

a(T) _ o
06
O(T)
00

_ 0

O(T) _ o
a
0(T)
Oh
a(T)
Ox

_ 0

a(T)
Oy

_ 0

-0

O(T) _ o
oa
a(T) = o

o_

O(T)

96

(D-856)I

_ o

- l_po

(D-862)_
(D-863)_
(D-864)"

(D-SGs)!
(D-866)_

(D-S67)I
(D-868)
(D-869)
(D-870)
(D-871)
(D-872)
(D-873)

D .3.39

Stability

axis

roll

rate

derivatives.---

O(ps)

(D-874)

Op

o(ps)
aq
o(ps)
Or

(D-875)
-

(D-876)

sin ao

O(p_) -0
ov
o(;_)
8a

(D-877)
Po sin ao + ro cos ao

o(ps) -0
8_
o(p_) -0
0
a(p_)
oo
a(p_)
0,
o(p_)
oh
o(p_)

(D-879)
(D-880)
(D-881)
(D-882)
(D-SS3)
(D-884)

8x

a(;_)

(D-STS)

(D 885)

-0

Oy

O(ps)
oa
a(p_)
o(w)

D.3.40

Stability

axis

pitch

rate

(D-886)
(D-887)
(D-888)

-0

derivatives.--

a(qs) _ 0

(D-889)

8p

(D-890)
Oq
O(qs) _ 0
Or

(D-891)

a(q_) _ o
av
O(q_)_ o

(D-892)

a(qs)
&3

(D-89,1)

_ o

(D-S93)

97

O(q_)_ o
o

(D-895)

O(q_) _ 0
00

(D-896)

a(qs) _ o
o_
O(qs) = o
oh
o(q_) _ o
Ox

o(q_) _ o
Oy

O(q_)_ o
8&

D .3.41

Stability

axis

yaw

rate

(D-897)

(D-898)

..

(D-899)
(D-900)
(D-901)

o(q_) _ o

(D-902)

O(qs) _ 0

(D 903)

derivatives.-O(r_) _
Op

sin ao

0(_) _ o
Or

--

COS

(D-904)
(D-905)

Oq
O_0

0(r0 _ o
OV

(D-906)
(D-907)

o(_)
Oc_

-Po cos O'o - ro sin O'o

0(7"0 _ o
o_
o(,'0 _ o
o
0(_) _ o
O0

0(_) _ o
o_
0(,,_) _ o
Oh

0(_) _ o
8x

O(r_) _ o
8y

98

(D-908)
(D-909)
(D-910)
(D-911)
(D-912)
(D-913)
(D-914)
(D-915)

o(_,) _ o
O&

Off,) _ o

ok
(_--2)
=o

(D-916)
(D-917)
(D-9_8)

oq6_

99

REFERENCES
Clancy,

L.J.:

Aerodynamics.

John

Wiley

& Sons, New York,

1975.

Dicudonne,
James E.: Description
of a Computer
Program and Numerical
Technique for Developing
Perturbation
Models From Nonlinear
Systems Simulations.
NASA TM-78710,
1978.
Dommasch,
Publishing

Daniel O.; Sherby, Sydney S.; and Connolly,

Company,
Marshfield,
Massachusetts,
1967.

Duke, Eugene
FORTRAN
Edwards,

Etkin,

L.; Patterson,
Brian P.; and Antoniewicz,
Program to Derive Linear Aircraft Models.

John

Systems.

E.:

NASA

Bernard:

A FORTRAN
TM

X-56038,

Dynamics

Program

William:

of Atmospheric

Measurement

Kwakernaak,
Huibert;
York, 1972.

and

for

F.:

Airplane

Robert
F.:
NASA TP-2768,

the Analysis

of Linear

Flight.

of Aircraft

Sivan,

John

Wiley

Linear

Optimal

NASA
Control

E.; and Iliff, Kenneth

W.: Application
of Parameter
Output-Error
Approach.
NASA RP-1168,
1986.

McRuer,
Duane;
Ashkenas,
Irving;
and
Princeton
University
Press, Princeton,
Northrop
Aircraft, Inc.:
61-4 II, Sept. 1952.
Thelander,

J.A.:

Aircraft

Dynamics

Motion

User's Manual
1987.
Continuous

New York,

Summary
of Transforrnation
Data Reduction
and Analysis.

Speed and Altitude.

Raphael:

& Sons,

for

and

Pitman

LINEAR,

Sampled-Data

Graham,
Dunstan:
New Jersey, 1973.

of the Airframe.

Analysis.

Bureau

Air Force Flight

PRECEDING

PAGE

Aircraft

BLANK

Equations
and Equations
NASA SP-3070, 1972.
1980.

Systems.

John

a General

Estimation

Dynamics

of Aeronautics,

Dynamics

1972.

ITP-1046,

Maine, Richard
E.; and Iliff, Kenneth
W.: User's Manual for MMLE3,
Maximum
Likelihood
Parameter
Estimation.
NASA TP-1563,
1980.
Maine, Richard
Control--The

Aerodynamics.

1976.

Gainer, Thomas
G.; and Hoffman,
Sherwood:
Jlfotio_ Used in Free-Flight
and Wind-Tunnel
Gracey,

Thomas

Linear

Wiley

FORTRAN

to Aircraft

and

New

Program

Stability

Automatic

Navy Department,

Laboratory,

& Sons,

of

for

and

Control.

Report

FDL-TDR-64-70,

AE-

1965.

NO_I' FILMED

101

Report

Documentation

Page

SOace_O'nr'R_raon
1. Report

No.

NASA

2. Government

Accmion

No.

3, Raciplent's

No.

RP- 1207

4. Title and Subtitle

Derivation

5. Report

and Definition

of a Linear

Aircraft

Eugene
L. Duke, Robert
Keith D. Krambeer

9. Performing

Organization

F. Antoniewicz,

Organization

Code

8. Performing

Organization

Report

and

Research

No.

H-1391
Unit No.

RTOP

and Address

505-66-11

11. Contract

Ames

1988

6. Performing

10. Work

Name

Date

August

Model

7. Author(s)

NASA

Catalog

or Grant

No.

Center

Dryden
Flight Research
P.O. Box 273, Edwards,

Facility
CA 93523-5000

13. Type of Report

and Period

Covered

12. SponsodogAgencyName and Addresa

Reference
National
Aeronautics
and
Washington,
DC 20546
15. Supplementary

Space

Administration

Publication

14. Sponsoring

Agency

Code

Notes

16. Abstract

This report documents

the derivation
and definition
of a linear aircraft model for a rigid aircraft of constant
mass flying over a flat, nonrotating
earth.
The derivation
makes no assumptions
of reference
trajectory
or
vehicle symmetry.
The linear system equations
are derived and evaluated
along a general trajectory
and
include both aircraft dynamics
and observation
variables.
17. Key Words

Aircraft
Flight
Flight
Linear
19. Security

(Suggested

by Author(s))

models

FORM

Statement

Unclassified

--

Unlimited

controls
dynamics
models
Classif.

Subject

(of this report)

20.

Unclassified
NASA

18, Distribution

Classif.

(of this page)

21.

Unclassified

1626 ;CT

*For

Security

sale

No. of pages

category

08

22. Price

A06

108

B6

by fhe

National

Technical

Infovmatlon

Service,

Springfield,

VA

22161-2171.
NASA-Langley, 1988