Mathematical modeling of a UAV during take-off with nose-wheel off the ground

In this paper, mathematical modeling of a UAV with a nose-wheel and two main wheels is investigated during take-off while the nose-wheel is off the ground. The UAV with only main wheels on ground has unique dynamic characteristics different from that of flight in the air and that of all wheels on ground. The mathematical model is generated according to Newton-Euler method. Since, the model and aerodynamic data are not linearized, this nonlinear model represents actual dynamic characteristics of the UAV. What's more, the main wheels are analyzed separately to determine their effect on the body and landing gear, therefore the modeling is more accurate