DEPARTMENT OF AEROSPACE ENGINEERING

INDIAN INSTITUTE OF TECHNOLOGY , MADRAS

WILDLIFE MONITORING AND

MAPPING UAV

AS5213 : Design of UAVs and MAVs

Group 20

Jay Gupta (AE21B026)

Bala Murugan (AE21B010)
Potla Sathwik (AE21B052)
Jillepalli Jeevan Roy(AE18B029)
Nagalakshmi BM (AE21B045)

March 7, 2024

1
Contents
1.Mission Motivation 4

2.Mission Profile 6

3.Literature Review 7

4.Parameter Estimation of UAV 10

4.1.Fixed Wing Vs Hybrid UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5.Weight Estimation 11
5.1.Battery Weight Fraction Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5.2.Algorithm for weight estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6.Power Plant Selection 18

6.1.Drag Polar Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.2 Wetted area calculation using image analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6.3.Power Calculation for Cruise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.3.Power Calculation for Climb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.5.Power Calculation for Sustained Turn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.6.Propeller and Battery Selection for Vertical Take off . . . . . . . . . . . . . . . . . . . . . . . 25
6.7. Battery Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

7.Power and Wing Loading 30

7.1.Constraint on stall speed Vs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
7.2.Constraint on maximum speed Vmax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
7.3.Constraint on Rate Of Climb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.4.Constraint on Absolute Ceiling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.5.Constraint on Turn radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.6.Constraints on Performance Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

References 36

Appendix 37

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List of Figures
1 Wildlife researcher with tracking antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Mission Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 JOUAV CW-15 VTOL Drone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
4 JOUAV CW-007 Fixed Wing VTOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5 JOUAV CW-25 Fixed Wing VTOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6 Phoneix VTOL UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
7 Azure VTOL UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
8 BH4300 VTOL UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
9 DeltaQuad Pro VTOL UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
10 Wingtra Hybrid UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
11 Foxtech
 Nimbus VTOL V2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
12 log W E
vslog(Wo ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
 Wo
WE
13 Wo vsWo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
14 Free Body Diagram of Airplane in Cruise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
15 Free Body Diagram of Airplane in Hover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
16 Convergence of Wo with iterations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
17 Weight Distribution of UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
18 Example UAV related to the Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
19 wetted area estimate for fuselage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
20 Exposed area for wing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
21 Swet vs Sre f for
√ the collected data from similar UAVs . . . . . . . . . . . . . . . . . . . . . . . . 20
22 (L/D)max vs √ ARwet for the collected data from similar UAVs . . . . . . . . . . . . . . . . . . . 21
23 (L/D)min PR vs ARwet for the collected data from similar UAVs . . . . . . . . . . . . . . . . . . 21
24 U8-Lite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
25 G29*9.5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
26 P80 KV100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
27 G30*10.5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
28 Aircraft FBD during sustained turn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
29 Constraints on Vmax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
30 Constraints on Vstall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
31 Constraints on ROCmax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
32 Constraints on Habsolute ceiling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
33 Constraints on Turning n . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
34 Constraints on different performance parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

List of Tables
1 The Estimations of the different stages in the mission profile . . . . . . . . . . . . . . . . . . . . 6
2 Estimated parameters using linear regression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3 Power And Energy Requirement for Each Mission Segment . . . . . . . . . . . . . . . . . . . . . 16
4 Weight Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Iterating the Weight Distribution of the UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6 Parameters of the UAV(from Data collected) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7 The Data of wetted surface of different UAV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
8 Propellers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
9 Motors for Cruise and Climb . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
10 Motors for VTOL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
11 Battery Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
12 Performance Parameter constraints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

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 1.Mission Motivation
Wildlife monitoring [1] is an essential component of conservation efforts, providing valuable
data to guide informed decision-making and ensure the long-term sustainability of ecosystems
and the species that inhabit them. Monitoring the wildlife can help scientists to track the popu-
lations of various species, allowing them to assess the health and diversity of ecosystems. This
information is vital for implementing strategies to protect endangered species and maintain
overall biodiversity.
There are already existing methods that helps in wildlife tracking like Wildlife Radio Teleme-
try in which the operator attaches a transmitter to an animal that gives off unique electro-
magnetic radio signals, which allows the animal to be located with the help of handheld radio
receivers tuned at transmitter’s frequency. But traversing natural terrains with tracking anten-
nas is labor-intensive, limits the number of animals that can be effectively monitored, and often
distresses the very creatures we aim to protect. In remote and rugged terrains, it even poses
risks to field researchers. Also traditional ground surveys can be time-consuming, and the data
collected may lack detail due to the limitations of human observation.

Figure 1: Wildlife researcher with tracking antenna

Unmanned Aerial Vehicles can help us to tackle these issues in following ways:

1. UAVs can fly at safe distances, capturing essential data without physically intruding on the
wildlife. They provide an unobtrusive vantage point from above, allowing us to monitor
animals in their natural state without causing any unnecessary stress.
2. They can capture high-resolution imagery and videos, allowing us to gather extensive and
precise data. These visuals offer insights into animal behavior, population dynamics, and
habitat conditions that we might never have obtained otherwise.
3. They can cover larger areas in less time, eliminating the need for expensive helicopter
operations and reducing labor costs. This efficiency ensures that limited conservation
budgets are used efficiently, stretching resources further and maximizing conservation
impact.
4. Researchers can monitor and collect data from a safe distance, eliminating the need to
venture into potentially dangerous environments. This enhances the safety of field re-
searchers.
5. UAVs can map the wildlife habitat using LIDAR , infrared imagery sensors which would
be otherwise difficult to do in rugged terrains, dense forests etc.
UAVs can also help to tackle poaching activities.The use of UAVs for anti-poaching mainly
relies on its high-precision surveillance and positioning capabilities. Drones can continuously
cruise in the air, discover the whereabouts of poachers in time, and transmit their location infor-
mation to wildlife protection personnel in real time. At the same time, the drone can also carry
an infrared camera and a low-light simulation camera, which can see the trajectory of poachers

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in a dark environment.
Example of UAVs used to monitor wildlife: In 2019–2020, an unprecedented bushfire swept
more than 12.6 million hectares of land across Australia and caused the death of more than
61,000 koalas.Even before the bushfire crisis, koalas were considered vulnerable to extinction
due to threats posed by hunting, land development, food degradation, drought, and disease.
After the bushfires, finding surviving koalas in burned and unburned areas became an urgent
problem. To solve this problem, Australian ecologists presented an infield protocol for wild
koala surveillance UAVs, which provides real-time validation of high-resolution thermal signa-
tures of koalas

5
 2.Mission Profile

Figure 2: Mission Profile

The mission Profile represents Altitude v/s time of the UAV. Which x-axis i.e., the horizontal
axis represents the time traveled by the UAV, and the y-axis i.e., represents the altitude at which
UAV is.

The Mission Profile of this UAV will consist of following phases:

1. Takeoff : The first phase includes taking-off from control station.The UAV initiates take-
off using its VTOL system and transitions into fixed-wing flight.If a runaway is available
take off can also be done without using VTOL system to save energy.
2. Climb : The UAV ascends to the specified altitude that depends on the area being moni-
tored.
3. Cruise : Upon reaching the designated altitude, the UAV cruises to the destination area .
4. Loiter : The UAV circles within the expected area for monitoring and take high resolution
images and transmit them to the control station..
5. Hover : The halts utilizing its multirotor configuration to gather data with higher details
if necessary.
6. Descend : The UAV dives down and descends to the lower altitude to monitor closely if
necessary or to land.
7. Landing : The UAV performs a horizontal landing if a runaway is available otherwise it
transitions to multirotor configuration to perform vertical landing .
The above mission profile includes all the maneuvers that the UAV might need to take during
the mission.
SNo. Name of Segment Time(sec) Distance(Km) Altitude(m) Velocity(m/s)
1 Take off 25s - 0-100m 4m/s
2 Cruise and Loiter 10800 s 196km 100m 20m/s
3 Hover 300s - 100m 0m/s
4 Landing 25s - 100m-0m 4m/s
5 Climb(in Mountain region) 750s 15km 100m-3000m 4m/s(Rate of Climb)

Table 1: The Estimations of the different stages in the mission profile

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 3.Literature Review
Some of the drones that are extensively used for Wildlife suveillance and mapping are listed
below:

• Maximum Takeoff Weight:16.5 kg

• Payload weight(maximum): 3 Kg

• Range: 50 km

• Endurance: 3 hours

• Speed: 16.95m/s

• Ceiling(maximum Altitude): 6500 m

• Fuselage : 2.06 m
Figure 3: JOUAV CW-15 VTOL Drone • Wingspan : 3.54 m

• Maximum Takeoff Weight:6.8 kg

• Payload weight(maximum): 1 Kg

• Range:

• Endurance: 55 minutes

• Speed: 17 m/s

• Ceiling(maximum Altitude): 6000 m

• Fuselage : 1.3 m
Figure 4: JOUAV CW-007 Fixed Wing VTOL • Wingspan : 2.2 m

• Maximum Takeoff Weight: 29.5 kg

• Payload weight(maximum): 6 Kg

• Range:435km

• Endurance: 330min-360min

• Speed: 28 m/s

• Ceiling(maximum Altitude): 7000 m

• Fuselage :2.1 m
Figure 5: JOUAV CW-25 Fixed Wing VTOL • Wingspan :4.0 m

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 • Maximum Takeoff Weight: 9 Kg

• Payload weight(maximum): 1.5 Kg

• Range: 100-130 Km

• Endurance:3 hours(1Kg payload)

• Speed: 22 m/s

• Ceiling(maximum Altitude): 4500 m

• Fuselage :1.5 m

• Wingspan :2.8 m
Figure 6: Phoneix VTOL UAV
• Climb rate :4m/s (fixed wing)

• Maximum Takeoff Weight: 40 Kg

• Payload weight(maximum): 17 Kg

• Endurance: 12 hours(3Kg payload)

7 hours(8Kg payload)

• Speed: 26 m/s

• Ceiling(maximum Altitude): 5000 m

• Climb rate :4m/s (fixed wing)

• Fuselage :2.02 m
Figure 7: Azure VTOL UAV • Wingspan :0.696 m

• Maximum Takeoff Weight: 85 Kg

• Payload weight(maximum): 25 Kg

• Endurance: 8 hours(20Kg payload

• Speed: 35 m/s

• Ceiling(maximum Altitude): 5000 m

• Fuselage :2.84 m

Figure 8: BH4300 VTOL UAV • Wingspan :3.3 m:Front 4.3 m:Rear

8
 • Maximum Takeoff Weight: 6.2 Kg

• Empty Weight: 3.3 Kg

• Empty Weight with battery: 5 Kg

• Payload weight(maximum): 1.2 Kg

• Range: 120 Km

• Endurance: 2hours 40 minutes

• Maximum Speed: 28 m/s

• Ceiling(maximum Altitude): 4000 m

Figure 9: DeltaQuad Pro VTOL UAV • Fuselage:0.9 m

• Wingspan :2.35 m

• Maximum Takeoff Weight: 4.5 Kg

• Empty Weight with battery: 3.7 Kg

• Payload weight(maximum): 800 g

• Range:10 km

• Endurance: (3540sec)59 minutes

• Speed: 16 m/s

• Ceiling(maximum Altitude): 5000 m

Figure 10: Wingtra Hybrid UAV • Wingspan :1.25 m

• Maximum Takeoff Weight: 6 Kg

• Empty Weight: 3.36 Kg

• Payload weight(maximum): 800 g

• Maximum Speed: 35 m/s

• Range: 100 Km

• Endurance:2-4 hours
Figure 11: Foxtech Nimbus VTOL V2 • Ceiling(maximum Altitude): 3500 m

Here is the link[2] showing performance of available UAVs in more detail.

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 4.Parameter Estimation of UAV
For the design of the Wildlife Monitoring and Mapping UAV we have to Estimate the pa-
rameters of the UAV and by observing the above data collection we have estimated as given
below:
1. Range: 30 Km
Reason: To observe the environment of the flat or open land areas it is ok to have a small
range for UAV. But if we want our UAV to observe in deep thick forests which is difficult
for us to pass through then we need to have a longer range in which we have to consider the
factor of the communication range which is approximately about 30-35 for the medium
commercial UAV. So we have estimated to Range about 30 Km.
2. Endurance: 120 to 180 minutes(7200sec to 10800sec)
Reason: As the same reason as above we are assuming that the mission requires a little
longer duration than a commercial one(medium). Also to observe the movements of the
animals we need a longer duration to spend on it. For our mission, it is good to have
endurance for about 2-3 hours.
3. Payload weight: 2-3 Kg
Reason: We have observed the data of what payloads we are using for our mission and we
have found out that the main requirements are Multispectral Cameraand Lidar Sensors,
GPS and optional payloads like Thermal Cameras which are about more than 2 Kg
combined. So we estimate the value around 2-3 Kg.
4. Battery weights: 4-5 Kg(Solid State Lithium Battery)
Reason: For our mission, we need a longer flight duration for which we are required to
use more energy-efficient batteries which are approximately 4 Kg. But in case of other
emergencies, we are estimating to need around 4-5 kg battery to have some surplus power.
5. Empty weight of UAV: 7-8 Kg
Reason: By observing the data of the above commercially available drones and also lim-
iting our total weights of UAV(given below value). We have calculated the remaining
weight left i.e. Empty weight(Total-(payload+Battery)), and compared how it is for com-
mercial UAVs which resulted in this value.
6. Total weights: Maximum of 15 Kg

4.1 Fixed Wing Vs Hybrid UAV

• Take off and Landing: Fixed-wing drones usually require a runway for takeoff and land-
ing, limiting their suitability in confined spaces while on the other hand Hybrid UAV can
take off even in challenging terrains like mountains , dense forests etc.
• Endurance and Coverage Area: Fixed-wing drones have longer flight endurance com-
pared to hybrid drones because of less energy requirements. This can be advantageous
for covering large areas in a single flight.They are more energy-efficient during cruising,
making them suitable for extensive surveys over open terrain.On the other hand hybrid
UAVs have comparatively less flying time but can do surveillance in more detail over a
smaller area.
• Surveillance Accuracy:Fixed wing drones are less accurate in capturing high resolution
images because of their incapability to hover over a target while Hybrid drones can hover
over a particular target to monitor it more closely.
• Cost:The cost of hybrid UAVs is more as compared to fixed wing drones due to increasd
complexity of the system.
Since we aim to monitor wildlife in open terrians as well as challenging terrains like Mountains,
Dense forests, Water bodies and considering the need of monitoring them closely if necessary
we decided to go with a Hybrid VTOL-Fixed wing UAV.

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 5.Weight Estimation
The total weight (MTOW) of a airplane can be broken down into four components:

• Payload weight(WPL
• Battery weight(WB )
• Empty weight(WE )
• Crew Weight(WC )
Wo = WPL +WB +WE +WC (5.0.1)
   
WB WE
Wo = WPL +WC + Wo + + Wo (5.0.2)
Wo Wo
W +WC
Wo =  PL    (5.0.3)
1− W Wo
E
− WB
Wo

The empty weight fraction and the Total weight(MTOW) are related by the equation:
WE
= AWoC (5.0.4)
Wo
where A and C depends on the aircraft class.
Taking log on both sides , we get
 
WE
log = log(A) +C log(Wo ) (5.0.5)
Wo

 
WE
Figure 12: log Wo vslog(Wo )

11
  
WE
Figure 13: Wo vsWo

Parameter Value
A 0.75
C -0.15

Table 2: Estimated parameters using linear regression

5.1 Battery Weight Fraction Estimation

1. Energy Required For Cruise: [3]

Figure 14: Free Body Diagram of Airplane in Cruise

In cruise,
T hrust = Drag =⇒ T = D (5.1.1)
Li f t = Weight =⇒ L = W (5.1.2)

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 Drag and Lift are given by,
1
D = ρV 2 SCD (5.1.3)
2
1
L = ρV 2 SCL (5.1.4)
2
Coefficient of Drag is given by,
CL2
CD = CDo +CDi = CDo + (5.1.5)
πeAR
• CDo is drag coefficient at zero lift.
• CDi is the lift induced drag coefficient.
Power consumed by the UAV during cruise is given by,
ρV 3 S CL2
 
P = TV = DV = CDo + (5.1.6)
2 πeAR
 !
ρV 3 S 2W 2

1
P= CDo + (5.1.7)
2 πeAR ρV 2 S
The energy consumed during Cruise is given by,
2 !
ρV 3 S

1 2W
E = Pt = CDo + t (5.1.8)
2 πeAR ρV 2 S

where t is the time for which UAV will be in cruise.

2. Energy Required For Hovering: [4]

Figure 15: Free Body Diagram of Airplane in Hover

During Hover The Lift force generated by horizontal propellers will balance the weight of
the UAV.
For modelling flow isconsidered axisymmetric, incompressible, steady, inviscid
• Mass Conservation: ṁ = ρAv=ρA∞ w
• Momentum Conservation: T=ṁW = (ρAv)w
• Energy Conservation: Tv = 21 ṁw2

13
 T 1
= ρw2 (5.1.9)
A 2
s s
T W
w = 2v =⇒ v = = (5.1.10)
2ρA 2ρA
where,
• W=Weight of the UAV.
• A is the net total propeller area.
• ρ is the density of air at hover altitude.
Power consumed is given by ,

W 3/2
P = Tv = Wv = √ (5.1.11)
2ρA
3. Energy Required For Take-off: [5]
Power required for take-off is given by :
 
TT OVT O 2TT O
PT O = 1+ (5.1.12)
2 ρ∞VT2O A prop
TT O = KT WT O (5.1.13)
KT is the ratio of thrust to weight at take-off conditions which is around 1.2 for small
VTOL UAVs
Energy Consumption during take-off is given by
ET O = PT OtT O (5.1.14)
HT O
where tT O = VT O is the time taken to reach the height of HT O after taking off.
4. Energy Required during Landing: [5]
Assuming the propellers are working on condition of low speed axial descent i.e. VDes ≤
2VH , where VH is the velocity induced at propellers during hovering.Assuming the variable
x=−VDes /VH , the actual induced velocity Vi at the propeller disk can be given by the
quartic approximation given below

Vi = (K − 1.125x − 1.372x2 = 1.718x3 − 0.655x4 )VH (5.1.15)

s
THover
VH = (5.1.16)
2ρSL A prop
Power required is given by
Planding = KWT O (Vi −VDes ) (5.1.17)
and the energy required is given by
Elanding = Plandingtlanding (5.1.18)
where tlanding = time taken to land from initial altitude and is given by
Initial Height
tlanding = (5.1.19)
VDes

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5. Energy Required For Climb: [5]
The required power at the moment of climbing is found by multiplying the sum of the
vertical component, whose weight depends on the angle of climb, and the drag force, by
the speed of the climb. φ is the climb angle and power required for climb is given by
dV
Pclimb = [W sin(φ ) +CD q∞ Swing ]Vclimb + M Vclimb (5.1.20)
dt
For climb
L = W cos(Φ) (5.1.21)
T = D +W sin(Φ) (5.1.22)
For small climb angles
L =W
1 W
Thus ρV∞2 Swing = remains to be constant.Thus drag also remains constant during the
2 Cl
climb.
1
D = ρV∞2 SwingCd (5.1.23)
2
 
dH
Considering the Climb Rate as 4m/s and which remains constant during ascent
dt
dVclimb
Pclimb = WVv + DVclimb + MVclimb (5.1.24)
dt
The energy required is found by integrating Power required for Climb from 100m to
ceiling. Z tclimb
Eclimb = Pclimb dt (5.1.25)
0
Z tclimb Z tclimb Z tclimb
dVclimb
Eclimb = WVv dt + DVclimb dt + dt MVclimb
0 0 0 dt
The density variation with altitude is given standard atmosphere equation
− g +1
 

ah aR
ρ = ρo 1 + (5.1.26)
To
Thus the cruise speed changes with altitude

 g +3  g +3
 ! !
 
 aH2 2aR 2 aH1 2aR 2
− 1+

 1+ 
DVv  To T  1
o  + M V22 −V12


Eclimb = W (H2 − H1 ) +   
Vo  a g 3  2
 + 
 To 2aR 2 

(5.1.27)
Where,
V1 - Cruise speed at 100m.
V2 - Cruise speed at 3000m.
Vo - Cruise speed at ground level.
Vv - Climb rate.

15
5.2 Algorithm for weight estimation
1. Initial total weight Wo with some appropriate random value.
2. Calculate the energy required and battery weight for the selected mission profile using the
initial wo .
3. Calculate the empty weight ratio using equation 4.
4. Calculate new Wo using empty weight ratio and the battery weight ratio.
5. If new Wo = old Wo stop the process otherwise start from step 2 using the new Wo .

Figure 16: Convergence of Wo with iterations

SNo. Mission Segment Time(s) Power(W) Energy(KJ)

Weight Value
1 Take off 25 2320 57.99
Total Weight 14.5 Kg
2 Climb 750 876 635
Empty Weight 7.3 Kg
3 Cruise 10800 274 2593
Battery Weight 5.2 Kg
4 Hover 600 1514 908
Payload Weight 2Kg
5 Landing 25 1485 37.1
Table 4: Weight Distribution
Table 3: Power And Energy Requirement for Each Mission Segment

16
 Iteration Wo Wempty Wbattery SNo. Parameters Values
1 14.000 7.289 5.227 1 Radius(Propeller) 0.2m
2 14.209 7.469 5.368 2 Initial Guess MTOW 14Kg
3 14.756 7.157 5.126 3 Payload weight 2 Kg
4 14.334 7.391 5.306 4 Cdo 0.05
5 14.652 7.211 5.167 5 Vcruise 20 m/s
6 14.408 7.347 5.272 6 Vtakeo f f 4m/s
7 14.593 7.242 5.191 7 Vvertical 4m/s
8 14.451 7.321 5.252 8 Vlanding 4m/s
9 14.559 7.261 5.205 9 Nominal Altitude 100m
10 14.477 7.307 5.241 10 Maximum altitude 3000m
11 14.539 7.272 5.214 11 Span 0.8m
12 14.491 7.298 5.234 12 AR(Aspect Ratio) 10
13 14.528 7.278 5.219 13 e(Ostwald’s factor) 0.757
14 14.500 7.293 5.231 14 K(Aerodynamic constant) 1.2
15 14.521 7.282 5.221 15 Hover time 600s
16 14.505 7.291 5.228 16 Endurance 3 hrs
17 14.517 7.284 5.223 17 Efficiency 0.75
18 14.508 7.289 5.227 18 Energy density(Battery) 300Wh/Kg

Table 5: Iterating the Weight Distribution of the UAV Table 6: Parameters of the UAV(from Data collected)

Figure 17: Weight Distribution of UAV

17
 6.Power Plant Selection

Figure 18: Example UAV related to the Design

As an example of the above image, we designed our UAV which consists:

• 4 VTOL(Vertical TakeOff and Landing) Propellers used for Takeoff and Landing
• One Fixed Wing - which carries cruise, climb, etc
• A propeller
• Tail
• Fuselage/Main body
• Battery/Batteries to operate UAV for the mission

6.1 Drag Polar Estimation:[6] [7]

Drag polar equation is given by:
1
CD = CDo +CD,i = CDo + kCL2 , k = (6.1.1)
πeAR
• CDo is the zero-lift drag.
• CD,i is the lift induced drag.
• e is oswald’s efficiency factor.
• AR is the aspect ratio of the wing.
CDo is given by
Swet
CDo = C fe (6.1.2)
Sre f
• Swet is the wetted area for the UAV (wetted area of the aircraft is the exposed surface area
that interacts with the air).
• Sre f is the wing area.
• C fe is the equivalent coefficient friction.

18
6.2 Wetted area calculation using image analysis:[6]
For Fuselage:

Figure 19: wetted area estimate for fuselage

The wetted area for fuselage can be calculated as:

Atop + Aside
Swet, f uselage = k (6.2.1)
2
• k = π for elliptic cross section of the fuselage.
• k = 4 for square cross section of the fuselage.
• Typical Value = 3.4

For Wings:

Figure 20: Exposed area for wing

For a wing the wetted area is given by

Swet,wing = 2 × Sexposed (6.2.2)
Using image analysis software Image J we calculated the Aside , Atop , Sexposed for the wings
(both main wing and tail wing).

19
 UAV Swet,main wing Swet,tail wing Swet, f uselage Swet,total ARre f ARwet
AYK-250 1.14 0.312 0.8789 2.3309 10.965 2.681
RTV-320 1.92 0.51 1.1764 3.6064 10.667 2.839
Blue shark F350 2.26 0.684 2.4178 5.3618 10.841 2.285
Dragonfish standard 1.1638 0.178 0.512 1.8538 9.091 2.854
Switch UAV 1.448 0.352 0.282 2.082 9.337 3.247
DT26X 2.248 0.468 1,244 3.96 9.689 2.75
FDG33 1.62 0.336 0.7259 2.6819 14.088 4.255

Table 7: The Data of wetted surface of different UAV

The oswald’s efficiency for low sweep wings is given as

e = 1.78(1 − 0.045 AR0.68 ) − 0.64 (6.2.3)

Figure 21: Swet vs Sre f for the collected data from similar UAVs

From the graph,  

Swet
= 4.8664 (6.2.4)
Sre f avg
From the above data CD,o can be calculated as
Swet
CD,o = C fe = 0.054 (6.2.5)
Sre f
C fe is taken as 0.0114 which the average of C f e of the planes simulated in the paper [7]

6.3 Power Calculation for Cruise:

L CL CL
= = (6.3.1)
D CD CDo + kCL2
d(L/D) 1 CL
= 0 =⇒ − (2kCL ) = 0 (6.3.2)
dCL CDo + kCL2 (CDo + kCL2 )2
r
2kCL2 CDo
1− 2
= 0 =⇒ CL = (6.3.3)
CDo + kCL k

20
  
L 1
=p (6.3.4)
D max 4CDo k
In cruise Power required is given by:
"  #
ρV 3 S 2W 2

PR = CDo + k (6.3.5)
2 ρV 2 S
At minimum power,
r
dPR 3ρSCDo V 2 2kW 2 3CDo
= 0 =⇒ − = 0 =⇒ CL = (6.3.6)
dV 2 ρSV 2 k
Therefore (L/D) at minimum power is given by:
  s
L 1 3
= (6.3.7)
D min PR 4 kCDo

√
Figure 22: (L/D)max vs ARwet for the collected data from similar UAVs

 
L p
= 5.5879 ARwet + 2.6497 (6.3.8)
D max

√
Figure 23: (L/D)min PR vs ARwet for the collected data from similar UAVs

21
  
L p
= 4.8393 ARwet + 2.2947 (6.3.9)
D min PR
p
( ARwet )mean = 1.7209 (6.3.10)
 
L
= 12.2659 (6.3.11)
D max
 
L
= 10.226 (6.3.12)
D min PR
Power Loading during cruise under minimum power conditions is given by:
 
W L 1
= (6.3.13)
Pmin D min PR VCruise ηP
W 14.5 × 9.81 × 20 × 0.75
Pmin = L

1
= W = 208.774W (6.3.14)
D min PR Vcruise ηP
10.226
Pmin
TCruise = = 10.438N = 1.065kg f (6.3.15)
Vcruise

6.4 Power Calculation for Climb:

For unaccelerated Climb
T = D +W sinγ (6.4.1)
The Power Required for climb
P = TV = DV +WV sinγ (6.4.2)
Considering Propeller Efficiency
η pr P = TV = DV +WV sinγ (6.4.3)
The Climb rate (R/C) is
η pr P − DV
Vv = V sinγ = R/C = (6.4.4)
W
For small climb angles, sinγ ≈ γ,cosγ ≈ 1.
L = W cosγ (6.4.5)
1
L = W = ρV∞2 SCl (6.4.6)
2
2W
Cl = (6.4.7)
ρV∞2 S
1
D = ρV∞2 SCd (6.4.8)
2
"  #
3 2W 2

η pr P ρV∞ S
R/C = − Cdo + K (6.4.9)
W 2W ρV∞2 S
d(R/C)
For maximum climb rate =0
dV∞
d(R/C) 3ρSCDo V 2 2KW 2
= − =0
dV∞ 2 ρSV 2

22
 s r
2W K
=⇒ V∞ = (6.4.10)
ρS 3Cdo
1
 r  
η pr P 2 K W 2 1.155
(R/C)max = − (6.4.11)
W ρ 3Cdo S (L/D)max
We have considered the cruise velocity to be 20 m/s
s r
2W K
V∞ = = 20m/s (6.4.12)
ρS 3Cdo
Also we have fixed climb rate to be 4m/s
(R/C)max = 4m/s
From the data collected from available uav
(L/D)max = 12.27
Thus Minimum Power to Weight ratio is
 
1
   r  
P 1  2 K W 2 1.155 
=  (R/C)max +  (6.4.13)
W min ηPr  ρ 3Cdo S (L/D)max 

 
P 4 + 20 · (1.155/12.27)
= (6.4.14)
W min 0.75
 
P
= 7.844W /N (6.4.15)
W min
Pmin = 7.844 × 14.5 × 9.81W (6.4.16)
So the total thrust required is given by
Pmin
Treq = = 5.69kg f (6.4.17)
Vclimb

23
6.5 Power Calculation for Sustained Turn:[6]
Equations of Motion for Sustained turn
LcosΦ = W (6.5.1)
WV 2
LsinΦ = (6.5.2)
rg
T =D (6.5.3)
The load factor n is defined as ratio of Lift to Weight.
L
n= (6.5.4)
W
cosΦ = 1/n (6.5.5)
V2
TanΦ = (6.5.6)
rg
V2
r= √ (6.5.7)
g n2 − 1
For load factor of 2 which is going to be our maximum wing loading
r = 26.53m (6.5.8)
For Weight estimation we have used

• Cdo = 0.05
• V = 20 m/s
• S = 0.8 m2
• Aspect Ratio = 10
1
q = ρV 2 = 222.8 (6.5.9)
2
1
K= = 0.0421 (6.5.10)
πeAR
The Drag for the level turn is
Kn2W 2
D = qSCdo + (6.5.11)
qS
(4 × 14.5 × 9.8)2
D = 222.8 × 0.8 × 0.05 + × 0.0421 (6.5.12)
222.8 × 0.8
D = 28N (6.5.13)
Thus the maximum power required for sustained turn is
P = TV = DV = 28 × 20 = 480W (6.5.14)
Time required for completing a full 360o turn is
2πr
t= (6.5.15)
V
t = 8.33s (6.5.16)
Energy Required for single turn is
E = Pt = 480 × 8.33 = 4000J (6.5.17)
As we can see the energy required per level turn is around 4 kJ.If we consider we turn 25
times during the mission it requires 100 KJ which is insignificant compared to that of total
cruise energy which is 2600 KJ.Thus it barely affect the endurance time.

24
6.6 Propeller and Motor Selection for Vertical Take off[8]:
The propeller generates thrust, which is essential for lifting the UAV off the ground and main-
taining its altitude during flight. The size, pitch, and design of the propeller determine the
amount of thrust it can produce. Efficient propellers convert more of the motor’s power into
thrust while minimizing energy loss due to aerodynamic drag.The propellers that are close to
our needs are mentioned below:

Propeller Specifications

• Weight - 100 grams

• Diameter - 29 in
• Pitch - 9.5 in

• Material - CF-Epoxy
G29*9.5
• Maximum Thrust - 32 Kg

• Weight - 70 grams
• Diameter - 27 in

• Pitch - 8.8 in
• Material - CF-Epoxy
G27*8.8
• Maximum Thrust - 23 Kg

• Weight - 100 grams

• Diameter - 30 in
• Pitch - 10.5 in
• Material - CF-Epoxy
G30*10.5
• Maximum Thrust - 33 Kg

Table 8: Propellers

25
 The motor’s power output and torque directly influence the performance. The motor’s thrust
capability and weightlessness is critical for achieving optimal performance.Choosing high-
quality motors from reputable manufacturers can help minimize the risk of failures and ensure
long-term reliability.
• Performance.
• Flight characteristics,
• Payload capacity
• Endurance,
• Efficiency.
Highly efficient motor is required for cruise as its the longest mission segment.These two mo-
tors Tmotors known for their exceptional thrust to power ratio.

Motor Specifications

• Weight - 392 grams

• Peak Current - 52 Amp
• Rated Voltage - 48 V
• Peak Power - 2423 W

• Maximum Thrust - 13.9 Kg

• RPM/V - 100 KV

Antigravity MN8014 • Efficiency - 8.8 g/W

• Propeller - G30*10.5 CF

• Weight - 650 grams

• Peak Current - 70 Amp
• Rated Voltage - 48 V
• Peak Power - 3000 W

• Maximum Thrust - 17.3 Kg

• RPM/V - 100 KV
P80 KV100
• Efficiency - 9.8 g/W

• Propeller - G30*10.5 CF

Table 9: Motors for Cruise and Climb

26
 The Motors for VTOL should be light as we need four of them.Here are the three motors
from Tmotors that are light and highly efficient.

Motor Specifications

• Weight - 287 grams

• Peak Current - 31 Amp

• Rated Voltage - 48-52 V
• Peak Power - 1450 W
• Maximum Thrust - 9.1 kg

• RPM/V - 100 KV
• Efficiency - 9.55 g/W
U8-II Pro • Propeller - G27*8.8 CF

• Weight - 243 grams

• Peak Current - 19 Amp

• Rated Voltage - 48 V
• Peak Power - 917 W

• Maximum Thrust - 7.3 kg

• RPM/V - 85KV
• Efficiency - 10.4 g/W
U8-Lite • Propeller - G29*9.5 CF

• Weight - 351 grams

• Peak Current - 40 Amp
• Rated Voltage - 48 V
• Peak Power - 1873 W

• Maximum Thrust - 11.8 Kg

• RPM/V - 100 KV
Antigravity MN8012
• Efficiency - 10.8 g/W

• Propeller - G30*10.5

Table 10: Motors for VTOL

27
 The Motor-Propeller combination for VTOL is U8-Lite with G29*9.5 because of its low
weight and high Thrust to Power Ratio.It consumes 408 W to produce 4 Kg Thrust.

Figure 25: G29*9.5

Figure 24: U8-Lite

The Motor - Propeller combination suitable for cruise is P80 KV100 with G30*10.5 because
of its high Thrust to Power Ratio.It produces 6kg thrust which is required for climb at 630 W.

Figure 27: G30*10.5

Figure 26: P80 KV100

28
6.7 Battery Selection:
From the Weight estimation the total Energy required to complete the mission is
Etotal = ETakeo f f + EClimb + ECruise + EHovering + ELanding (6.7.1)
ETotal = 60 + 640 + 2600 + 900 + 40 = 4240KJ (6.7.2)
Considering the Energy conversion efficiency is 75 %
4240
ETotal = = 5660KJ (6.7.3)
0.75
Which Corresponds to 1570 Wh of energy. The motor we chose operates at 48 V
(12S battery).The Battery capacity required to complete the mission is
Battery Capacity = 1570/44.4 = 35.4Ah = 35400mAh (6.7.4)

Battery Parameters

• Voltage: 22.2V
• Capactity : 35000mAh
• Discharge: 3C

• Weight: 2.6kg

Table 11: Battery Data

• 6S Lipo 22.2V battery connected in series providing increased nominal voltage of 44.4V.

• Recommended motors consume 40A current, selected battery can provide 105A maximum discharge current
with 32Ah, 3c rating.
Power(W h) = Voltage ×Current
Antigravity MN8012
• Power required per motor = 48 x 40= 1920 watt
• Power required for 4kg = 480 watt
P80 KV 100

• Power required per motor= 70 x 48 = 3360 watt

• Power required for 50 percent throttle = 417.6watt
• Total power required = 2337.6 watt

• current required = 48.7A

Therefore battery is compatible in supply power to motors.

29
 7.Power And Wing Loading
Wing Loading[6]: The wing loading of an aeroplane is the gross weight of the aeroplane di-
vided by its wing area and describes how much weight an aircraft’s wing must support (at its
maximum gross weight) to lift the machine into the air, and keep it there.Wing loading affects
stall speed, rate of climb, takeoff and landing distances, and turning ability.
Power Loading[6]:The power loading of an aeroplane is the gross weight of the aeroplane
divided by the rated power of the engine.

7.1 Constraint on stall speed Vs :[9]

Stall speed refers to the minimum speed at which an airplane must fly to produce lift.During
cruise with stall speed the lift(L) is balanced by weight(W) i.e.
 
1 2 W 1
L = W = ρVs SCLmax =⇒ = ρVs2CLmax (7.2.1)
2 S Vs 2

Any stall speed less than the stall speed specified by the mission requirements is accept-
able.Therefore any    
W W
≤ (7.2.2)
S S required
satisfy the condition. The air density ρ must be chosen to be at sea level (ρ = 1.225 kg/m3,
since it provides the highest air density, which results in the lowest stall speed and CLmax is in
the range of about 1.2-1.4 for surveillance UAVs.

7.2 Constraint on maximum speed Vmax :[6]

At maximum speed,
Preq = TVmax = ηP Pmax (7.3.1)
where Pmax is the maximum available engine power. The engine power at a altitude is given by
 
ρ
Palt = PSL = PSL σ (7.3.2)
ρSL
1 2 1 3
ηP PSL σ = ρVmax SCD .Vmax = ρVmax SCD (7.3.3)
2 2
2KW 2
  
1 3 2W 1 3
ηP PSL σ = ρVmax S CDo + K = ρV SC D + (7.3.4)
2 2 S
ρVmax 2 max o
ρSVmax
 
PSL 1 3 1 2K W
ηP σ = ρCDo Vmax W

+ (7.3.5)
W 2 S
ρVmax S
 
W σ ηP
= 1 3 1 2K W

(7.3.6)
PSL 2 ρC D V max W +
o
( S ) ρVmax S
 
W ηP
=⇒ = 1 3 1 2K W

(7.3.7)
PSL Vmax 2 ρSLCDo Vmax ( W ) + ρσVmax S
S
 
W ηP
= aV 3 (7.3.8)
P max
+ b W


( WS ) Vmax S

30
Since any value of Vmax greater then the specified maximum speed is satisfying the maximum
speed requirement so for any    
W W
< (7.3.9)
P P required
satisfy the design requirements.
Vmax is usually equal to 1.2Vc to 1.3Vc cruise speeds for prop-driven aircraft are usually calcu-
lated at 75-80% power.

7.3 Constraint on Rate of Climb:[6]

For a propeller driven aircraft Rate of Climb is given by
Pavailable − Prequired ηP P − DV
ROC = = (7.4.1)
W W
For propeller driven aircraft,
VROCmax = Vmin PR (7.4.2)
PR for a propeller driven aircraft is given by
2 !
ρV 3 S

2W
PR = TRV = CDo + K (7.4.3)
2 ρV 2 S

angle of climb is assumed to be small in the above equation such that cosγ = 1 .For minimum
power,
dPR 3ρSCDo V 2 2W K
= 0 =⇒ − + =0 (7.4.4)
dV 2W ρSV 2
v
u 2W
Vmin PR = VROCmax = t q (7.4.5)
u
3CDo
ρS K
v
ηP Pmax ρV 2 SCD u 2W
ROCmax = − (7.4.6)
u q
W 2W
t
3CDo
ρS K
!2
2W
CD = CDo + k 2
(7.4.7)
ρVROC max
S
Substituting equation 7.3.7 into 7.3.6 , we get,
v s
 u  
ηP Pmax 1.155 u2 K W
ROCmax = − t (7.4.8)
W (L/D)max ρ 3CDo S
 
W 1
= r q (7.4.9)
P ROCmax ROCmax

1.155 2 K W


ηP + (L/D)max ηP ρ 3CDo S

As the ROCmax in the denominator is increased the value of (W /P) will decrease.Since any
value of ROCmax greater than ROCmax,required satisfies the climb requirement so for any
   
W W
≤ (7.4.10)
P P ROC,max
the requirements are satisfied.

31
7.4 Constraint on Absolute Ceiling:[6]
At absolute ceiling ROCmax is zero therefore,
 
W 1
= r q (7.5.1)
PSL σc 1.155 2 K W


(L/D)max ηP ρc 3CDo S
 
W σc
= r q (7.5.2)
PSL c 1.155 2 K W


(L/D)max ηP ρc 3CDo S

If ceiling height is increased ρc will decrease which will decrease the power loading.Since any
ceiling height greater than required ceiling height is acceptable so for any
   
W W
≤ (7.5.3)
PSL PSL required ceiling
satisfies the design requirement.

7.5 Constraint on Turn Radius:[9]

Figure 28: Aircraft FBD during sustained turn

During a sustained turn

W = Lcos(φ ) (7.6.1)
W W V2
Lsin(φ ) =ar = (7.6.2)
g g R
The load factor is defined as the ratio of Lift to Weight.
L
n= (7.6.3)
W
From the vertical force balance we can write ,
L 1 1
=n= =⇒ cos(φ ) = (7.6.4)
W cos(φ ) n
√
n2 − 1 p
sin(φ ) = tan(φ ) = n2 − 1 (7.6.5)
n
The turn radius in terms of load factor can be written as:
WV 2 V2 1 n
R= = √ (7.6.6)
gLsin(φ ) g n n2 − 1

32
 V2
R= √ (7.6.7)
g n2 − 1
wing and Power Loading in Sustained Turn:

CL2 n2W 2
   
T = qSCDo + qS = qSCDo + (7.6.8)
πeAR qSπeAR
n2
 
T qCDo W
= + (7.6.9)
W W /S S qπeAR
p
W (T /W ) ± (T /W )2 − (4n2CDo /πeAR)
= (7.6.10)
S 2n2 /qπARe
T can be written as (P/Vturn ).The UAV is designed for a maximum load factor of 2 because we
don’t need very high turning performance.
W 1
=   2  (7.6.11)
P qCDo W n
Vturn W /S + S qπeAR

7.6 Constraints on Performance Parameters:

Performance parameter Value

Vstall 15m/s
Habsolute ceiling 3000 m
Vmax 25m/s
ROCmax 4 m/s
Rmin 500
nmax 2

Table 12: Performance Parameter constraints

Figure 29: Constraints on Vmax

33
 Figure 30: Constraints on Vstall

Figure 31: Constraints on ROCmax

Figure 32: Constraints on Habsolute ceiling

34
 Figure 33: Constraints on Turning n

Figure 34: Constraints on different performance parameters

At design point,
   
W 2 W
= 108 N/m = 0.1485 N/Watt (7.7.1)
S design P design

35
 References
The references used for the Design of the UAV are given below:

References
[1] Wildlife Drones — How to Use Drones for Wildlife Conservation? Chengdu JOUAV
Automation.
[2] Data sheet – uav data collection.
[3] CW Chan and TY Kam. A procedure for power consumption estimation of multi-rotor
unmanned aerial vehicle. Journal of Physics: Conference Series, 1509(1):012015,IOP
Publishing, 2020.
[4] Sumeet Kumar. Momentum Theory. Fundamentals of Helicopter Aerodynamics, Lecture,
2021.
[5] Özgür Dündar, Mesut Bilici, and Tarık Ünler. Design and performance analyses of a fixed
wing battery VTOL UAV. Engineering Science and Technology, an International Journal,
23(5):1182–1193,Elsevier, 2020.
[6] Daniel P.Raymer. Aircraft Design: A Conceptual Approach. AIAA, 1992.
[7] Falk Götten. Full Configuration Drag Estimation of Small-to-Medium Range UAVs and its
Impact on Initial Sizing Optimization. September 2020.
[8] Tyto Robotics Data Sheet– tyto robotics.
[9] Mohammad H. Sadraey. Chapter 4-Aircraft Design-A Systems Engineering Approach. Wi-
ley, 2013.

36
 Appendix
Appendix A: Empty Weight Estimation Code(MATLAB)

1 clear
2

3 W = 14
4 Wl = 2;
5 Energy = TotalEnergy ( W ) ;
6 Wb = BatteryWeight ( Energy ) ;
7 We = EmptyWeight ( W ) ;
8 W = NewTotalWeight (W , Wb , We ) ;
9

10 while ( abs (W -( Wl + Wb + We ) ) > 0.01 )

11 Energy = TotalEnergy ( W ) ;
12 Wb = BatteryWeight ( Energy ) ;
13 We = EmptyWeight ( W ) ;
14 W = NewTotalWeight (W , Wb , We ) ;
15 end
16

17 Totalweight = W
18 Emptyweight = We
19 Batteryweight = Wb
20

21 function X = EmptyWeight ( W )
22 X = 0.75* W ˆ(1 -0.15) ;
23 end
24

25 function X = NewTotalWeight (W , Wb , We )
26 Wl = 2;
27 X = ( Wl ) /(1 - We /W - Wb / W ) ;
28 end
29

30 function X = BatteryWeight ( Energy )

31 EnergyDensity = 300;
32 X = Energy /( EnergyDensity *3600) ;
33 X = X /0.75;
34 end
35

36 function X = Density ( H )
37 X = 1.125*(1 -0.0065/288.15* H ) ˆ -(1 -9.8/(0.0065*287) ) ;
38 end
39

40 function X = CruiseSpeed ( H )
41 V = 20;
42 H1 = 100;
43 X = V * sqrt ( Density ( H1 ) / Density ( H ) ) ;
44 end
45

46 function X = DragForce (W , H )
47 AR = 10;
48 e = 1.78*(1 -0.045* AR ˆ0.68) - 0.64;
49 SpanArea = 0.8;
50 Cl = 2* W *9.8 / ( Density ( H ) * CruiseSpeed ( H ) ˆ2* SpanArea ) ;
51 Q = W *9.8/ Cl ;
52 X = (0.05 + Cl ˆ2/( pi * e * AR ) ) * Q ;
53 end
54

55

56 function X = TakeoffEnergy ( W )
57 RadiusofProp = 0.2;
58 V = 4;

37
59 H = 100;
60 T = W *9.8*1.15;
61 A = 4* pi * RadiusofProp ˆ2;
62 TakeoffPower = ( T * V ) /2*(1 + ( 1 + 2* T /( Density (0) * V ˆ2* A ) ) ˆ0.5) ;
63 X = TakeoffPower * ( H / V ) ;
64 end
65

66 function X = ClimbEnergy ( W )
67 H1 = 100;
68 H2 = 3000;
69 V = 4;
70

71 Kinetic = 0.5 * W * 9.8 * ( CruiseSpeed ( H2 ) ˆ2 - CruiseSpeed ( H1 ) ˆ2) ;

72 Potential = W * 9.8 * ( H2 - H1 ) ;
73 DragEnergy = 0;
74 dt = 0.001;
75 H = H1 ;
76 while ( H < H2 )
77 DragEnergy = DragEnergy + DragForce (W , H ) * CruiseSpeed ( H ) * dt ;
78 H = H + V * dt ;
79 end
80 X = Kinetic + Potential + DragEnergy ;
81 end
82

83 function X = CruiseEnergy ( W )
84 H = 100;
85 Time = 3*3600 -725 -600;
86

87 X = DragForce (W , H ) * CruiseSpeed ( H ) * Time ;

88 end
89

90 function X = HoverEnergy ( W )
91 H = 100;
92 Time = 600;
93 RadiusofProp = 0.2;
94 A = 4* pi * RadiusofProp ˆ2;
95 X = ( W *9.8) ˆ(1.5) / (2* Density ( H ) * A ) * Time ;
96 end
97

98 function X = LandingEnergy ( W )
99 H = 100;
100 V = 4;
101 RadiusofProp = 0.2;
102 A = 4* pi * RadiusofProp ˆ2;
103 K = 1.2;
104

105 Vh = ( W *9.8/ (4 * Density ( H ) * A ) ) ˆ0.5;

106 x = -V / Vh ;
107 Vi = (K -1.125* x -1.372* x ˆ2 -1.718* x ˆ3 -0.655* x ˆ4) * Vh ;
108 X = K * W *9.8*( Vi - V ) *( H / V ) ;
109 end
110

111 function X = TotalEnergy ( W )

112 X = TakeoffEnergy ( W ) + ClimbEnergy ( W ) + CruiseEnergy ( W ) + HoverEnergy ( W ) +
LandingEnergy ( W ) ;
113 end

Appendix B:Power Loading and Wing Loading Estimation Code(MATLAB)

1 C_D_o = 0.054;
2 V_max =25;
3 V_stall = 15;

38
 4 ceiling = 3000;
5 efficiency = 0.75;
6 AR =10;
7 height = 100;
8 wing_loading = linspace (1 ,300 ,300) ;
9 C_L_max = 1.4;
10 ROC =4;
11 n_max =2;
12 V_turn =20;
13 W_P_max_speed =
p o w e r _ lo a di ng _ ma x _s p ee d ( C_D_o , V_max , efficiency , wing_loading , height , AR ) ;
14 W_S_stall = wing_loading_stall ( C_L_max , V_stall , height ) ; % 180.83 198.913
15 W_P_ROC = power_loading_ROC ( ROC , efficiency , C_D_o , wing_loading , AR ) ;
16 W_P_ceiling = pow er_l oadi ng_ce ilin g ( ceiling , efficiency , C_D_o , wing_loading , AR ) ;
17 W_P_turn = power_loading_turn ( wing_loading , n_max , V_turn , C_D_o , AR ) ;
18

19 Design_X = 0 ;
20 threshold =0.001;
21 for i =1: length ( wing_loading )
22 if
abs ( po w er _ lo a di ng _ ma x _s pe e d ( C_D_o , V_max , efficiency , wing_loading ( i ) , height , AR ) - power _lo
23 Design_X = wing_loading ( i ) ;
24 break ;
25 end
26 end
27 Design_Y = power_loading_ROC ( ROC , efficiency , C_D_o , Design_X , AR ) ;
28

29 figure () ;
30 hold on ;
31 line ( wing_loading , W_P_max_speed , ’ color ’ , ’ red ’ , linewidth =2) ;
32 area ( wing_loading , W_P_max_speed , FaceAlpha =0.4 , FaceColor = ’ red ’ , EdgeColor = ’ red ’) ;
33 line ( wing_loading , W_P_ROC , ’ color ’ , ’ green ’ , linewidth =2) ;
34 area ( wing_loading , W_P_ROC , FaceAlpha =0.4 , FaceColor = ’ green ’ , EdgeColor = ’ green ’) ;
35 line ( wing_loading , W_P_ceiling , ’ color ’ , ’ magenta ’ , linewidth =2) ;
36 area ( wing_loading , W_P_ceiling , FaceAlpha =0.4 , FaceColor = ’ magenta ’ , EdgeColor = ’ magenta ’) ;
37 xline ( W_S_stall , ’ color ’ , ’ cyan ’ , linewidth =2) ;
38 area ([0 , W_S_stall ] ,[2 2] , FaceAlpha =0.4 , FaceColor = ’ cyan ’ , EdgeColor = ’ cyan ’) ;
39 line ( wing_loading , W_P_turn , ’ color ’ , ’b ’ , linewidth =2) ;
40 area ( wing_loading , W_P_turn , FaceAlpha =0.4 , FaceColor = ’b ’ , EdgeColor = ’b ’) ;
41 plot ( Design_X , Design_Y , ’o ’ , ’ MarkerFaceColor ’ , ’ black ’ , ’ MarkerSize ’ ,6) ;
42 a = annotation ( ’ textarrow ’ ,[ Design_X /300+0.05 Design_X /300+0.05] ,[
Design_Y /2+0.25 Design_Y /2+0.1] , ’ String ’ , ’\ textbf { Design Point } ’) ;
43 a . FontSize =15;
44 a . Interpreter = ’ latex ’;
45 l = legend (["" ," $V_ { max }\ ,\ , Constraint$
" ,"" ," $ { ROC } _ { max }\ ,\ , Constraint$ " ,"" ," $H_ { ceiling }\ ,\ , Constraint$ " ,"" ," $V_ { stall }\ ,\ , Con
\ ,\ , Constraint$ "]) ;
46 yticks (0:0.2:4) ;
47 ylim ([0 2]) ;
48 ax = gca ;
49 ax . XAxis . FontSize =12;
50 ax . YAxis . FontSize =12;
51 ax . T i c k L a belInterpreter = ’ latex ’;
52 x = xlabel (" $Wing \ ,\ , Loading \ ,\ , ( W / S ) $ ") ;
53 y = ylabel (" $Power \ ,\ , Loading \ ,\ ,( W / P ) $ ") ;
54 x . Interpreter = ’ latex ’;
55 x . FontSize =20;
56 y . Interpreter = ’ latex ’;
57 y . FontSize =20;
58 l . Interpreter = ’ latex ’;
59 l . FontSize =12;
60 grid on ;
61 legend box off ;

39
62

63 figure () ;
64 hold on ;
65 line ( wing_loading , W_P_turn , ’ color ’ , ’b ’ , linewidth =2) ;
66 area ( wing_loading , W_P_turn , FaceAlpha =0.4 , FaceColor = ’b ’ , EdgeColor = ’b ’) ;
67 l = legend (["" ," $Turning \ ,\ , Constraint$ "]) ;
68 yticks (0:0.2:4) ;
69 ylim ([0 2]) ;
70 ax = gca ;
71 ax . XAxis . FontSize =12;
72 ax . YAxis . FontSize =12;
73 ax . T i c k L a belInterpreter = ’ latex ’;
74 x = xlabel (" $Wing \ ,\ , Loading \ ,\ , ( W / S ) $ ") ;
75 y = ylabel (" $Power \ ,\ , Loading \ ,\ ,( W / P ) $ ") ;
76 x . Interpreter = ’ latex ’;
77 x . FontSize =20;
78 y . Interpreter = ’ latex ’;
79 y . FontSize =20;
80 l . Interpreter = ’ latex ’;
81 l . FontSize =12;
82 grid on ;
83 legend box off ;
84

85

86

87

88

89

90

91

92 figure () ;
93 hold on ;
94 line ( wing_loading , W_P_max_speed , ’ color ’ , ’ red ’ , linewidth =2) ;
95 area ( wing_loading , W_P_max_speed , FaceAlpha =0.4 , FaceColor = ’ red ’ , EdgeColor = ’ red ’) ;
96 l = legend (["" ," $V_ { max }\ ,\ , Constraint$ "]) ;
97 yticks (0:0.2:4) ;
98 ylim ([0 2]) ;
99 ax = gca ;
100 ax . XAxis . FontSize =12;
101 ax . YAxis . FontSize =12;
102 ax . T i c k L a belInterpreter = ’ latex ’;
103 x = xlabel (" $Wing \ ,\ , Loading \ ,\ , ( W / S ) $ ") ;
104 y = ylabel (" $Power \ ,\ , Loading \ ,\ ,( W / P ) $ ") ;
105 x . Interpreter = ’ latex ’;
106 x . FontSize =20;
107 y . Interpreter = ’ latex ’;
108 y . FontSize =20;
109 l . Interpreter = ’ latex ’;
110 l . FontSize =12;
111 grid on ;
112 legend box off ;
113

114

115

116

117 figure () ;
118 hold on ;
119 line ( wing_loading , W_P_ROC , ’ color ’ , ’ green ’ , linewidth =2) ;
120 area ( wing_loading , W_P_ROC , FaceAlpha =0.4 , FaceColor = ’ green ’ , EdgeColor = ’ green ’) ;
121 l = legend (["" ," $ { ROC } _ { max }\ ,\ , Constraint$ "]) ;
122 yticks (0:0.2:4) ;
123 ylim ([0 2]) ;
124 ax = gca ;

40
125 ax . XAxis . FontSize =12;
126 ax . YAxis . FontSize =12;
127 ax . T i c k L a belInterpreter = ’ latex ’;
128 x = xlabel (" $Wing \ ,\ , Loading \ ,\ , ( W / S ) $ ") ;
129 y = ylabel (" $Power \ ,\ , Loading \ ,\ ,( W / P ) $ ") ;
130 x . Interpreter = ’ latex ’;
131 x . FontSize =20;
132 y . Interpreter = ’ latex ’;
133 y . FontSize =20;
134 l . Interpreter = ’ latex ’;
135 l . FontSize =12;
136 grid on ;
137 legend box off ;
138

139

140

141 figure () ;
142 hold on ;
143 line ( wing_loading , W_P_ceiling , ’ color ’ , ’ magenta ’ , linewidth =2) ;
144 area ( wing_loading , W_P_ceiling , FaceAlpha =0.4 , FaceColor = ’ magenta ’ , EdgeColor = ’ magenta ’) ;
145 l = legend (["" ," $H_ { ceiling }\ ,\ , Constraint$ "]) ;
146 yticks (0:0.2:4) ;
147 ylim ([0 2]) ;
148 ax = gca ;
149 ax . XAxis . FontSize =12;
150 ax . YAxis . FontSize =12;
151 ax . T i c k L a belInterpreter = ’ latex ’;
152 x = xlabel (" $Wing \ ,\ , Loading \ ,\ , ( W / S ) $ ") ;
153 y = ylabel (" $Power \ ,\ , Loading \ ,\ ,( W / P ) $ ") ;
154 x . Interpreter = ’ latex ’;
155 x . FontSize =20;
156 y . Interpreter = ’ latex ’;
157 y . FontSize =20;
158 l . Interpreter = ’ latex ’;
159 l . FontSize =12;
160 grid on ;
161 legend box off ;
162

163

164

165

166 figure () ;
167 hold on ;
168 xline ( W_S_stall , ’ color ’ , ’ cyan ’ , linewidth =2) ;
169 area ([0 , W_S_stall ] ,[2 2] , FaceAlpha =0.4 , FaceColor = ’ cyan ’ , EdgeColor = ’ cyan ’) ;
170 l = legend (["" ," $V_ { stall }\ ,\ , Constraint$ "]) ;
171 yticks (0:0.2:4) ;
172 ylim ([0 2]) ;
173 xlim ([0 300]) ;
174 ax = gca ;
175 ax . XAxis . FontSize =12;
176 ax . YAxis . FontSize =12;
177 ax . T i c k L a belInterpreter = ’ latex ’;
178 x = xlabel (" $Wing \ ,\ , Loading \ ,\ , ( W / S ) $ ") ;
179 y = ylabel (" $Power \ ,\ , Loading \ ,\ ,( W / P ) $ ") ;
180 x . Interpreter = ’ latex ’;
181 x . FontSize =20;
182 y . Interpreter = ’ latex ’;
183 y . FontSize =20;
184 l . Interpreter = ’ latex ’;
185 l . FontSize =12;
186 grid on ;
187 legend box off ;

41
188

189

190

191 function [ density , ratio ]= density_altitude ( height )

192 density_SL = 1.225;
193 T_SL = 298;
194 g = 9.81;
195 R = 287;
196 a = -0.0065;
197 density = density_SL *(1+ a * height / T_SL ) ˆ(1+ g /( a * R ) ) ;
198 ratio = density / density_SL ;
199 end
200

201 function [ W_S_stall ] = wing_loading_stall ( C_L_max , V_stall , height )

202 [ density ,˜] = density_altitude ( height ) ;
203 W_S_stall = 0.5* density *( V_stall ˆ2) * C_L_max ;
204 end
205

206 function [ W_P_max_speed ] =

p o w e r _ lo a di n g_ ma x _s p ee d ( C_D_o , V_max , efficiency , wing_loading , height , Aspect_ratio )
207 density_SL = 1.225;
208 oswa ld_efficiency =1.78.*(1 -0.045*( Aspect_ratio ) .ˆ0.68) -0.64;
209 [ density , ratio ] = density_altitude ( height ) ;
210 K = 1/( pi * oswald_efficiency * Aspect_ratio ) ;
211 a = 0.5* density_SL * C_D_o ;
212 b = (2* K ) /( density * ratio ) ;
213 W_P_max_speed = efficiency ./(( a * V_max ˆ3) ./ wing_loading +
( b * wing_loading ) ./ V_max ) ;
214 end
215

216 function [ W_P_ROC ] =

powe r_loading_ROC ( ROC , efficiency , C_D_o , wing_loading , Aspect_ratio )
217 density = 1.225;
218 oswa ld_efficiency =1.78.*(1 -0.045*( Aspect_ratio ) .ˆ0.68) -0.64;
219 K = 1/( pi * oswald_efficiency * Aspect_ratio ) ;
220 L_D_max = 1/ sqrt (4* C_D_o * K ) ;
221 W_P_ROC = 1./( ROC / efficiency +
(1.155/( L_D_max * efficiency ) ) * sqrt ((2/ density ) *( wing_loading ) *( sqrt ( K /(3* C_D_o ) ) ) ) ) ;
222 end
223

224 function [ W_P_ceiling ] =

p o w e r _ l oadi ng_ce ilin g ( ceiling , efficiency , C_D_o , wing_loading , Aspect_ratio )
225 [ density , ratio ] = density_altitude ( ceiling ) ;
226 oswa ld_efficiency =1.78.*(1 -0.045*( Aspect_ratio ) .ˆ0.68) -0.64;
227 K = 1/( pi * oswald_efficiency * Aspect_ratio ) ;
228 L_D_max = 1/ sqrt (4* C_D_o * K ) ;
229 W_P_ceiling =
ratio ./((1.155/( L_D_max * efficiency ) ) * sqrt ((2/ density ) *( wing_loading ) *( sqrt ( K /(3* C_D_o )
230 end
231

232 function [ W_P_turn ] =

p owe r_ loading_turn ( wing_loading ,n , V_turn , C_D_o , Aspect_ratio )
233 density = 1.225;
234 oswa ld_efficiency =1.78.*(1 -0.045*( Aspect_ratio ) .ˆ0.68) -0.64;
235 q =0.5* density * V_turn ˆ2;
236 W_P_turn =
1./( V_turn *(( q * C_D_o ) ./( wing_loading ) +( wing_loading .* n ˆ2) /( q * pi * oswald_ effici ency * Asp
237 end

42
Work Contribution:
Week 2
• Jay Gupta (AE21B026) – Weight Estimation and writing code
• Bala Murugan (AE21B010) – Weight Estimation and writing code.
• Potla Sathwik (AE21B052) – Documentation of the Report and mission profile parame-
ters.
• Nagalakshmi BM (AE21B045) – Data collection and Documentation of the Report.
• Jillepalli Jeevan Roy(AE18B029) – Data collection.

Week 3
• Jay Gupta (AE21B026) –Wetted area Calculation and Wing and Power Loading, report
writing.
• Bala Murugan (AE21B010) –Motor and Propeller selection , Wetted area calculation,Previous
code correction and report writing.
• Potla Sathwik (AE21B052) – Documentation of the Report and wetted area calculations.
• Nagalakshmi BM (AE21B045) – Data collection for batteries and motors.
• Jillepalli Jeevan Roy(AE18B029) –.

Week 4
• Jay Gupta (AE21B026) –Wing and Power Loading, report writing.
• Bala Murugan (AE21B010) –Battery and Motor selection and report writing.
• Potla Sathwik (AE21B052) – Previous week correction and wing and power loading.
• Nagalakshmi BM (AE21B045) – Battery and Motor selection and report writing.
• Jillepalli Jeevan Roy(AE18B029) – Data collection for propellers.

43