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3. Modeling a drone
3.1 Kinematic modeling
Let's consider a rigid, moving object (our drone) whose inputs are accelerations and the rotation vector. In the context of kinematic modeling, we can consider that the state vector is composed of :
of the vector p = (p x ,p y ,p z ) which gives the robot's coordinates expressed in the inertial reference frame (here the ground)
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Modeling a drone
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