*2.2. System Architecture*

The selection of components for both the ground and flight segments is performed on the basis of mission requirements. At the same time, the MBD approach is adopted to define systems and subsystems as the result of an iterative process, where the making of a simulation model represents the core of control system development (see Sections 3 and 5). In what follows, the equipment list is presented, while the unmanned system layout is sketched in Figure 3.

The GCS is made of:


**Figure 3.** The unmanned system setup.

The helicopter is equipped with:


#### **3. System Modeling**

Starting from the definition of reference frames, a 6 degrees-of-freedom model is adopted to represent the helicopter, with general expressions for the kinematics and dynamics of a rigid body with a center of gravity *CG*.
