Design and Implementation of a Hardware-in-the-Loop Simulation System for a Tilt Trirotor UAV

Table 1

Specifications of the prototype.

Parameters	Value	Unit
Length	1.6
Wingspan	1.8
Chord	0.24
Wing area	0.4
Weight	6.9
Right rotor position	(0.23, 0.256, 0)
Left rotor position	(0.23, −0.256, 0)
Rear rotor position	(−0.437, 0, 0)