Abbreviation
$ADM$	Aircraft Dynamic Model
$AMM$	Aircraft Motion Model
$CFD$	Computational Fluid Dynamics
$EKF$	Extended Kalman Filter
$GPS$	Global Positioning System
$IMU$	Inertial Measurement Unit
$INS$	Inertial Navigation System
$MEMS$	Micro-Electro Mechanical Systems
$MLE$	Maximum Likelihood Estimation
$PMW$	Pulse Width Modulation
$UAV$	Unmanned Aerial Vehicle
$UKF$	Unscented Kalman Filter
Coordinate
$\mathit{g}$	Earth-surface inertial reference frame pointing North, East, Down
$\mathit{b}$	Aircraft-body coordinate frame
$\mathit{a}$	Wind coordinate frame
$C_g^b$	Coordinate rotation matrix from g to b
$C_a^b$	Coordinate rotation matrix from a to b
Aircraft
m	Total mass, kg
I	Moment of inertia, kg·m${}^2$
$x_G,y_G,z_G$	Position of center of gravity, m
$x_F$	Aerodynamic focus, m
$x_{pW},x_{pB},x_{pWB}$	Aerodynamic center of wing, body and wing-body, m
$x_{pHT},x_{pHT{\delta }_e}$	Aerodynamic center of horizontal tail and elevator, m
l	Wing span, m
$\overline{c}$	Mean aerodynamic chord, m
S	Reference area, m${}^2$
$S_{CW}$	Cantilever wing area, m${}^2$
$S_B$	Fuselage maximum cross-sectional area, m${}^2$
$S_{HT}$	Horizontal tail area, m${}^2$
$\lambda$	Aspect ratio
$\overline{D}$	Fuselage diameter-to-wing span ratio
D	Diameter of propeller, m
${\phi }_W,{\phi }_S$	Incidence angle of wing, horizontal tail, degree
$K_{\alpha \alpha },K_{\varphi 0}$	Wing-body interference factor
${\left(K_{\alpha \alpha }\right)}_{HT},{\left(K_{\varphi 0}\right)}_{HT}$	Horizontal tail-body interference factor
$F_T$	Thrust of propeller, N
$F_A={[X,Y,Z]}^T$	Aerodynamic forces in wind coordinates, Drag, Side Force and Lift, N
$M_b={[M_x,M_y,M_z]}^T$	Aerodynamic moments in body coordinates, Roll, Pitch and Yaw moment, N· m
$C_{FT1},C_{FT2},C_{FT3}$	Dimensionless thrust coefficients
$C_X,C_Y,C_Z$	Dimensionless aerodynamic-force coefficients
$m_x,m_y,m_z$	Dimensionless aerodynamic-moment coefficients
$V_a$	Airspeed, m/s
$\alpha$	Angle-of-attack, rad
$\beta$	Angle of sideslip, rad
$\epsilon$	Angle of downwash, rad
$\rho$	Air density, kg/m${}^3$
Q	Dynamic pressure, Pa
$k_{HT}$	Airflow block factor
${\delta }_e,{\delta }_r,{\delta }_a$	Deflection angle of elevator, rudder and aileron, rad
$n_P$	Revolutions per second of propeller, r/s
$d_n,d_e,d_r,d_a$	PWM width corresponding to the channel of thrust, elevator, rudder and aileron
$\varphi ,\theta ,\psi$	Roll, pitch, yaw angle rad
$V^b={[u,v,w]}^T$	Body axis velocities, m/s
${\omega }^b={[p,q,r]}^T$	Body axis angular rates, rad/s