Modeling and Simulation of Aerospace Vehicle Dynamics, Fourth Edition unifies all aspects of flight dynamics for the efficient development of aerospace simulations. It provides the reader with a complete set of tools to build, program, and execute these simulations. Unlike other books, it uses tensors for modeling flight dynamics in a form invariant under coordinate transformations. For implementation, the tensors are converted to matrices, resulting in compact computer code. In the first part, the equations of motion are derived with three-, five-, and six-degrees of freedom (DoF), using the novel tensor flight dynamics methodology, which is grounded in Einstein's Principle of Covariance. Extensive details are provided by the second part of the book on how to model aerodynamics, propulsion, guidance, and control of aircraft, missiles, and hypersonic vehicles. New sections include a hypersonic missile with authoritative aerodynamic and propulsion data, and the derivation of the six-DoF equations for GPS/INS, based on the WGS84 elliptical Earth model. Twelve simulations undergird the didactic value of the Fourth Edition, programmed in C++ and compatible with Microsoft compilers. The simulations include three-, five-, and six-DoF models of air-to-air, air-to-ground and surface-to-air missiles, UAVs, aircraft, hypersonic vehicles, and space boosters. They are based on the CADAC++ framework and are compatible with CADAC Studio for plotting and stochastic analysis. All software is open source and can be downloaded freely from the AIAA website. Amply illustrated, this text may be used for advanced undergraduate and graduate instructions or for self-study. 78 problems and five projects amplify the topics and develop the material further. Qualified instructors may obtain a complimentary solutions manual from AIAA. This book also serves as an anchor for three self-study courses, which are based on the author's modeling and simulation lectures at the University of Florida. They are available for purchase at arc.aiaa.org: Building Aerospace Simulations in C++, Fourth Edition Fundamentals of Six Degrees of Freedom Aerospace Simulation and Analysis in C++, Third Edition Advanced Six Degrees of Freedom Aerospace Simulation and Analysis in C++, Third Edition "This book should be on the desk of any simulation engineer as a primary reference in his day-to-day job." Dr. Eduardo Zapico, Professor, National University of Cordoba, Argentina. "I think your book is fantastic." Gary Allen Jr., NASA Ames. "Your book helped me and other colleagues already greatly in our work." Dr. Martin Weiss, TNO, The Netherlands. "I would definitely recommend the book." Dr. Domenic Bucco, DSTO, Australia Contents Chapter 1 Overview Chapter 2 Mathematical Concepts in Modeling Chapter 3 Frames and Coordinate Systems Chapter 4 Kinematics of Translation and Rotation Chapter 6 Attitude Dynamics Chapter 7 Perturbation Equations Chapter 8 Three-Degrees-of-Freedom Simulation Chapter 9 Five-Degrees-of-Freedom Simulation Chapter 10 Six-Degrees-of-Freedom Simulation Chapter 11 Real-Time Applications Appendix A Matrices Appendix B CADACþþ Primer Appendix C Aerospace Simulations in Cþþ Appendix D Foundation of Tensor Flight Dynamics Index Supplemental Materials Peter H. Zipfel is a graduate of the University of Stuttgart, Germany, and the Catholic University of America with a PhD in aerospace engineering. 25 years ago, he founded Modeling and Simulation Technologies, which advises and instructs in the functional integration of aerospace systems using computer simulations. For 35 years he taught courses in modeling and simulation, guidance and control, and flight dynamics at the University of Florida, and over the span of 50 years he created aerospace simulations of helicopters, missiles, aircraft, and hypersonic vehicles for the German Helicopter Institute, the U.S. Army, and U.S. Air Force. He is an AIAA Associate Fellow and an internationally recognized short course instructor.