Princess Beatrice believes her mother, Sarah Ferguson, is "probably one of the most misunderstood women in the world".

Princess Beatrice and Sarah Ferguson

Princess Beatrice and Sarah Ferguson

The 29-year-old royal - whose father is the Duchess of York's ex Prince Andrew - admitted her family unit, which includes her sister Princess Eugenie, 27, have endured some "incredibly stressful times" but her mum manages to bring some positivity "every single minute".

She said: "We've been through some incredibly stressful times together as a family and every single minute she created joy. I am so lucky that I get to learn from her every single day.

"I'm inspired by her ability to give, even when she's going through something hard."

As well as her mother, Beatrice is inspired "every day" by her grandmother, Queen Elizabeth, and admits she is "very lucky" to have such powerful women in her life.

She said: "I have two role models, my mother and my grandmother. They are both formidable women. I think having female role models is incredibly important and I am very lucky that I happen to be related to these two incredible women."

Speaking about the monarch in a rare interview, Beatrice added to HELLO! magazine: "Every day she's curious to learn something new, to do something new, and I think that at 91 years old, she goes out into the community with a genuine curiosity as to how she can be a force for good in the world."

Sarah - who divorced Andrew in 1996 after 10 years of marriage - recently admitted she is so close to her daughters they call each other "The Tripod".

She said: "My girls' health and hearts are extremely strong and doing very well. I don't worry at all because I know they keep good diets, they exercise and they are emotionally supported so the stress levels aren't there.

"My girls and I call ourselves 'The Tripod' because we're so close. They will ring me up if they feel they have a problem.

"And they've learnt from my mistakes - thousands of them. It's great."