Korolev was born in Zhytomyr, Russian Empire. His father, Pavel Yakovlevich Korolev, was born in Mogilev to a clerk of the Imperial Russian Army and a peasant mother. His mother, Maria Nikolaevna Koroleva (Moskalenko/Bulanina), was a daughter of a wealthy merchant in the city of Nezhin with Cossack heritage. On his maternal side, in addition to Cossacks, he also had Greek and Polish ancestry.

Korolev received vocational training in carpentry and in various academics at the Odessa Building Trades School (Stroyprofshkola No. 1). Enjoyment of a 1913 air show inspired interest in aeronautical engineering. Korolev began designing a glider as a diversion while studying for his graduation exams at the vocational school. He made an independent study of flight theory, and worked in the local glider club. A detachment of military seaplanes had been stationed in Odessa, and Korolev took a keen interest in their operations. In 1923 he joined the Society of Aviation and Aerial Navigation of Ukraine and the Crimea (OAVUK). He had his first flying lesson after joining the Odessa hydroplane squadron and had many opportunities to fly as a passenger. In 1924 he personally designed an OAVUK construction project glider called the K-5. He briefly trained in gymnastics until his academic work suffered from this distraction. Korolev hoped to attend the Zhukovsky Academy in Moscow, but his qualifications did not meet the academy's standards. He attended the Kiev Polytechnic Institute's aviation branch in 1924 while living with his uncle Yuri, and earning money to pay for his courses by performing odd jobs. His curriculum was technically oriented, and included various engineering, physics and mathematics classes. He met and became attracted to a classmate, Xenia Vincentini, who would later become his first wife. In 1925 he was accepted into a limited class on glider construction, and suffered two broken ribs flying the training glider they built. He continued courses at Kiev until he was accepted into the Bauman Moscow State Technical University (MVTU, BMSTU) in July 1926. Korolev studied specialized aviation topics until 1929, while living with his family in the typically crowded conditions of Moscow. Korolev enjoyed opportunities to fly gliders and powered aircraft during this part of his education. He designed a glider in 1928, and flew it in a competition the next year. The Communist Party accelerated the education of engineers in 1929 to meet the country's urgent need for their skills. Korolev obtained a diploma by producing a practical aircraft design by the end of the year. His advisor was the famous Andrei Tupolev.

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