VTOL UAV digital twin for take-off, hovering and landing in different wind conditions

With UAVs becoming increasingly popular in the industry, vertical take-off and landing (VTOL) convertiplanes are emerging as a compromise between advantages of planes multicopters. Due to their large wing surface area, VTOL subject strong wind dependence on critical phases such take-off, landing, hovering. Developing new improved unmanned aerial vehicle (UAV) is often expensive associated with failures accidents. This paper proposes dynamic characterization commercial convertiplane UAV copter mode provides novel method estimate aerodynamic forces moments for any possible speed direction. Starting from Euler’s equations rigid body dynamics, we have derived mathematical formulation precisely consider caused by unique approach will allow be trained tested digitally hovering, maneuvers without cost hassle physical testing, existing conditions. A digital twin has been modeled Gazebo robotics simulator. Take-off, hovering compared physics model. Finally, simulator against real flight conditions (reproducing mean direction only), showing natural realistic behavior.