Aláez Gómez, Daniel
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Aláez Gómez
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Daniel
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Estadística, Informática y Matemáticas
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ISC. Institute of Smart Cities
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Publication Open Access VTOL UAV digital twin for take-off, hovering and landing in different wind conditions(Elsevier, 2023) Aláez Gómez, Daniel; Olaz Moratinos, Xabier; Prieto Míguez, Manuel; Villadangos Alonso, Jesús; Astrain Escola, José Javier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Institute of Smart Cities - ISC; Gobierno de Navarra / Nafarroako GobernuaWith UAVs becoming increasingly popular in the industry, vertical take-off and landing (VTOL) convertiplanes are emerging as a compromise between the advantages of planes and multicopters. Due to their large wing surface area, VTOL convertiplanes are subject to a strong wind dependence on critical phases such as take-off, landing, and hovering. Developing a new and improved unmanned aerial vehicle (UAV) is often expensive and associated with failures and accidents. This paper proposes the dynamic characterization of a commercial VTOL convertiplane UAV in copter mode and provides a novel method to estimate the aerodynamic forces and moments for any possible wind speed and direction. Starting from Euler’s equations of rigid body dynamics, we have derived the mathematical formulation to precisely consider aerodynamic forces and moments caused by any wind speed and direction. This unique approach will allow for VTOL convertiplane UAVs to be trained and tested digitally in takeoff, hovering, and landing maneuvers without the cost and hassle of physical testing, and the dependence on existing wind conditions. A digital twin of a VTOL convertiplane UAV in copter mode has been modeled and tested in the Gazebo robotics simulator. Take-off, hovering and landing maneuvers have been compared with and without the wind physics model. Finally, the simulator has been tested against real flight conditions (reproducing the mean wind speed and direction only), showing a natural and realistic behavior.Publication Open Access An open-source UAV digital twin framework: a case study on remote sensing in the Andean Mountains(Springer, 2025-06-04) Valencia, Esteban; Toapanta, Francisco; Oña, Gabriel; Carrillo, Andrey; Aláez Gómez, Daniel; Loyaga, Erick; Chamorro, William; Cruz, Patricio; Abad, Jackeline; Vandewalle, Patrick; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Institute of Smart Cities - ISCThe increasing demand for unmanned aerial vehicles (UAVs) in the aerospace industry highlights the need for precise simulation environments, especially in remote regions. This study develops an open-source framework for a customized UAV simulation environment using ROS-Gazebo and Ardupilot. The method includes a realistic reconstruction of the environment based on free satellite information, the ROS-Gazebo scheme for modeling and testing the UAV platform, and Ardupilot for mission design and deployment. The methodology aims to reduce costs in surveillance missions and conduct more efficient operations in high-risk and challenging areas. To evaluate the accuracy of UAV positioning for simulating real missions, an experimental validation of the digital twin was carried out using real flight data records from two self-built UAVs equipped with the open-source Ardupilot autopilot. One of the aircraft, a fixed-wing UAV, was tested near the Antisana volcano (4500 meters above sea level), where wind gusts reached speeds of 9 to 12 m/s. These tests revealed maximum errors of 9% in the Z-axis trajectory (altitude). The other aircraft, a quadcopter, was evaluated in the Parque Carolina in Quito (2800 meters above sea level), with wind gusts between 5 and 7 m/s, showing an error of 8% in the Z-axis trajectory. The presented results demonstrate the suitability of the proposed method for emulating complex missions using digital twin models. In this regard, the main contribution of this work lies in its potential for the precise prediction of flight missions in the Z-axis, a crucial variable for avoiding collisions in mountainous regions.