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

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dc.contributor.authorAláez Gómez, Daniel
dc.contributor.authorOlaz Moratinos, Xabier
dc.contributor.authorPrieto Míguez, Manuel
dc.contributor.authorVilladangos Alonso, Jesús
dc.contributor.authorAstrain Escola, José Javier
dc.contributor.departmentEstadística, Informática y Matemáticases_ES
dc.contributor.departmentEstatistika, Informatika eta Matematikaeu
dc.contributor.departmentInstitute of Smart Cities - ISCen
dc.contributor.funderGobierno de Navarra / Nafarroako Gobernuaes
dc.date.accessioned2023-02-15T08:09:57Z
dc.date.available2023-02-15T08:09:57Z
dc.date.issued2023
dc.date.updated2023-02-15T07:46:25Z
dc.description.abstractWith 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.en
dc.description.sponsorshipThis work has been supported in part by the Ministerio de Ciencia e Innovación (Spain) under the research grant RTI2018-095499-B-C31 IoTrain; in part by Agencia Estatal de Investigación (AEI) and European Union NextGenerationEU/PRTR PLEC2021-007997: Holistic power lines predictive maintenance system; and in part by the Government of Navarre (Departamento de Desarrollo Económico) under the research grants 0011-1411-2021-000021 EMERAL: Emergency UAVs for long range operations, 0011-1365-2020-000078 DIVA, and 0011-1411-2021-000025 MOSIC: Plataforma logística de largo alcance, eléctrica y conectada.en
dc.format.mimetypeapplication/pdfen
dc.format.mimetypeapplication/zipen
dc.identifier.citationAláez, D., Olaz, X., Prieto, M., Villadangos, J., & Astrain, J. J. (2023). VTOL UAV digital twin for take-off, hovering and landing in different wind conditions. Simulation Modelling Practice and Theory, 123, 102703. https://doi.org/10.1016/j.simpat.2022.102703en
dc.identifier.doi10.1016/j.simpat.2022.102703
dc.identifier.issn1569-190X
dc.identifier.urihttps://academica-e.unavarra.es/handle/2454/44701
dc.language.isoengen
dc.publisherElsevieren
dc.relation.ispartofSimulation Modelling Practice and Theory 123 (2023) 102703en
dc.relation.projectIDinfo:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-095499-B-C31/ES/en
dc.relation.projectIDinfo:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PLEC2021-007997en
dc.relation.publisherversionhttps://doi.org/10.1016/j.simpat.2022.102703
dc.rights© 2022 The Author(s). This is an open access article under the CC BY-NC-ND licenseen
dc.rights.accessRightsAcceso abierto / Sarbide irekiaes
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectVTOLen
dc.subjectUAVen
dc.subjectDigital twinen
dc.subjectAerodynamic coefficientsen
dc.subjectGazeboen
dc.subjectWind modelen
dc.titleVTOL UAV digital twin for take-off, hovering and landing in different wind conditionsen
dc.typeinfo:eu-repo/semantics/article
dc.type.versionVersión publicada / Argitaratu den bertsioaes
dc.type.versioninfo:eu-repo/semantics/publishedVersionen
dspace.entity.typePublication
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relation.isAuthorOfPublication.latestForDiscoveryb271d878-81b4-4aea-918a-e708bf967544

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