Quadrotor Modeling and Simulation for Industrial Application

This paper presents a modeling and simulation of quadrotor helicopter in outdoor environment. The purpose of the developed simulation environment is to provide a tool for evaluation of quadrotor systems under development and/or manufacturing. Such tool allows to perform parameter tunung and flight verification under simulation before evaluation of the rotorcraft in real working conditions. The model adopted in the presented simulation environment is similar to the model used in the flight controller and allows direct usage of the control parameters adjusted under simulation. Several experimental examples prove the capabilities and usability of the proposed simulation environment.