Development of a Pilot Training Platform for UAVs Using a 6DOF Nonlinear Model with Flight Test Validation

This paper describes the evaluation of three different modeling and simulation techniques to support unmanned aerial vehicle development for glacial ice research. A Cloud Cap Technologies Piccolo II autopilot is integrated within a 1/3 scale Yak-54. Two hardware-in-the-loop (HIL) simulation models of the Yak-54 are developed using tools provided with the Piccolo II. Conventional parametric modeling is utilized separate from the Piccolo system and two state space linear models are developed for both longitudinal and lateral dynamics. Open loop flight tests are conducted and the results are used to evaluate the accuracy of each modeling method. The best modeling data set is selected and used to develop a six-degree of freedom (6DOF) nonlinear model. A comparison of the nonlinear and linear model’s responses to the flight test data for each dynamic mode was performed. The study reveals that the 6DOF nonlinear model provides more accurate estimates of the dynamics of the vehicle than the linear model in every aspect. A pilot training platform is developed using the 6DOF nonlinear model in conjunction with a pilot joystick device and 3D visualization software for real-time simulation.

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