Real-Time Simulation of Quadrocopter Motion for Virtual Test Site

This article describes the problem of simulating the movement of a quadcopter in a virtual environment system. The proposed solution to this problem includes the construction of a virtual polygon and the implementation of various flight modes of a virtual quadcopter in the cross-platform development environment Unity. To do this, we consider a mathematical model of the dynamics of the quadcopter, consisting of a kinematic model based on Newton’s law, and a dynamic model based on Euler’s law. The described approach to modeling the control system makes it possible to evaluate the control system of the quadcopter and reproduce the dynamics of flight of a real physical object.