The model of the procedural simulator for the UAV’s operators training (Модель процедурного тренажеру для підготовки операторів безпілотних літальних апаратів) MINISTRY OF EDUCATION AND SCIENCE OF UKRAINE NATIONAL AVIATION UNIVERSITY Institute of Air Navigation Air Navigation Systems Department MASTER`S DEGREE THESIS Completed by: I.Lutsyk Supervisor: O.Luppo

Purpose The development of the procedural simulator for the UAV’s operators training (Flight Plan Programming) Tasks To analyse the general principles of the unmanned aircraft systems; To process information about the existing methods of operators training and methods of flight simulation; To choose an appropriate mathematical model for the flight programming; To develop a navigational model and the algorithm of the simulator; To implement the developed models and algorithms to create procedural simulator 2

3 Navigational scope

4 Motion of the UAV at turn: y x S z S1 z1 fi1 XiXi YiYi Yi-1 Xi-1 where R - the radius of turn, ω - the angular velocity, g - gravitational acceleration, γ - bank angle, φ r - the depth of turn, φ 1 - the course at the beginning of turn, φ 2 - given course for turn, z 1 - coordinate along the axis z, S 1 - coordinates along the axis S, t - the time since the beginning of the reversal

5 Motion of the UAV in vertical plane: Vertical Speed and Indicated Air Speed permissible zone

6 Start Heading Heading desired Airspeed Linear movement? No Calculate turn radius; Calculate angle α; Calculate position change; Calculate new X, Y by turn movement formula; Calculate drift for coord. X; Calculate drift for coord. Y; Calculate X, Y with drift; Calculate new heading value ; Calculate coordinate X, Y coordinates value using linear motion equation; Calculate drift for coord. X; Calculate drift for coord. Y; Calculate X, Y with drift; Yes Calculate Ground Speed; Calculate Drift angle; Current heading Ground speed Drift angle Coordinates X, Y End Algorithm of the coordinates calculation

7 UAV Simulation block diagram Human operator Computer Control panel Block of flight parameters calculation

8 № of the block Name Input dataOutput data Main operations 1 Block of parameters calculation in the horizontal plane 1) true air speed 2) current heading 3) desired heading 4) bank angle 5) previous coordinates 1)heading 2)coordinates Receiving the input data, the calculation of coordinates, of course is carrying out in this block is. Input is the result of other calculations blocks. Output can be used for calculations in other units 2 Block of parameters calculation in the vertical plane 1)engine thrust 2)aircraft parameters 3)minimum engine thrust 4)current indicated airspeed 5)pitch angle 6)previous altitude 1)Indicated air speed 2)true air speed 3)vertical speed 4)altitude 5)minimum required engine thrust Receiving the input data, this block calculates the change of of all velocities, required thrust. These initial data used in other units UAV Simulation software units

9 Main start window

10 Flight Plan creation window

11 After launch window

Bottom camera manipulation 12

Landing of the UAV 13

14 Conclusions As a result of the work the model of the procedural simulator for the UAV’s operators training was created. Simulation method used for programming was previously presented at scientific conferences. For further improvement and promotions of practical usage of the developed trainer model the list of recommendations is created.

Recommendations The simulator may be used in the educational process to study the basic principles of the UAV flight Developed model of the UAV simulator can be used for future flight simulation projects 15

Approbation of the results 1.Proposed UAV simulation method firstly was represented at the All-Ukrainian competition of student research papers "Aviation and rocket-space equipment. Air Navigation" ( ). 2.Also there was the participation in XII International Scientific Conference "AVIA 2015" ( ) 16

Thank you for your attention!!! 17