A Simple Landing Gear Simulation Model for Unmanned Aerial Vehicles

Abstract

This paper deals with the simple but realisticsimulation of the landing gear ofsmall unmanned aerial vehicles (UAVs). Themain goal is to have simulation environments(software-in-the-loop (SIL) and hardware-inthe-loop (HIL)) applicable in the testing offlight control and estimation algorithms fromtake-off to landing. Small UAVs without gearbraking are considered so it is mandatory todescribe the stopping of aircraft purely withthe frictional forces. The developed modelis capable to simulate aircraft motion fromaircraft resting on the ground through takeoffand landing until aircraft rests again onground. The parameters of the model aretuned experimentally for a specified smallUAV. Finally, SIL simulation results are published.