Quadrotor insansiz hava araci için simulator tasarimi

This work covers a simulator for unmanned air vehicle called quadrotor. For the simulator design, the main components of a real quadrotor are explained and the modeling of them is implemented in the simulation. The main goal of this work is to argue for an idea that a real quadrotor design could be developed upon a well designed simulator with a little effort.In first sections, the importance of unmanned air vehicles and the reasons for why the quadrotor is commonly used for educational purpose are explained. After that quadrotor working principles explained in detail and the equations of dynamics are derived.In an unmanned air vehicle, measurement system, control system and communication system have vital importance. All sensors used in a quadrotor are mentioned and the modeling equations of them are derived. Because sensor outputs have different noise characteristics, an effective filtering operation is applied. Furthermore, a well designed control system is required for a stable flight operation and fulfilling duties commanded from a remote operator.As a last, a three dimensional quadrotor model and medium are designed to visualize all the work done. Simulator helicopter is controlled from a user interface which has number of functional buttons for operator commands and vehicle?s instant state values on it.