Mathematical Model and Simulink Simulation Method of Rigid Body Motion of Quadcopter UAV

This article provides a comprehensive summary of the mathematical model of rigid body motion for conventional quadcopter UAVs, along with the complete simulation flow. The dynamics and kinematics models of both the position and attitude of the quadcopter UAV are established, and a robust simulation system of the mathematical model is built using the simulink visual simulation tool. Consequently, thorough simulation and verification are carried out within the system. The verification results demonstrate that the model can effectively simulate the position and attitude characteristics of the aircraft during flight, and it can also simulate two distinct flight modes of the aircraft accurately.