A Simulation-Based Framework to Design a Fixed-Wing UAV for Inspecting Large Industrial Zones

Abstract

This paper presents the design and analysis of a fixed-wing UAV intended for inspection of large industrial zones. The design methodology encompasses parametric sizing, configuration selection, geometric modeling, and software-based evaluation. The analytic background includes aerodynamic assessment and stability evaluation. The design combines aerodynamic modeling, propulsion modeling, and nonlinear six-degree-offreedom flight dynamics. A framework was developed in Simulink for software-in-the-loop simulations. The flight control model (FCM), based on the ArduPilot architecture, is integrated with the flight dynamic model. The FCM includes inner-loop controllers for roll, pitch, and yaw stabilization, as well as outer-loop controllers such as L1 guidance and Total Energy Control System (TECS) for trajectory and speed management. The integrated framework supports open-loop mission simulation and design analysis. The UAV design is tailored to coordinate inspection tasks of multiple autonomous UAVs and AGVs in a large open-pit mine. The proposed approach provides an efficient platform for design, control verification, and mission evaluation as well as risk assessment and mitigation prior to hardware implementation.