Abstract: In order to meet the requirements of virtual and real interaction, real-time response and precise control in the actual flight process of UAV, taking the flight process of quadrotor UAV as the mission requirement, this paper puts forward the flight process simulation research of quadrotor UAV based on digital twin technology. The quadrotor UAV flight digital twin system architecture is built, the flow direction and function of digital twin simulation data is analyzed, and the function and significance of quadrotor UAV flight digital twin system is introduced. The digital twin model of quadrotor UAV is constructed from the four aspects of geometry, physics, behavior and rules. Finally, a case study of the cruise process of quadrotor UAV is carried out, through the analysis of various parameters in the simulation case, the interaction between virtual and real UAVs is investigated, the accuracy of the digital twin model is proved, and the feasibility of the flight digital twin system of quadrotor UAV is verified.

Key words: digital twin, quadrotor UAV, flight, simulation

摘要： 为了满足无人机在实际飞行过程中的虚实交互、实时响应和精确控制等要求，以四旋翼无人机的飞行过程作为任务需求，提出基于数字孪生技术的四旋翼无人机飞行过程仿真研究。搭建了四旋翼无人机飞行数字孪生系统架构，分析了数字孪生体仿真数据的流向及其作用，并对四旋翼无人机飞行数字孪生系统的功能和意义进行了介绍。从几何、物理、行为和规则等四个方面融合构建了四旋翼无人机的数字孪生体模型。最后进行了四旋翼无人机巡航过程的案例研究，通过仿真案例中的各项参数分析，考察了虚实无人机之间的交互性，证明了数字孪生体模型的精确性，验证了四旋翼无人机飞行数字孪生系统的可行性。

关键词: 数字孪生, 四旋翼无人机, 飞行, 仿真