This thesis describes the development of a simulation environment for the GeoSurv II Unmanned Aerial Vehicle (UAV) developed by the Unmanned Aircraft System Technologies Project which is a collaborative research program between Carleton University and Sander Geophysics Ltd (SGL). Unmanned Aircraft System Technologies Project continues to evolve and therefore, many of the avionics sub systems has been carried out by the previous students. The problem considered in this thesis is that of integrating the existing systems and two new subsystems developed in this research, into one integrated autonomous simulation environment.The solution for this problem included developing a concept for an autonomous system but more importantly to develop a simulation environment in which the sub-systems can be tested individually or as whole system when required. The new simulation environment developed in this research includes all aspects of the UAV system, from external environmental factors to the flight control responses caused by the avionics and the aerodynamics of the UAV. The framework is also able to produce stereoscopic data that can be used to test various image processing algorithms. Lastly, a communication protocol was developed which bridged the gap between the simulation framework and the real world aircraft. II
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