*7.2. Validation of Visualized Ground Control Station*

For the validation and the stability check, we conducted a vertical takeoff and landing test of the quadcopter using visualized GCS. The latitude, longitude, altitude, heading, roll angle, and pitch angle of the quadcopter during the vertical takeoff and landing is illustrated in Figures 28–33, respectively.

**Figure 28.** Latitude of the quadcopter during the vertical takeoff and landing.

**Figure 29.** Longitude of the quadcopter during the vertical takeoff and landing.

**Figure 30.** Altitude of the quadcopter during the vertical takeoff and landing.

**Figure 31.** Heading of the quadcopter during the vertical takeoff and landing.

**Figure 32.** Roll angle of the quadcopter during the vertical takeoff and landing.

**Figure 33.** Pitch angle of the quadcopter during the vertical takeoff and landing.

From Figures 28 and 29, we can see that there is only a marginal difference in latitude and longitude position of the quadcopter from the initial stage to the final stage, during the vertical takeoff and landing. The heading changes that occurred in the quadcopter are also small (see Figure 31) and, both roll and pitch angle changes are between −4 to 4 degrees (see Figures 32 and 33). Note that the soft landing of any quadcopter flight is truly a difficult task, which we overcame in this study. Figure 30 shows that we landed our quadcopter safely using the visualized GCS. For the safe and soft landing, we took almost 22 s from arounda9m height.

Figures 28–33 show that the performance of the quadcopter during the vertical takeoff and landing was stable using the visualized GCS. Figure 34 illustrates the comparison of the pictures of the real and visualization part during the vertical takeoff and landing of the quadcopter. Due to the distance limitation of the Wi-Fi network connectivity, the distance between the visualized GCS and the quadcopter was restricted herein to 20 m. If we use an interconnecting network system, we can use the developed visualized GCS for long-distance missions. The total time delay of the system, including the visualization part was approximately 420 ms.

**Figure 34.** Picture of the real (**left**) part and the visualization part (**right**) during the vertical take-off and landing of the quadcopter.

#### *7.3. Validation of the Quadcopter with Electromagnetic Propulsion Devices*

We have designed and laboratory tested a dual-head EMP device and qualified to integrate it with dual-head EMP devices for the next generation quadcopter UAV [40,41]. The flight experiment of a quadcopter UAV with four EMP devices and its MR simulation is beyond the scope of this paper.
