This paper describes a recently created computer simulation of quadcopter flight dynamics for the NASA DELIVER project. The goal of this effort is to produce a simulation that includes a number of physical effects that are not usually found in other dynamics simulations (e.g., those used for flight controller development). These effects will be shown to have a significant impact on the fidelity of auralizations - entirely synthetic time-domain predictions of sound - based on this simulation when compared to a recording. High-fidelity auralizations are an important precursor to human subject tests that seek to understand the impact of vehicle configurations on noise and annoyance.
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