## 3 Classification of UAVs
another small model of UAV; it is equipped with a 4:3 CMOS camera and can fly for 46 min with a maximum transmission range of ca. 15 km. Small UAVs, often known as mini-UAVs, refer to UAVs whose dimensions exceed at least 50 cm and not more than 2 m. The design of these aircraft is essentially based on the fixed-wing model, and the majority are launched by propelling them into the air by the operator. They can carry a maximum payload of 9 kg and fly at a maximum speed of ca. 150 km/h at an altitude usually not exceeding 400 m. The German Wingcopter 198 ([[https://wingcopter.com/](https://wingcopter.com/)]([https://wingcopter.com/](https://wingcopter.com/)), accessed on 15 March 2023) is an electric VTOL drone used for delivery services. It is designed with a configuration of 198 \(\times\) 154 cm\({}^{2}\) with a flight time of 90 min. It is hybrid and can fly in both multicopter and fixed-wing modes. The second one is Astro ([[https://freeflysystems.com/](https://freeflysystems.com/)]([https://freeflysystems.com/](https://freeflysystems.com/)) alta-x, accessed on 15 March 2023), a quadrotor designed with a configuration of 141 \(\times\) 51 cm\({}^{2}\) with a flight time of 37 min. It incorporates a gimbaled a7R IV mapping camera and the data transfer is based on the MAVLink communication protocol [55]. The last one is Scorpion ([[https://www.quantum-systems.com/](https://www.quantum-systems.com/)]([https://www.quantum-systems.com/](https://www.quantum-systems.com/)), accessed on 15 March 2023), a VTOL that has a wingspan of 1.37 m\({}^{2}\) and a flight endurance of 35 min. It provides data transfer up to a range of 25 km and it supports a maximum weight of >7 kg. A UAV is considered \"medium\" if it is too heavy to be handled by one person but smaller than an aeroplane, since they can only carry a payload of 200 kg. They are usually in the category of fixed-wing UAVs and typically have a wingspan whose length ranges from 5 to 10 m. They can fly at a maximum velocity of 463 km/h without exceeding an altitude of almost 1 km. There are numerous examples of UAVs in this scope of size, such as the Trinity F90+ ([[https://www.quantum-systems.com/](https://www.quantum-systems.com/)]([https://www.quantum-systems.com/](https://www.quantum-systems.com/)), accessed on 15 March 2023), Vector ([[https://www.quantum-systems.com/](https://www.quantum-systems.com/)]([https://www.quantum-systems.com/](https://www.quantum-systems.com/)), accessed on 15 March 2023), Alta X ([[https://freeflysystems.com/alta-x](https://freeflysystems.com/alta-x)]([https://freeflysystems.com/alta-x](https://freeflysystems.com/alta-x)), accessed on 15 March 2023), and, recently, the Yangda YD6-1600S ([[https://www.yangdaonline.com/](https://www.yangdaonline.com/)]([https://www.yangdaonline.com/](https://www.yangdaonline.com/)), accessed on 15 March 2023). The German intelligent VTOL Trinity F90+ and Vector have average fixed wings of 2.8 m and, respectively, a flight time of 90 min and 120 min. The Alta X is a VTOL quadrotor with a 50 min flight time and it carries a maximum payload of 15 kg for 8 min. It has a peak speed of more than >95 km/h and uses the MAVLink [55] protocol for data transmission. The hexacopter Yangda YD6-1600S is designed with dimensions of 1.6 \(\times\) 2.35 m\({}^{2}\). It can reach a cruise speed of >72 km/h and can also carry a maximum payload of 5 kg for a flight time not exceeding 45 min.