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Initially, it was implemented through mirror models of physical objects to realize the monitoring of their whole life cycle in the manufacturing area. In recent years, DT technologies have been applied in different fields, and some typical DT solutions have been proposed to solve complex system problems. In this paper, we study the problem of how to combine the DT and other emerging technologies for UAV autonomy development and supervision, aiming to propose a basic DT framework to integrate DT and UAVs as reference rules for building DT systems, which includes four parts, that is, Virtual Space, Real Space, Service Center, and Data and Model Processing Center. Based on the proposed basic DT framework, a cloud-based DT system is then further constructed in which cloud platform, 5G, and VR are integrated seamlessly. The running and implementation processes of each subsystem are introduced in detail. Multiple experiments are conducted to verify the usefulness of proposed DT system, that is, real-time system monitoring and cloud processing, VR connection, human\u2013robot interaction through VR technology, and so on. The experimental results show that the proposed DTUAV system can be used in the interaction of virtual and physical systems, remote supervision, intelligence integration of swarm of unmanned vehicles, and so on. The development in our work introduces the DT into unmanned system applications and can promote relevant research in this direction. All implementation codes of the system will be shared in https:\/\/github.com\/DTUAV .<\/jats:p>","DOI":"10.1177\/00375497221109575","type":"journal-article","created":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T07:03:14Z","timestamp":1659337394000},"page":"69-87","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":24,"title":["DTUAV: a novel cloud\u2013based digital twin system for unmanned aerial vehicles"],"prefix":"10.1177","volume":"99","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8513-5013","authenticated-orcid":false,"given":"Wei","family":"Meng","sequence":"first","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, School of Automation, Guangdong University of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuanlin","family":"Yang","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, School of Automation, Guangdong University of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiayao","family":"Zang","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, School of Automation, Guangdong University of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hongyi","family":"Li","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, School of Automation, Guangdong University of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Renquan","family":"Lu","sequence":"additional","affiliation":[{"name":"Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, School of Automation, Guangdong University of Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2022,8,1]]},"reference":[{"key":"bibr1-00375497221109575","first-page":"1343","volume":"3","author":"Cho J","year":"2015","journal-title":"Proc Manuf"},{"key":"bibr2-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/JPETS.2018.2881429"},{"key":"bibr3-00375497221109575","first-page":"4175","volume":"12","author":"Cao L","year":"2019","journal-title":"IEEE J Sel Top Appl"},{"key":"bibr4-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2955003"},{"key":"bibr5-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2018.2830647"},{"key":"bibr6-00375497221109575","first-page":"1","volume-title":"Proceedings of the 2019 IEEE international conference on communications (ICC\u20192019)","author":"Hammami SE"},{"key":"bibr7-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2020.06.003"},{"key":"bibr8-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1111\/2041-210X.13473"},{"key":"bibr9-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2917070"},{"key":"bibr10-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419870937."},{"key":"bibr11-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1177\/0037549716666683"},{"key":"bibr12-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1016\/j.jnca.2017.03.022"},{"key":"bibr13-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/TCE.2011.5735494"},{"key":"bibr14-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2020.3030746"},{"key":"bibr15-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2019.2960517"},{"key":"bibr16-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1109\/TCC.2017.2696529"},{"key":"bibr17-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1049\/iet-com.2019.1184"},{"key":"bibr18-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1016\/j.comcom.2019.10.021"},{"key":"bibr19-00375497221109575","doi-asserted-by":"publisher","DOI":"10.1016\/j.vrih.2019.10.002"},{"key":"bibr20-00375497221109575","unstructured":"Grieves MW. 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