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Construct the mathematical model of a large scale Unmanned Aerial Vehicle (UAV) which includes the aircraft model, servo model and sensor model. Build the Rapid Prototyping model for the UAV simulation system based on the mathematical model. Translate the model into code automatically with code generation tools, then download the executable file into the simulation computer and run the simulation software directly. At last, implement several test examples to verify the function and performance of the system. The result indicates that, with the contribution of the Rapid Prototyping, the real-time performance of the system can be ensured with the complexity and development cycle be reduced significantly. 