A Survey on XR-Based Drone Simulation: Technologies, Applications, and Future Directions

ABSTRACT: This paper presents a comprehensive survey of Extended Reality (XR)-based drone simulation systems, encom- passing their architectures, simulation engines, physics modeling, and diverse training applications. With a particular focus on manual multirotor drone operations, this study highlights how Virtual Reality (VR) and Augmented Reality (AR) are increasingly vital for pilot training and mission rehearsal. We classify these simulators based on their hardware interfaces, spatial computing capabilities, and the integration of game and physics engines. We analyze specific platforms such as Flightmare, AirSim, DroneSim, Inzpire Mixed Reality UAV Simulator, and SimFlight XR are analyzed to illustrate various design strategies, ranging from research- grade modular frameworks to commercial training tools. In this paper, we also examine the implementation of spatial mapping and weather modeling to enhance realism in AR-based simulators. Finally, we identify critical challengesthat remain to be addressed, including user immersion, regulatory alignment, and achieving high levels of physical realism, and propose future directions in which XR-integrated drone training systems can advance.