An identification procedure for UAV´s inner loop modeling

This paper establishes a mathematical model for UAV´s inner loop, then based on this model an identification strategy based on CIFER is presented. At the first hand, A subsection procedure is done to obtain the initial value both for the CIFER method and the method this paper will present, then through several iterations between the uncoupled parameters and coupled parameters, the latter are acquired and optimized. At last, by comparison And analysis upon both methods´ results, the feasibility and rationality of this method is proved. The result of this paper has laid a solid foundation For inner attitude controller design and identification for the velocity loop of UAVs.