Yaw dynamic model identification for miniature unmanned helicopter

Yaw dynamic model of a miniature unmanned helicopter is needed to develop for heading control. A yaw dynamic model is deduced based on miniature unmanned helicopter characteristics in hover. Different from a large helicopter, the yaw damping system of a miniature helicopter is realized through the negative feedback of helicopter heading rate, which is provided by an angular rate gyro. Akaike Information Criterion is used to solve the problem of determining model order. Based on flight experimental data, a least square method is adopted to estimate the unknown parameters in the yaw dynamic model. And the identified model is verified by comparing the model output data with the collected flight experiment data.