Roll and pitch model identification for miniature unmanned helicopter based on subspace method

The dynamic model of a miniature unmanned helicopter is needed to develop for autonomous helicopter flight. A subspace identification method for the roll and pitch coupling model is proposed. The roll and pitch coupling model of a hovering miniature unmanned helicopter is deduced to obtain an identification model structure for use in the subspace method. The roll and pitch model is identified based input and output data using the subspace method. Simulation results demonstrate that the identified model can reflect the roll and pitch dynamic effectively with higher system identification precision.