系统辨识方法在微型飞行器建模中的应用

为对微型飞行器的飞行进行控制，需要建立其动力学模型。讨论了微型飞行器模型的系统辨识方法，设计了实验方法与采集装置，在数据处理、模型结构选择、模型评价等方面进行了探讨。简要介绍了输入输出端存在噪声时系统的线性最小二乘无偏辨识方法原理，最后给出了微型飞行器的纵向通道的仿真算例，结果表明，运用这种方法对微型飞行器进行建模是准确而有效的。

Application of System Identification in Modeling of Micro Air Vehicle

A dynamic model of micro air vehicle (MAV) is developed to design a controller of MAV. In this paper,the method of system identification is discussed. Experiment method and data acquisition device are designed, a discussion is devoted to data processing, selection of model structure, model evaluation etc. The theory of unbiased identification of linear system in the presence of input-output measurement noise is briefly introduced. Finally, a system identification example of pitch channel of MAV is given. The simulation and experiment results demonstrate that this method of identification is correct and effective.