Non-linear Model Identification for a Miniature Rotorcraft, Preliminary Results

Time domain system identification methods are employed to identify an extended linear model of a VTOL UAV around the hover domain using only noisy sensor measurements and recorded pilot inputs. The feasibility of employing principally time domain methods for system identification of miniature UAVs coupled with state-of-the-art sensors is demonstrated. The identified model is verified by testing against real flight data not used in the modeling process