中文摘要：

文章介绍了微型无人直升机姿态控制试验平台的组成和工作原理。采用低功耗嵌入式计算机和惯性传感器构建了一个可靠的低成本的姿态控制系统，为了保证飞行试验的安全性，设计了姿态试验装置。利用改进的PID控制算法对微型直升机的姿态进行控制，试验结果说明了姿态控制系统的可靠性以及试验平台和控制算法的有效性。

英文摘要：

The architecture of a small-scale helicopter attitude control experimental test-bed is intro duced in this paper. A low-cost and reliable attitude control system is developed by using low power consumption embedded computer and inertial measurement sensor, and an attitude control experimental equipment is designed, which guarantees the safety of flight experiments. To control the small-scale helicopter attitude, an improved PID controller is used. The experiment results demonstrate the reliability of the attitude control system and the effectiveness of the experimental test-bed and the control algorithm.