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中文摘要：
采用机理分析和系统辨识相结合的方法,以直升机机体和伺服小翼的力矩平衡方程为基础,根据滞空状态的特性,建立含有未知参数的超小型旋翼无人机姿态模型,由飞行数据采用预测误差法（PEM）对上述姿态模型进行了辨识,从而得到了完整的滞空状态下超小型旋翼机系统的姿态模型,最后验证了辨识模型的正确性。
英文摘要：
By reasonably predigesting the characteristics of the under actuated sub-mini rotorcraft, the equation of the moment equations of helicopter body and the flybar was established. Then through dealing with above equations, the attitude model of under actuated sub-mini unmanned rotorcrafl, which contained input variable, output variable and some unknown parameters, was set up. Then the prediction error method used the real flying data to identify above the attitude model. At last, the valid of the identified attitude model was testified.
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