Identification of Small-scale Unmanned Helicopter Based on Least Squares and Adaptive Immune Genetic Algorithm

Aiming at the instability,strong coupling and nonlinearity of small-scale helicopter(SUH),a flight dynamics model of SUH under hovering state is established.Then an identification algorithm is designed based on least squares and adaptive immune genetic algorithm(LS-AIGA),and an airborne micro navigation,guidance and control system(MGNC) is developed for the needs of identification experiment.Then unknown parameters of the model are identified using flight test data according to the proposed identification algorithm.Finally,the established model is validated and analyzed,and the results show that the model identification data and the actual flight test data match well,and the established model can reflect the dynamics characteristics of the SUH.