简介：Thispaperproposesanewadaptivelineardomainsystemidentificationmethodforsmallunmannedaerialrotorcraft.Byusingtheflashmemoryintegratedintothemicroguidenavigationcontrolmodule,systemrecordsthedatasequencesofflighttestsasinputs(controlsignalsforservos)andoutputs(aircraft’sattitudeandvelocityinformation).Afterdatapreprocessing,thesystemconstructsthehorizontalandverticaldynamicmodelforthesmallunmannedaerialrotorcraftusingadaptivegeneticalgorithm.Theidentifiedmodelisverifiedbyaseriesofsimulationsandtests.Comparisonbetweenflightdataandtheone-steppredictiondataobtainedfromtheidentificationmodelshowsthatthedynamicmodelhasagoodestimationforrealunmannedaerialrotorcraftsystem.Basedontheproposeddynamicmodel,thesmallunmannedaerialrotorcraftcanperformhovering,turning,andstraightflighttasksinrealflighttests.