An online identification method for small unmanned helicopter base on TVARMA model

This paper establishes an online identification algorithm which can provide the model status in real time base on TVARMA model for small unmanned helicopter. First, the TVARMA model used for describing the small unmanned helicopter is shown. After that, a recursive algorithm is elaborated to solve the parameters in the TVARMA model. Then a flight experiment data is used to identify the TVARMA model as an example, analysis and compare are made in the end to prove that the TVARMA model is accurate and this identification method is also effective.