Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles

In this paper, a complete system identification process for identifying flight dynamics model of MAVs (miniature aerial vehicles) is presented. CIFER identification toolkit, which is developed by NASA Ames research center and particularly suitable for identifying rotary-wing aircraft dynamics, is adopted. The modeling procedure is detailed by addressing the following four key steps: (1) data collection and processing based on frequency-sweep input form, (2) parameter identification in frequency domain by minimizing the cost function, (3) result analysis based on the frequency responses matching, the Cramer-Rao Bound, and the Insensitivity, and (4) model fidelity validation in time domain.