System Identification of Quadrotor Aircrafts Based on an Improved PSO

This paper presents a novel PSO designed to accurately model quadrotor dynamic system. Initially,this paper eatablished the quadrotor model under hover or low speed small angle flight conditions. Then, this paper employed an improved PSO for quadrotor system identification to obtain system parameters. Finally, the proposed system produced vertical acceleration and the attitude angle acceleration,this paper compared these data with the real flight data. The results show that the proposed method is effective and reliable.