Bidirectional switching system for small unmanned vehicle

The invention discloses a bidirectional switching system for a small unmanned vehicle. An aim of improving the flying stability of an aircraft is fulfilled. The switching system comprises a remote control receiver, a flying management module, a flying control module, a switching circuit and a radio frequency transmitter/receiver, wherein the remote control receiver is used for remotely controlling the system to perform information interaction with the flying management module and the switching circuit; the radio frequency transmitter/receiver is used for performing information interaction between a ground station system and the flying management module; the switching circuit switches internal circuits according to a switching instruction, converts one of an automatic flying instruction and a remote control flying instruction into a flying control signal according to an internal circuit switching result, and transmits the flying control signal to a steering engine; the flying management module is used for receiving a switching request instruction, performing switching time decision by adopting a preset judgment rule to generate a switching instruction, and generating an abnormity alarm instruction; and the flying control module is used for generating the automatic flying instruction, and judging a flying state by adopting a fault diagnosis method based on state estimation.