Recursive Identification of Motion Model Parameters for ultralight UAV∗

In the paper the possibility of using parameter estimations is examined. Identification algorithm is used to get quadrocopter model parameters. It is shown that this method is applicable for this type of UAVs. Experiments with different configurations were conducted and described. The results obtained show the eficiency of the applied identification procedure. Comparison with the results of the non-recursive least-squares identification scheme is presented.