The paper presents the identication of a quadrotor's bare-airframe dynamics in hover by employing frequency domain methods commonly applied to large-scale rotorcraft and xed-wing aircraft. Flight tests are conducted with a combination of manual and auto- mated inputs to enable excitation over a wide frequency range to achieve universal model applicability. In contrast to other publications on the topic of micro aerial vehicle system identication, all ight tests are performed outdoors where only inertial MEMS sensors and GNSS measurements are available. Our approach relates physical system parameters of the bare-airframe to the linear control and stability derivatives which are estimated by the identication process. The identied models are validated in terms of their time domain behavior by injecting step perturbations to the motor commands. The obtained information of the quadrotor's bare-airframe dynamics is used for controller synthesis and for validation of high-delity physical simulations.     «

The paper presents the identication of a quadrotor's bare-airframe dynamics in hover by employing frequency domain methods commonly applied to large-scale rotorcraft and xed-wing aircraft. Flight tests are conducted with a combination of manual and auto- mated inputs to enable excitation over a wide frequency range to achieve universal model applicability. In contrast to other publications on the topic of micro aerial vehicle system identication, all ight tests are performed outdoors where only...     »