This paper presents the development of a small-scale unmanned aerial vehicle (UAV) helicopter system based on a Raptor 90 hobby\r\nhelicopter. Firstly, onboard avionics system and ground station are designed carefully. The onboard avionics system mainly consists\r\nof sensors, flight control board, RF modem, and power supply system. The ground station comprises a computer and a RF modem.\r\nThe main function of ground station is to monitor the status of onboard avionics. To avoid the effect of noises, some efficient\r\nsensor data processing and integrated navigation algorithms are designed and implemented on the onboard avionics. As a result,\r\nthe constructed system exhibits low weight, small size, antivibration, and low power consumption; the essential information for\r\nsystem identification and automatic control can be easily acquired. Several ground and flight tests have been performed to verify\r\nthe feasibility and reliability of the total system. The results show that it is sufficient for system identification and automatic control.
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