绍了一个微小型自主直升机试验平台的系统组成和工作原理。基于嵌入式计算机和MEMS传

感器技术，构建了一个小巧的低成本飞行控制系统；针对微小型直升机的姿态控制问题，提出

了一种基于多传感器测量的姿态数据融合方法和姿态控制算法，并进行了飞行试验研究，同时

探讨了初期试验阶段的实用安全装置和方法，给出了单自由度、三自由度和系留飞行姿态控制

试验的结果与分析。-Introduction of a miniature autonomous helicopter testbed system composition and working principle. MEMS-based embedded computer and sensor technology, to build a compact, low-cost flight control systems　miniature helicopter for attitude control problem, we propose a gesture based on multi-sensor data fusion method and attitude control algorithms, and conducted flight test research, and discuss the initial pilot phase of the practical security apparatus and method, gives the single degree of freedom, three degrees of freedom and tethered flight attitude control test results and analysis.