近年来，军用和民用市场的广阔应用需求和独特的优势促进了四旋翼飞行器(Quadrotor Helicopter)的发展。根据自主设计制作的样机，建立了四旋翼飞行器的动力学和动力系统动力学模型，并把卡尔曼滤波器应用于姿态解算，PID控制器用于姿态控制。仿真和试飞结果表明，所提出的控制策略是可行的，验证了动态模型建立的有效性。

The broad application requirement of quadrotor helicopters in both military and civilian markets due to their advantages over regular air vehicles stimulates the development of them.A quadrotor helicopter was designed and fabricated,with Kalman filter used for attitude calculation and PID control utilized for attitude control.Dynamical models were established for the quadrotor helicopter and its power system.The results of simulation and flight test showed that the proposed control strategy is feasible,and the effectiveness of the dynamic models was verified.