对于飞控系统的设计非常重要，是半实物仿真的必备工具，从事无人直升机的必须品-For the flight control system design is very important and is an essential tool for loop simulation, in the necessities of unmanned helicopter

四旋翼小型无人直升机的建模与仿真。对直升机建立模型，进行物理分析，列出微分方程并线性化，得到传递函数和状态空间方程。-Modeling and simulation of small unmanned four-rotor helicopter. Helicopter model, physical analysis, and differential equations listed linearization to obtain the transfer function and state

一篇关于flightgear的文献，讲述了无人直升机仿真平台的搭建。可供大家参考(A literature about FlightGear, which describes the construction of an unmanned helicopter simulation platform. For your reference)