Platform and State Estimation Design of a Small-Scale UAV Helicopter System

Table 1

Specifications of raptor 90.

Specification	Raptor 90
Length of fuselage	1410 mm
Width of fuselage	190 mm
Main rotor diameter	1605 mm
Tail rotor diameter	260 mm
Gear ratio (engine : main : tail)	8.27 : 1 : 4.65
Full equipped weight	4.8 kg