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The parameter identification algorithm was considered in this paper for the simplified nonlinear mathematic model of unmanned four-rotor helicopter.The mathematical model of the helicopter was simplified and reconstructed by using fight data available to measure in practical applications.A set of identification process was constructed based on the recurrence least square method,while the measurement errors were analyzed to guarantee the feasibility of the algorithm.The algorithm was tested in a simulation system and the identification results proved the effectiveness of the process.