The flight quality of Flapping Wing Micro Aerial Vehicle (FWMAV) depends much upon efficient control of flight attitude.So, an accurate model of flight attitude is of utmost importance.

• 摘要扑翼微型飞行器飞行质量主要取决于能否对其飞行姿态进行有效控制，而建立准确的飞行姿态模型尤为重要。