This paper presents the results, achieved at the Aerospace Engineering Department Laboratories of the University of Bologna, concerning the development of a simple identification procedure, in a Matlab-Simulink environment, in order to obtain a representative dynamic model of a small rotorcraft UAV near hovering flight conditions. Procedure starts with open-loop identification test flights without any cross-effect accounted, cross-effects are then introduced in the simulated model and, at the end, parameters refinement is performed using a closed loop identification technique. For each step, training data are shown and the adopted cost function to be minimized is described. Moreover cross validation is performed and indexes of relative goodness of fit are computed to assess the new model
