针对无人机(UAV)盘旋侦察飞行过程中,横侧向运动为非方阵多变量系统,且存在强耦合作用的问题。提出了一种新型的解耦方法。首先建立无人机横侧向非方阵系统模型,并采用内环反馈方法对模型进行了方阵化,然后基于一种最优化的逆乃奎斯特阵列法,提出了扩展INA法迭代公式,用于无人机非方阵系统的动态解耦补偿器求解。仿真结果表明:补偿后无人机偏航、滚转通道间的耦合效应明显降低;且设计方法物理概念清晰,易于工程实现。 For UAV helicopter flying reconnaissance flight, lateral lateral motion is a non-square multivariable system, and there is a strong coupling problem. A new type of decoupling method is proposed. Firstly, the model of lateral non-square system of UAV is established, and the inner loop feedback method is used to square the model. Then based on an optimized inverse Nyquist array method, an extended iterative formula of INA is proposed , A dynamic decoupling compensator for UAV square systems. The simulation results show that the coupling effect between the unmanned aerial vehicle and the roll-over path is obviously reduced after the compensation; and the physical concept of the design method is clear and easy to implement.