PROBLEM TO BE SOLVED: To provide an autonomous flight control device and an autonomous flight control method for a small size unmanned helicopter capable of miniaturizing a helicopter body, and performing the autonomous flight control of the helicopter body along an arbitrary set track.;SOLUTION: The autonomous flight control device 100 manufactured based on a model formula to indicate the dynamic characteristic of a helicopter body has a predictable feed-forward position control value acquisition unit 102 to compute the predictable feed-forward position control value based on a position control model in the model formula, and a position control value acquisition unit 103 to acquire the position control value by using the predictable feed-forward position control value. The control value of a servo motor to drive a rudder of the helicopter body based on the position control value is acquired, and the autonomous flight control of the helicopter body is performed along the set track.;COPYRIGHT: (C)2007,JPO&INPIT
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