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An unmanned helicopter has been used in various applications such as crop-dusting and remote sensing. When an unmanned helicopter flies far from an operator, it is very difficult for the operator to recognize the position, posture and working progress of the helicopter. One of the solutions is to develop a monitoring system that offers the operator the state of a flying helicopter. The objective of this study is to develop the monitoring system to support operations of an unmanned helicopter. The radio transmitter was adopted to obtain the helicopter position and posture at the base station on the ground. The base station was composed of the radio receiver, a personal computer. The received information from the helicopter was visually displayed on the developed software. The developed system is very useful for tele-operation of a helicopter. In addition, the dynamic model of the helicopter was identified by a sub-space system identification method to develop the flight simulator.