At the beginning of this paper, design and manufacturing stages of the 3 degree of freedom test stand for a remotely piloted helicopter is described, in which the helicopter is able to rotate about its three primary accesses. In the next parts the dynamical model of the RPH in the yaw channel is presented and lateral transfer function of RPH (yaw channel) is extracted by performing several tests and gathering dynamical data. Least square method is used for system identification and finally results validation would be possible through comparison between simulated behavior of the RPH and experimental data of the test stand.