Dynamic Modeling and Flight Performance Analysis of Quadrotor UAV Under Wind Field Disturbances

Quadrotor UAVs have extensive low-altitude mission capabilities, but their low-altitude and low-speed flight envelope makes them more susceptible to wind disturbance. Therefore, the 6-DOF dynamic model of UAV with wind disturbance is established, which can effectively reflect the influence of wind velocity gradient on dynamics. Meanwhile, wind velocity gradient models of three major atmospheric disturbances, namely turbulence, windshear and gust, are given. On this basis, the flight state changes of UAV under the three atmospheric disturbances are simulated and analysed. Through comparison, it is clear that the vertical variation of windshear and continuous vertical turbulence are the main wind threats affecting UAV flight safety.