Establishment and Validation of a High-Fidelity Benchmark-Model for the Quadrotor

Traditional quadrotor models have limitations in accurately characterizing complex UAV motion behaviors, which restricts their applicability in controller design. This work presents a benchmark model of the quadrotor that integrates a propeller model, a motor model, and a body-frame aerodynamics model, maintaining validity across various vehicle scales. Building upon the theoretical framework, we conducted wind tunnel tests and physical parameter measurements to derive a high-fidelity mathematical model for the F450 UAV. Based on the developed model, system stability analysis was performed at multiple forward flight speeds. The fidelity of the proposed model was subsequently validated through flight experiments. In comparison to both the traditional model and an advanced model, the established model is able to more accurately characterize the dynamic characteristics of the UAV. This model provides a practical foundation for controller optimization and flight performance assessment.