Verification method for operation simulation of quadrotor unmanned aerial vehicle in low-altitude layered airspace

The invention provides a verification method for operation simulation of a quad-rotor unmanned aerial vehicle in a low-altitude layered airspace. The verification method comprises the following steps: S1, determining a coordinate system required by simulation and establishing a nonlinear mathematical model of the quad-rotor unmanned aerial vehicle; S2, building a quadrotor track, attitude and angular velocity flight control law based on a nonlinear dynamic inverse method; S3, calculating the rotating speed of a propelle according to the rotor pulling force obtained through calculation of the control law; S4, designing a low-altitude layered airspace below 120 meters according to the flight course of the unmanned aerial vehicle; S5, designing the flight profile of the unmanned aerial vehicle according to the layered airspace; and S6, carrying out simulation verification according to the closed-loop motion model of the quad-rotor unmanned aerial vehicle, the layered airspace and the flight profile. According to