Multirotor airplanes are widely used in many outdoor applications, e.g., agriculture, transportation, and public safety, where winds might be strong and prevalent. However, the effects of wind on multirotor aircraft are still not fully understood yet. The objective of this paper is to investigate and model wind effects on a real hovering octocopter. The wind is directly measured and considered as one of the inputs to the bare-airframe model. Then a series of models, each corresponding to a different wind condition, are identified from real flight data through a system identification approach. The time-domain validation results show that an average of 15% error reduction can be achieved by considering wind effects, captured by a wind correction term. The identified models will play an important role for the future development of model-based controllers for outdoor multirotor aircraft.

多旋翼飞机广泛用于许多户外应用，例如农业、运输和公共安全，在这些应用中，风可能很强且很普遍。然而，风对多旋翼飞机的影响仍未完全了解。本文的目的是研究和模拟真实悬停八轴飞行器上的风效应。直接测量风并将其视为裸机模型的输入之一。然后通过系统识别方法从真实飞行数据中识别出一系列模型，每个模型对应于不同的风况。时域验证结果表明，通过考虑由风校正项捕获的风效应，可以实现平均 15% 的误差减少。