Airdrop mission are often carried for areas that are difficult to reach using land route and do not have the infrastructure for manned aircraft. The benefits of using Unmanned Aerial Vehicle (UAV) for airdrop mission are getting much more attention with the rapid development of unmanned technology since last decade. The purpose of this paper is to develop a mathematical model of a quadcopter to carry out ballistic airdrop mission in a windy environment, modelled in the MATLAB/Simulink software. The quadcopter based on nonlinear dynamics model which is obtained by using Newton-Euler equation, equipped with sensor model, and free-fall payload model. The sensor consists of Inertial Measurement Unit (IMU), barometer, and Global Navigation Satellite System (GNSS). Sensor fusion algorithm is developed to estimate attitude and position of quadcopter using Kalman filter, as well as to estimate the wind speed. A Proportional, Integral, and Derivative (PID) based controller is designed to obtain the attitude and position control of quadcopter using estimated state of quadcopter. Then, the quadcopter will carry out an airdrop mission by following a simple automated waypoint navigated system. The results of the ballistic airdrop show good precision and accuracy in a high speed, but emphasize the importance of validation model.

空投任务通常在陆路难以到达且没有载人飞机基础设施的地区进行。近十年来，随着无人驾驶技术的快速发展，使用无人机（UAV）进行空投任务的好处越来越受到关注。本文的目的是开发四轴飞行器在有风环境中执行弹道空投任务的数学模型，在 MATLAB/Simulink 软件中建模。该四轴飞行器基于非线性动力学模型，采用牛顿-欧拉方程得到，配备传感器模型和自由落体载荷模型。传感器由惯性测量单元（IMU）、气压计和全球导航卫星系统（GNSS）组成。传感器融合算法被开发用于使用卡尔曼滤波器估计四轴飞行器的姿态和位置，以及估计风速。设计了一种基于比例、积分和微分 (PID) 的控制器，以使用四轴飞行器的估计状态来获得四轴飞行器的姿态和位置控制。然后，四轴飞行器将通过一个简单的自动航点导航系统执行空投任务。弹道空投的结果在高速下表现出良好的精度和准确性，但强调了验证模型的重要性。四轴飞行器将通过一个简单的自动航点导航系统执行空投任务。弹道空投的结果在高速下表现出良好的精度和准确性，但强调了验证模型的重要性。四轴飞行器将通过一个简单的自动航点导航系统执行空投任务。弹道空投的结果在高速下表现出良好的精度和准确性，但强调了验证模型的重要性。