In order to improve the wind resistance characteristics of multi rotor unmanned aerial vehicles, a certain installation angle is adopted between the propeller and the motor base to increase the yaw control torque and improve the flexibility of heading adjustment. The tilted rotor design allows each rotor to have multiple rotational degrees of freedom, thereby transforming the conventional underactuated design into a fully actuated design, which can effectively correct the attitude, have good steady-state performance, and make the positioning data more accurate. This study analyzed the influence of blade inclination angle on same arm but non-coaxial layout, conducted experiments and CFD numerical simulations on different inclination angles of twin rotors, and further analyzed the aerodynamic characteristics of inclined twin rotors, which provide design support for inclined multi rotor unmanned aerial vehicles.