When the launching device on a drone is continuously launched, the recoil generated will cause changes in the position and attitude of the drone, affecting the accuracy of the strike. Based on the Newton Euler equation, this paper establishes a six degree of freedom dynamic model of an X-shaped structure quadcopter drone with a dual axis gimbal launching device, as well as a PID based drone control model. The motion law of the drone"s own position and attitude, as well as the walking law of bullets at a certain distance, are studied when the dual axis gimbal drone fires 30 bullets continuously at 6 angles. According to the motion law and walking law, the design and precautions for the use of the drone are given, and relevant suggestions are proposed. The research results of this article can provide a theoretical basis for the design of the recoil safety threshold of the launch device on multi rotor unmanned aerial vehicles and the improvement of strike accuracy.