  This paper presents a lifting-wing multirotor UAV that allows long-range
flight. The UAV features a lifting wing in a special mounting angle that works
together with rotors to supply lift when it flies forward, achieving a
reduction in energy consumption and improvement of flight range compared to
traditional multirotor UAVs. Its dynamic model is built according to the
classical multirotor theory and the fixed-wing theory, as the aerodynamics of
its multiple propellers and that of its lifting wing are almost decoupled. Its
design takes into consideration aerodynamics, airframe configuration and the
mounting angle. The performance of the UAV is verified by experiments, which
show that the lifting wing saves 50.14% of the power when the UAV flies at the
cruise speed (15m/s).
