The　mobility　of　a　quadrotor　UAV　is　significantly　affected　by　its　aerodynamics,　especially　when　the　closely　spaced　rotors　are　applied　in　the　multi-rotor　system.　This　paper　addresses　the　aerodynamic　modeling　of　non-planar　quadrotor　UAV　with　various　rotor　spacing　(1　d-2　d)　and　disk　plane　angle　(0-50　deg).　The　inter-rotor　interference　and　the　power　models　are　also　proposed　in　this　paper.　In　order　to　validate　the　non-planar　model,　a　series　of　CFD　analyses　and　experiments　were　conducted.　The　obtained　results　demonstrate　that　the　flow　field　of　the　non-planar　quadrotor　is　extremely　complicated　when　the　unsteady　flow　is　involved.　The　pulsation　of　partial　angle　of　attack　and　pressure　distribution　is　formed　when　the　blade　passes　through　the　vortex.　The　thrust　is　increasing　significantly　along　with　the　tilt　angle,　resulting　from　the　stronger　outflow　of　the　non-planar　rotors,　which　is　also　leading　the　power　increment.　However,　the　thrust　increment　is　not　that　obvious　when　the　spacing　is　larger　than　1.4　d.　The　experiments　and　the　numerical　simulation　results　provide　consistent　trends　and　demonstrate　the　effectiveness　of　the　aerodynamic　model　of　the　non-planar　quadrotor.　The　comparison　with　the　traditional　planar　quadrotor　validates　that　the　proposed　non-planar　quadrotor　has　better　aerodynamic　and　control　performances　with　a　larger　power　loading.　©　2019　by　the　authors.