Abstract: Aiming at the problem that the existing radar echoes simulation method of rotor drones does not correlate the closely related drone body speed with the rotors rotation speed, a quadrotor drone radar echoes signal simulation method utilizing flight control characteristics which combines the drone body motion with the rotors rotation speed is proposed. Firstly, according to the parameters required for radar echoes simulation, a simplified motion model associating the drone body speed with the rotors rotation speed is given using the flight control principle of the quadrotor drone. Then a radar echoes signal model of the quadrotor drone for the linear frequency modulated radar is deduced and given. Finally, the simplified motion model and the radar echoes signal model are combined employing the coordinate system conversion. The experiment results show that the time frequency analysis results of simulated echoes signals can reflect the micro-Doppler characteristics related to the speed of the drone body and the rotors rotation speed, and it is necessary to consider relation of the drone body speed and the rotors rotation speed in the radar echoes simulation when the drone motion state varies.