The structural characteristics and flight principle of the small coaxial folding twin-rotor aircraft are analyzed. The kinematics and dynamics of the UAV are studied and a mathematical model is established. A test platform for dynamic performance and attitude angle of UAV semi-physical flight is established. The platform analyzes the performance of aircraft mechanical vibration, attitude angle and noise. Through the test experiments, the characteristics of mechanical vibration and noise generated by different rotor speeds of the UAV are analyzed. And the influence on the attitude calculation results of MEMS sensors such as gyroscopes and accelerometers. Test experiments show that the vibration amplitude increases with the increase of rotational speed. The vibration characteristics provide a new idea and useful reference for the establishment and evaluation of the noise model for the robustness and anti-interference of the UAV.