The invention relates to a lateral wind field estimation method based on an inclination angle of a rotor unmanned aerial vehicle. When being in a wind field environment, a quadrotor aircraft needs tokeep an inclination angle to realize hovering at a specified position, so that the component of the lift force in a lateral direction counteracts the influence of the wind resistance. And thus lateralwind disturbance information of the wind farm environment in which the aircraft is located in the hovering state is estimated according to a function relationship, obtained by pre calibration, between the inclination angle of the quadrotor aircraft and the s lateral wind disturbance. According to the invention, the method is based on existing sensing data of standard autopilots like a gyroscope,a GPS receiver, and an accelerometer; and no extra weather measuring devices like a wind speed measuring instrument are needed. Online wind field measurement is realized rapidly and accurately; and the technical support is provided for activities like the aerospace and forest fire prevention.