As quadrotors continue to become more popular for personal and commercial use, improving their safety is essential, especially in impaired operating states. With (asymmetric) blade damage(ABD) being a potentially dangerous type of impairment, it is beneficial to understand how it affects the dynamic behavior of a quadrotor. This research examines the effects of blade damage on the dynamic model of a quadrotor through system identification techniques. Time scaleseparation is used to split the low-frequency aerodynamic behavior and high-frequency (HF) dynamics. Aerodynamic models are identified using stepwise regression, and a novel approach for modeling HF dynamics –relying purely on on board sensors– using spectral analysis and simplex B-splines has been developed. A majority of the aerodynamic models surpass R ² values of 0.95, and the HF models exceed R ² values of 0.90. The findings provide new insights and implications for diagnosing ABD in quadrotors. ... Read more