The　present　work　is　aimed　at　investigating　the　arrangement　design　of　an　inner　tilted-rotor　hexacopter　to　optimize　aerodynamic　performance　with　different　rotor　spacing　ratios　(s/D)　and　dihedral　angles　(β).　Both　experiments　and　numerical　simulations　were　applied　for　different　rotor　arrangements,　and　the　better　rotor　agreement　was　related　to　both　higher　thrust　and　lower　power　consumption.　The　results　show　that　hovering　efficiency　is　mainly　affected　by　rotor　spacing　ratios　and　dihedral　angles.　Appropriate　rotor　spacing　with　moderate　rotor　interference　from　the　blade　tip　vortices,　as　well　as　downwash　flow,　reduce　vortex　distortion　and　fragmentation.　The　results　show　that　a　hexacopter　with　inner　tilted-rotors　obtains　a　larger　thrust　and　smaller　power　with　a　high　factor　of　merit　(FM)　at　s/D　=　1.6　and　β　=　40°,　and　this　is　considered　to　be　the　optimal　arrangement　for　a　hexacopter　with　excellent　aerodynamic　characteristics.　©　2025　by　the　authors.