The invention discloses an unmanned aerial vehicle flight control program modeling and verification method based on a time automaton. The method comprises the steps of dividing the command interactionprocess of an unmanned aerial vehicle flight control program into a main control process, message transmission and a wireless channel, and defining the state and transition characteristics in a timeautomaton model, establishing a time automaton model of the unmanned aerial vehicle flight control program, performing state space search by using a formal verification tool, and verifying that the time sequence of the operation process of the unmanned aerial vehicle flight control program is correct, aiming at the interference of the working environment of the unmanned aerial vehicle, defining interference factors in the state and transition characteristics, regenerating an incidence matrix of the time automaton model, and verifying the boundness of the model, i.e., confirming the timelinessof the execution of the flight control program of the unmanned aerial vehicle within limited time, and analyzing the communication time consumption based on probability statistics, and verifying thatthe operation process of the flight control program of the unmanned aerial vehicle can be completed within preset time. Thus, the robustness of the unmanned aerial vehicle in a complex environment canbe improved.