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In this paper, a computational fluid dynamics simulation method is developed to study the influence of the rotor overlapping azimuth on the aerodynamic performance of compound coaxial helicopter. The simulation method is verified by comparing the numerical simulation results with the wind tunnel experiment data of the NASA coaxial rotor. Two overlapping azimuths of the upper and lower blades are considered, and the aerodynamic performance of the isolated rotor and the compound coaxial helicopter in hover and forward are analyzed respectively. State 1 means the upper and lower blades overlap at azimuth <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>0</mn><mo>/</mo><mn>180</mn><mo>°</mo></mrow></semantics></math></inline-formula> or <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>90</mn><mo>/</mo><mn>270</mn><mo>°</mo></mrow></semantics></math></inline-formula>, state 2 means the upper and lower blades overlap at azimuth <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>45</mn><mo>/</mo><mn>225</mn><mo>°</mo></mrow></semantics></math></inline-formula> or <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>135</mn><mo>/</mo><mn>315</mn><mo>°</mo></mrow></semantics></math></inline-formula>. It is found that the performance of isolated rotors is not affected by rotor overlapping azimuth in hover, but the total thrust fluctuation amplitude of isolated rotors in state 2 is 76.3% smaller than that in state 1 in forward. In the hovering flight of compound coaxial helicopter, compared with state 1, the fluctuation amplitude of the lift of the wing in state 2 is 42.7% smaller; the lift fluctuation amplitude of the flat tail in state 2 is 52.4% smaller. In the forward flight of compound coaxial helicopter, compared with state 1, the total thrust fluctuation amplitude in state 2 is 83.5% smaller; the fluctuation amplitude of the lift of the wing in state 2 is 61.2% smaller. It can be concluded that the compound coaxial helicopter working in state 2 has better aerodynamic performance than the compound coaxial helicopter working in state 1; changing the rotor overlapping azimuth of the upper and lower rotors has a high engineering application value, which can increase aerodynamic stability and reduce lift fluctuations.