In order to analysis the dynamic characteristic and optimize the rectification control scheme of UAV ground taxiing, based on the assumption of tire lateral force model, elastic tire and rigid body, a whole nonlinear mathematical model and rectification control scheme of was established in the Matlab environment. The engine torque and crosswind conditions are analyzed, and two different rectification control schemes are compared in addition. The simulation results show that the model can reflect the dynamic characteristic of ground taxiing, also the optimized control scheme can shorten the takeoff distance and achieve better rectification performance.