This paper mainly introduces a kind of quadcopter based on 5.8G image transmission technology, which is widely used in the power patrol and daily forest patrol. This design takes Cortex-M4 architecture of STM32 microprocessor as the center core, and obtains the position and attitude of the UAV by the MPU6000 and HMC5883L. The data of the sensor is collected by the main control chip, and the current attitude of the aircraft is obtained by using the inertial navigation technology through the four element calculation. Finally, the control of flight attitude is realized by the PID algorithm.