In order to solve the problem that the traditional rotorless unmanned aerial vehicles are large in size, complicated in structure and costly, a miniature rotor unmanned aerial vehicle system (MUAV) is designed. The system is based on STM32 microcontroller.The hardware consists of micro-controller, attitude sensor, communication, motor, map and other modules; software includes the main cycle, control cycle and feedback cycle. The ground operation side connects to the UAV through Bluetooth or 2.4G radio frequency, and the microcomputer calculates the attitude data and control data, to achieve UAV control. Then the UAV returns back the image and attitude data to the ground side through the 5.8G map. After testing, the system is stable, reliable and easy to operate.