Aiming at the attitude measurement of low-cost quadrotor UAV, a four-rotor unmanned attitude solution scheme based on multi-sensor data fusion was designed. Due to the characteristics of the sensor, it is difficult for a single sensor to accurately measure the attitude of the four-rotor UAV. In this paper, multiple sensors are used to measure the attitude of the UAV, and then the complementary filter algorithm is used to process the data of the sensor to solve attitude angle of the drone. In order to verify the effectiveness of the complementary filtering algorithm in the attitude estimation of quadrotor UAV, a four-rotor UAV simulation platform was built. Designed a variety of UAV flight conditions based on the simulation platform. The results of the attitude estimation of the quadrotor UAV by the complementary filtering algorithm under different working conditions. Verify the effective application range of the complementary filtering algorithm.