Quadrotor unmanned aerial vehicle trajectory tracking control method with high precision

The invention discloses a quad-rotor unmanned aerial vehicle trajectory tracking control method with high precision, which comprises the following steps: inputting a position reference instruction signal, a speed reference instruction signal and the position and speed of an unmanned aerial vehicle into a translation subsystem control law, and calculating to obtain a virtual control law; carrying out coordinate transformation on the virtual control rate to obtain a resultant lift force generated by rotor wings and an Euler angle reference instruction signal of the unmanned aerial vehicle; and inputting the Euler angle reference instruction signal and the Euler angle of the unmanned aerial vehicle into an Euler angle control law, and calculating an angular velocity reference instruction signal of the unmanned aerial vehicle; inputting the angular velocity reference instruction signal and the angular velocity of the unmanned aerial vehicle into an angular velocity control law, and calculating the torque of the r