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According to the features of the UAV's flight performance is influenced extremely highly by the external environment and the control precision is not high enough, a fuzzy parameters self-tuning PID controller is studied to control the longitudinal attitude of UAV. based on the PID method, this method use the parameters of the actual flight to build the fuzzy control rules, in this way, the self-tuning PID parameters are achieved,then do the simulation on the mode of the longitudinal attitude of UAV, The results show that the fuzzy PID controller can get better control performance and has better anti-interference ability compared with traditional PID controller, which can meet the requirement of UAV control system.