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In order to solve the existing civil uav under complicated topography, such as in mountainous area of difficult terrain matching flight problems, analysis the technical difficulties of terrain matching flight, proposes a uav flying terrain matching method based on laser ranging.First using fitting model based on least square method to improve the accuracy of laser ranging module, real-time measured using laser ranging module respectively unmanned aerial vehicle (uav) and the relative height of the ground and the fluctuation angle of terrain, combining DMC - PID cascade control algorithm, makes the uav can fly independently implement terrain matching.This method does not need expensive terrain detection sensor and complex software algorithm, which has the characteristics of light weight and low difficulty of application.Through on-the-spot flight test, verify the validity and feasibility of the method.