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In order to improve the drawbacks of low accuracy, lack of redundancy and divergence that occurred in the attitude calculation of micro quadrotor unmanned aerial vehicle (UAV), a random weighted adaptive filter algorithm is proposed based on GPS, 3-axis gyroscope-accelerometer and 3-axis magnetometer, to estimate the UAV attitude. A Four rotor UAV attitude rotation matrix is established,A model for obtaining the attitude information of UAV with accelerometer and magnetometer,and Attitude calculation model of gyroscope sensor using four element method.By randomly weighted adaptive estimation method, based on the multiple function extremum theorem, in ensuring the overall variance under the condition of minimum to derive the optimal random weighting factor, and then calculate the attitude information, improve the quadrotor UAV attitude estimation filtering accuracy and stability.The simulation and experimental results show that the random weighting adaptive filtering and the average filtering algorithm are more accurate and more stable, and the expected function of the UAV can be realized, which can meet the needs of the autonomous flight of the quadrotor UAV.