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Quadrotor is a way to VTOL aircraft that has compact structure and unique fight, with underactuated and strong coupling characteristics. For controlling the aircraft to arrive at set-point and maintains a stable hover from initial location, the article proposed the method of double close-loop PID control based on the dynamic model according to its flight characteristics, the outer ring accomplishes location control,we set the error between set-point and feedback actual location as the controller. the inner ring accomplishes attitude control, the set-value of the attitude results form the inverse solution of outer ring’s output, that the error between the set-value and actual attitude is the input of controller .after double close-loop PID, the signals for controlling attitude will be output, which can convert to four value used to control motor speed via the decoupling of cross dynamic model of quadrotor. The task of set-point tracking can be accomplished according to above all. the method of double close-loop PID control in this article can be verified with simulation experiments, providing a basis for furture study on the quadrotor.