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In the trajectory tracking control process of a six-degree-of-freedom quadrotor UAV, the control system composed of a single controller has unknown external disturbance, and the robustness of the system and the tracking accuracy of the trajectory are prone to large fluctuations. The paper proposes a full-closed-loop control scheme based on a fixed-time disturbance observer, that is, double-closed-loop control for position and attitude. First, two disturbance observers are designed using the fixed-time theory to estimate and compensate for the disturbance within a fixed time; on the basis of the accurate estimation of the disturbance value by this observer. Two nonlinear tracking controllers with disturbance compensation capability are designed. The Lyapunov stability theory proves the effectiveness of the method. In the simulation experiment, in order to compare the effectiveness of the control method, at the same time, the UAV control system composed of a traditional single controller is used for comparative analysis. Under the premise that the UAV mass is m=1.44kg, the environmental acceleration of gravity is g=9.8m/s^2, and other model parameters are consistent, a large number of simulation experiments are carried out to verify the proposed disturbance compensation control system based on a fixed-time disturbance observer. The compensation control system can ensure that the six degrees of freedom of the quadrotor UAV can accurately estimate the external disturbance value when it is subjected to external disturbance, and realize the high-precision trajectory tracking control of the UAV, and the trajectory tracking accuracy and anti- disturbance performance are better than the UAV control system composed of a traditional single controller