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Aiming at the problem of poor control effect of existing UAV navigation control methods, a visual navigation control method of UAV autonomous trajectory based on particle filter is proposed in this paper. The particle filter algorithm is used to optimize the visual navigation control method of UAV autonomous trajectory. The flight environment map of UAV is constructed by grid method, and the motion state model is constructed according to the mechanical composition, structure and working principle of UAV. The built-in camera equipment is used to collect visual images and perform preprocessing steps such as image gray conversion, geometric correction and filtering. Through the feature extraction of visual image, it can judge whether there are obstacles in the current environment. The position and attitude of UAV are determined by particle filter algorithm, and the autonomous flight trajectory of UAV is planned combined with the obstacle recognition results. The calculation results of position, speed and attitude angle are input into the installed navigation controller to complete the autonomous trajectory visual navigation control task of UAV. Through the actual measurement and analysis, it is concluded that the position error, velocity error and attitude angle error of the designed navigation control method are maintained below the preset value, that is, the designed navigation control method has good control effect.