Aiming at the problems of slow convergence speed and easy divergence of state variables in the trajectory tracking of a quadrotor aircraft, a dual-loop hybrid finite time control strategy is proposed.According to the Newton-Euler equation, the dynamic model of the quadrotor is deduced, and is then divided into two control loops, i.e., the inner and the outer loop according to the principle of time scale.The outer loop uses a finite time control strategy to accelerate the convergence speed of the three-axis position and the yaw angle.The inner loop uses fast nonsingular terminal sliding mode control technology to achieve rapid convergence of the attitude angle.A virtual prototype of the quadrotor aircraft is built to simulate its trajectory tracking control effect in a three-dimensional simulation environment.The simulation results show that, compared with the other two common controllers, the controller designed in this paper has the best control accuracy, robustness and tracking effect, and it can better meet the requirements of quadrotor aircraft trajectory tracking control.