Considering the existing singular point problem in the initial turning phase motion equations of the vertical launch interceptor missile using Euler angleby ignoring the aerodynamic effect and only taking the effect of jet vane into considerationa nonlinear mathematical model of the vertical launching interceptor missile was established based on quaternion method.Considering the nonlinearitiesparameter perturbation,uncertainties and the ignoring aerodynamic effects produced by the unknown external disturbances in the system modelthe active disturbance rejection control (ADRC) was employed to handle them.The ADRC can dynamically compensate the model perturbation and external disturbanceswhich does not depend on precise mathematical model of the system.Thereforean active disturbance rejection attitude controller was designed for the vertical launching interceptor missile by using the quaternion method.Simulation results show that good dynamic performance and strong robustness are obtained under the design of ADRC for the attitude control.