In order to make full use of the characteristics of the passiveness, real-time nature of the information in the visual image, and the self-creation of the on-board controller, to effectively solve the problems of easy interference, delay, and constraints of the drone signal source, the “十” dynamic structure and control principle of the quad-rotor unmarned aerial vehide(UAV) and the relationship between the posture equation and the dynamic equation during the flight of the UAV were analyzed. The conversion between the six-degree-of-freedom information of the quad-rotor UAV and the four elements of flight control information were completed. An autonomous control algorithm for unmanned aerial vehicle vision images based on cooperative target matching was then designed. The computer simulation verification proves that the algorithm can realize the autonomous landing of a four-rotor drone in a simple environment. This research will help the autonomous and intelligent development of drones.