Location plays a key role when quadrotor moves objects. A control system of quadrotor based on vision localization to make quadrotor flight by its own location was designed. K60 was chosen as the controller of the quadrotor, and the gyroscope, accelerometer and magnetometer were adopted as the module of attitude and heading,and the camera positioning and ultrasonic ranging were used as the module of positioning. Then, data were collected to achieve attitude solution by the quadrotor, combining with a complementary filter. After that, through classic PID control, this quadrotor could achieve the function of stabilized flight, vision localization and autonomous landing. The test results show that in the height range of 10~200 cm, the location accuracy of aircraft reaches 13 mm, the height accuracy reaches 034 mm. What’s more, the whole system has a better speed and stability. So this design can achieve the desired function and provide some reference for the research of the way of quadrotor’s location.