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In order to solve the four rotor aircraft model order higher problem, the model features four-rotor aircraft under the hover state were studied. Firstly, the establishment of a dynamic model of four-rotor aircraft, and using a small disturbance theory to simplify the model to obtain the feature model aircraft structure; and then build aircraft identification experiment platform, to obtain reliable data input and output; and finally, in order to ensure the stability of the initial phase of the aircraft, choose the appropriate initial parameters, and select the online recursive algorithm through model fit, establishes the characteristic model of the aircraft. Through the analysis of the experimental results show the validity of the characteristics of the model.