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Based on voice recognition technology, a system of voice remote control of four-rotor aircraft was designed. voice processing chip of LD3320 and microprocessor of STM32 was used to realilze voice recognition function,and NRF24L01 was used to send voice recognition results to four-rotor aircraft. Microprocessor of STM32 was selected as main controller of four-rotor aircraft, and the six axis motion component MPU6050 and three-axis digital compass HMC5583L sensors was used for real-time attitude measuring of the aircraft, Then the digital filter was used to deal with attitude information, then quaternion was selected as attitude algorithm, finally attitude control was realized by using the double closed loop PID control algorithm.Experimental results show that the voice can control four rotor aircraft normal flight and attitude change, and the system is stable and reliable.