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Binocular stereo vision technology is incorporatedSinto the design of Quadcopter, human eyes is simulated by two monocular cameras at a relative horizontal position, the parallax results are achieved in the binocular stereo vision ranging system by image acquisition, binocular correction, binocular stereo matching,etc. So the depth information is computed and three-dimensional is reconstructed. Then One-key take-off, set high, fixed-point cruise, hovering and autonomous obstacle avoidance are realized. Experimental results showed that the designed aircraft has fast response, good tracking performance and high positioning accuracy.