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A method is proposed which combined the auto-disturbance-rejection control(ADRC) with the improved extended Kalman filter(EKF) for the problem that four rotorcraft system is strongly coupled, nonlinear and susceptible to external noise interference. The method uses a disturbance rejection controller to control a quadrotor,using improved EKF to filter out external noise. The optimal control amount of the ADRC output is taken as the control amount of the improved EKF,which outputs the attitude of the aircraft with the measurement of noise as a state variable for the improved EKF,more accurate attitude value can be output due to the improved EKF filter. The experimental results show that this method controls the attitude stabilization time of the aircraft to about 0.7 s,compared with cascade PID control. It′s attitude tracking curve is more stable,highly controlled settling time is reduced by 1.7 s and increased anti-jamming capability by 50%,so that the method enhances the stability and anti-interference ability of the four-rotor system,which meets the requirements of the four rotor attitude control.