To solve the problem that the accuracy of the horizontal control range is not high when the quadrotor aircraft hovers at a certain point under the condition of no satellite signal indoors,the paper proposes a quadrotor aircraft hovering method based on Blob analysis.The method obtains the horizontal position information through the Openmv machine vision module installed at the bottom of the aircraft, transmits the horizontal position information,and obtains the horizontal speed after the interference signal filtering processing and the IMU data fusion calibration,thereby realizing the hovering of the indoor color block of the aircraft.In this experiment,PXhawk flight control is used as the test platform,and a satisfying control precision is obtained by using the incremental PID control algorithm.The experimental results show that the quadrotor aircraft hovering method based on Blob analysis effectively improves the horizontal offset accuracy and the horizontal offset range is ±5 cm,which verifies the feasibility of the method.