For the quad-rotor UAV to achieve accurate landing on the slope in the complex environment, a novel system framework is proposed.The quad-rotor UAV with Manifold and visual sensor guidance is used to realize smooth slope landing.The autonomous landing control algorithm of the drone is optimized by using the Proportional-Integral-Derivative (PID) control method.After Manifold calculates the navigation data in real time, the quad-rotor UAV can accurately reach the position above the landing point.It is proposed to screen the data collected by the quad-rotor UAV platform DJI M100 through the cost function, and accurate landing on the slope is accomplished by using the reverse compensation algorithm.The experimental results show that the proposed algorithm can effectively maintain the stability of the quad-rotor UAV during flight and can accurately land on the slope.