Compared with the traditional multi-rotor UAV，the bicopter has stronger maneuverability and endurance，but the sensor measurement error will affect the control precision．In response to this problem，in terms of the overall structure，the bicopter test prototype was built and the dynamic model was deduced;In terms of control algorithm，the error compensation algorithm of the triaxial accelerometer is developed independently，and the improved cascade double closed-loop PID algorithm is formed by combining the algorithm with the traditional PID control algorithm innovatively，which can realize the suppression of the

cumulative error of the measured value of the triaxial accelerometer，at the same time，30 system control simulations were carried out by Simulink．The simulation results show that the improved cascade double closed-loop PID algorithm can theoretically reduce the overshoot of Y-axis displacement，roll Angle，pitch Angle andyaw Angle by about 78%，26%，19% and 44%，respectively．In the aspect of experimental measurement and control，a test prototype + measurement and control ground station system was built，and 10 groups of air hover comparison experiments were finally completed．The experimental results show that the steady-state errors of hover height，roll Angle，pitch Angle and yaw Angle of the improved PID algorithm are reduced by 35．68%，49．04%，2．33% and 55．96% compared with the traditional PID algorithm，which verifies the accuracy and actual effectiveness of the improved control algorithm．