The invention discloses a method for estimating the heading axis angular velocity of a four-rotor aircraft, and the method comprises the steps: collecting the data of a plurality of sensors, recognizing torque model parameters through the least square method, and taking a mean value as an initial value of model parameter estimation; periodically reading the information of an airborne sensor of thefour-rotor aircraft at the moment k, and calculating a torque model at the moment k; predicting the heading axis angular velocity of the four-rotor aircraft at the moment k, a first-order Markov of the torque model, the parameters of the torque model and quaternion; and correcting the heading axis angular velocity of the four-rotor aircraft at the moment k and the quaternion through an extended Kalman filter. The method can achieve the obtaining of a heading angular velocity with the assistance of the torque model without additional external equipment when there is short of a heading axis angular velocity sensor.