The embodiment of the utility model discloses a wall-attached fixed-distance surrounding unmanned aerial vehicle based on a distance measuring sensor. Unmanned aerial vehicle, distance measuring sensors are symmetrically arranged on the two sides of the unmanned aerial vehicle; according to the utility model, any route planning is not needed, GPS positioning information is not needed, and the unmanned aerial vehicle is convenient to use. The wall-attached fixed-distance surrounding flight of the target object can be realized without measuring the shape of the target object or measuring any contour shape of the target object, the application scene is wide, the limitation is small, and the wall-attached fixed-distance surrounding flight method is suitable for appearance panoramic shooting ofirregular buildings and shooting of the interiors of the buildings.