Abstract: Aiming at the phenomenon that the existed vanish point estimating methods are not suitable for the real engineering application， a new VQME algorithm to estimate vanish point was proposed. This algorithm was proved to be reasonable， robust and realtime and at last the feasibility was proved in engineering applications. At the same time aiming at the characteristic of fourrotor aircraft's under actuated and multicoupled， a cascade multivariate RBF neural network PID adaptive control method was proposed too. With this adaptive control method and the stratagem of making the vanish point as the target， the autonomous navigation in corridor was implemented.

Key words: fourrotor aircraft, vanish point, neural network, adaptive control, autonomous navigation