The invention discloses a quad-rotor unmanned helicopter explicit prediction control method based on heuristic bionic loft optimization. The method comprises the following steps that 1, a quad-rotor unmanned helicopter model is built according to aerodynamics and kinematics, and a relation between the controlled quantity and the state quantity is given; 2, a loft optimization algorithm is initialized, and the number D of sampling points required in a linearization track is given; 3, a cost function is designed; 4, map compass factors are utilized for optimization; 5, loft optimization landmark operators are utilized for optimization; 6, sample target points optimized by a loft are obtained to construct a linear interpolation function; 7, the interpolation function optimized by the loft is applied to the model obtained in the first step; 8, simulation or experiments are performed to obtain related results and verification. According to the method, the control complex difficulty can be lowered, the problem that explicit prediction control has the high requirement for the track and is hard to apply is solved, the online optimization process is avoided, a large amount of time is saved, and the control cost is lowered.