The invention discloses a four-rotor aircraft dynamics model/airborne sensor combination navigation method, which belongs to the field of combination navigation. The four-rotor aircraft dynamics modelis combined with an airborne sensor, angular velocity, attitude, speed and positional information are estimated, in the invention, the dynamics model comprises a lift model, a resistance model, a torque model, a roll moment model, and a pitching moment model, and the employed airborne sensor comprises a rotor rotating speed sensor, a magnetic sensor, a satellite navigation system, and an air pressure height meter. In the method, a common inertia sensor such as a gyroscope and an accelerometer in the current four-rotor aircrafts are not employed, the acceleration and the angular acceleration information are output by the dynamics model of the four-rotor aircraft, and the inertia sensor can be substituted. The method can be used for solving the navigation problem of the four-rotor aircraftwhen the inertia sensor is failed.