The invention relates to an autonomous return system and a control method of a dual-rotor remote-controlled model helicopter, belonging to the technical field of autonomous return of a remote-controlled model (unmanned) helicopter. The system comprises an airborne part and a ground control station part; the airborne part comprises a main rotor motor, a tail rotor motor, a single-polarity PWM (pulse-width modulation) output drive circuit, an H-bridge direct current motor drive circuit, a micro controller, an MEMS (micro-electromechanical system) single-axis gyroscope, an MEMS dual-axis gyroscope, an MEMS tri-axis accelerometer, a signal conditioning circuit, a resetting circuit, a small voltage difference linear voltage stabilizer, a JTAG (joint test action group) interface, a wireless data transmission module and a power supply, and the ground control station part is formed by sequentially connecting a ground station computer and a ground wireless data transmission module. According to the autonomous return system and the control method, the model helicopter can autonomously return to the remote-controlled range after the model helicopter flies off the remote-controlled range, and the stability of flight of the helicopter can be improved.