Aiming at the endurance problems that restrict the development of multi-rotor UAVs, a multi-rotor UAV endurance optimization method is designed. Analyzes several common factors that affect the endurance of multi-rotor drones, gives the estimation method of endurance time, combines the existing multi-rotor drones to improve the endurance of the overall scheme, and uses the control variable method to verify the experiment. The results show that this method can effectively improve the endurance of the UAV.