The invention relates to a micro coaxial dual-rotor helicopter control device and micro coaxial dual-rotor helicopter control method, which belong to the technical field of helicopter control. The device comprises a ground device and an air device, wherein the ground device comprises a video wireless receiver, a ground wireless transmission module, a ground processor, a displayer and an upper computer; and the air device comprises a three-axis magnetic direction sensor, a three-axis gyroscope, a three-axis acceleration sensor, a GPS, a air pressure gauge, an ultrasonic transducer, an ARM processor, a micro wireless camera, a video decoding module, a video wireless transmission module and an air wireless transmission module. The device and the method have the advantage of improving the utilization rate of resources. In the invention, the network communication of helicopter groups can be realized conveniently. The system can realize aerial photographing and task setting automatic flight and ground tracking automatic flight and realize convenient automatic and manual operation switching.