A method of ascertaining UAV attitude by compensation and positioning of the laser spot center is proposed. The method uses the principle of cooperative target attitude measurement combined with wander and spreading effects of the laser beam under actual atmospheric turbulence. A polygon is formed by calculating the center of the single frame laser spot and extracting feature point of outline constituted by center of the laser spot within unit interval. The gravity center of the polygon is taken as a reference. An adaptive attitude measurement compensation model is thus established. Numerical results show that, when the target distance is 3 km, the maximum error of the attitude angle is 0.221± by using the simulated annealing algorithm in the iterative solver and adaptive compensation. This indicates that the attitude measurement algorithm with adaptive compensation has high accuracy and good convergence.