This paper presents a visual feedback control of a small UAV using image-based visual servoing with stereo vision. In order to control the orientation and the position of flying robot with respect to an object or target well defined, we propose to use a navigation system based on binocular vision system combined with inertial sensors. This combination of sensors, allows us to get a complete characterization of the state of aerial vehicle. It means, using the stereo vision system we are able to estimate the UAV 3D position, while from the inertial sensors we can obtain the orientation of rotorcraft. Real time experiences are developed to validate the performance of navigation system proposed.