In　order　to　solve　the　short-time　drift　problem　of　height　data　caused　by　environmental　and　noisy　pollution,　a　multi-rotor　aircraft　control　system　was　designed　to　prevent　the　aircraft　from　falling　rapidly　in　a　short　time　during　the　autonomous　cruise.　The　problem　of　data　loss　due　to　strong　interference　on　the　UAV,　which　is　equipped　with　the　Real-time　kinematic　(RTK),　can　be　well　solved　by　introducing　an　inertial　measurement　unit　(IMU)　for　high　resolution,　and　using　an　Extended　Kalman　filter　and　IMU　to　calculate　system　acceleration　(ACC)　as　well　as　altitude　predictions　for　eliminating　height　drift　due　to　sensor　errors.　In　addition,　the　ADRC　control　algorithm　is　also　introduced　to　control　the　attitude　of　the　aircraft,　to　realize　the　control　compensation,　and　finally　to　control　the　height　of　the　drone　through　the　three-ring　cascade　PID　algorithm.　The　experimental　results　show　that　the　proposed　algorithm　can　make　the　UAV　get　better　height　and　attitude　control　even　though　the　external　disturbance　is　unknown.　©　2019　IEEE.