In modern war, helicopter often uses nap-of-the-earth flight to achieve low altitude penetration flight missions, but it is difficult to meet the current flight needs of traditional control methods. At the same time, helicopters have serious non -linear dynamic characteristics. Considering the strong external disturbance and modeling error in the nap of the earth flight scene, the incremental nonlinear dynamic inverse, which is a control method with little dependence on the model and good anti-interference effect, is used to design the inner loop attitude controller for the helicopter. Considering the engineering reliability and achievability, the robust and perfect tracking control is used to design the position controller for the helicopter. The experimental results show that compared with PID control, the designed helicopter flight controller for nap-of-the-earth flight has good anti-interference effect, fast response speed and strong stability, and can be competent for the task of the nap-of-the-earth of helicopter flight control.