To solve the problem of small and medium-sized loitering munitions being susceptible to airflow disturbances during flight, a height control method based on the theory of active disturbance rejection and dynamic inverse has been proposed. Firstly, establish the longitudinal flight dynamics model of the loitering munition. Next, using the theory of active disturbance rejection control and dynamic inversion, the following controllers have been designed: the pitch angular velocity controller, the attitude angle controller, the overload controller, the climb rate controller and the altitude controller. The simulation outcomes demonstrate that the control system exhibits commendable control efficacy, robustness and the capacity to resist wind disturbances.