Aiming at the problem that the current altitude holding method of drone based on barometer and ultrasonic is difficult to maintain the altitude in uneven indoor terrain

a drone altitude holding method based on real-time height change compensation of time of flight（ToF）sensor is proposed.An altitude de-mutation model is proposed firstly.Then

an adaptive weighted recursive average filter algorithm is used to avoid the influence of terrain on altitude.Finally

an altitude control model is built to enhance system stability.This method is tested in the real world

and the de-mutation effect of altitude holding is tested by drone at different altitudes and speeds.The experimental results show that the drone altitude holding method in uneven indoor terrain can ensure the accuracy of the drone’s altitude.Meanwhile

this method can avoid the influence of sudden terrain changes.The maximum error of the altitude data is 7.97 cm

and the average error is 2.92 cm.