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Aiming at the situation that the research of the three rotor UAV focuses on the initial stage of mathematical model analysis and simple control algorithm design, and the air damping coefficient of the height system is unknown, the control problem of the height system of the three rotor UAV is studied. Based on the immersion invariant set method, an adaptive controller is designed to control the target tracking height of the three rotor UAV. According to the flight characteristics of the three rotor UAV, the mathematical model of the three rotor UAV motion is derived, and the controller parameter design and aerodynamic parameter selection are completed. The Lyapunov analysis method is used to prove the asymptotic stability of the controller, the unknown air damping coefficient is estimated on-line, and finally verified in the ring simulation experiment on the three rotor UAV experimental platform. The experimental results show that the height tracking error converges well in 0-6 seconds, and the estimated value of control damping coefficient converges well in a reasonable range. It shows that the algorithm has small steady-state error, fast convergence speed, good control performance and strong practicability.