The problem of the control accuracy of the controller caused by the disturbance of the quadrotor caused by the wind field is studied. A controller for quadrotor hovering is designed. The dynamic model of drone is established by using Newton-Euler equation, and the influence on lift and torque of rotor is analyzed by cross wind. Four basic wind field models and a three-dimensional uniform composite wind field model were built by simulation. Finally, design a controller based ADRC which can estimate the total disturbance of quadrotor by extended state observer, and then suppress the total disturbance by nonlinear state error feedback. The speed mapping module is introduced to enhance the position control accuracy and the attitude angle tracking accuracy of the controller. The simulation results show that the proposed algorithm effectively improves the attitude stability and position accuracy of the drone in the wind field.