Abstract: A double loop active disturbance rejection controller for small float antenna applied in military hidden reconnaissance is presented. Active disturbance rejection controllers of position loop and velocity loop of the elevation servo control system are designed. The performance of the double loop active disturbance rejection controller is better than the proportional-integral-derivative(PID) controller by comparison of the step response. The elevation variation of the antenna under the disturbance of medium and small surge is input to the double loop controller to control the antenna elevation servo system by hardware in the loop simulation. Experiments validate the presented double loop active disturbance rejection controller can ensure the antenna system to well track the target satellite.