Passive millimeter wave imaging refers to the passive detection of naturally occurring background millimeter waves. After receiving external millimeter wave thermal radiation signals, the passive millimeter wave detection system will form images based on temperature differences and detect targets. Passive millimeter wave imaging has the advantages of non-radiation, non-contact, perspective imaging, good concealment, small size, and low power consumption. It is widely used in safety inspections, aircraft landing, low visibility navigation, sea surface detection and other fields. Driven by high and new technology, passive millimeter wave imaging low-altitude detection technology is rapidly developing. This paper introduced the basic principle of passive millimeter wave imaging, including the characteristics of millimeter wave radiation and Black-body radiation law, as well as its comparison with ordinary optical radiation. It also described the basic model of current passive millimeter wave imaging low altitude detection technology, explored the shortcomings of this technology and pointed out further work as well.