Cooperative flight method for recovering small unmanned aerial vehicle by large unmanned aerial vehicle

The invention discloses a cooperative flight method for recovering a small unmanned aerial vehicle by a large unmanned aerial vehicle. The invention aims to realize the smooth recovery of the small unmanned aerial vehicle during the flying process of the large unmanned aerial vehicle. The method mainly comprises the following steps: according to a flight performance limit of the small unmanned aerial vehicle, the large unmanned aerial vehicle is at a proper height, speed and radius, and related flight parameters of the unmanned aerial vehicle are sent to the small unmanned aerial vehicle; thecircular flight track of the large unmanned aerial vehicle is referred, and the small unmanned aerial vehicle is planned to carry out horizontal projection concentric circular trajectory flying with the corresponding height, speed and radius; according to different recovery modes, the height and the radius of the circular flight trajectory planned by the small unmanned aerial vehicle can be different from the height and t