Valve hall unmanned aerial vehicle inspection path planning method, unmanned aerial vehicle control method and device

The invention provides a valve hall unmanned aerial vehicle routing inspection path planning method. The method is used for path planning of a converter station routing inspection unmanned aerial vehicle. The method comprises the following steps: firstly obtaining a cruise height, an initial position coordinate and a first target position coordinate of an unmanned aerial vehicle, then determining a second target position coordinate according to the initial position coordinate and the cruise height, and then obtaining a third target position coordinate according to the first target position coordinate; the third target position coordinate corresponds to the cruise height, and finally determining a route plan of the converter station inspection unmanned aerial vehicle based on the initial position coordinate, the second target position coordinate, the third target position coordinate and the first target position coordinate. And planning the inspection path of the unmanned aerial vehicle through the cruise heig