Hanging object motion control method based on relative position

The invention relates to the technical field of unmanned helicopter hanging control, and discloses a hanging object motion control method based on a relative position, and the method comprises the steps: firstly solving the real-time motion state of a hanging object according to the real-time motion state of an unmanned helicopter and the real-time motion state of the hanging object; then comparing the motion control target of the hanging object with the actual motion state to obtain the deviation of the motion control quantity of the hanging object; and based on the real-time motion state and the relative motion state correction of the unmanned helicopter, outputting a target motion state instruction of the unmanned helicopter to control the real-time motion state of the unmanned helicopter, thereby realizing the motion control of the suspended object. Wherein the motion state is position or speed. The problem that in the prior art, due to the lack of effective control over the movement of the hanging object