Small ship-borne cluster unmanned aerial vehicle sky hook recovery control method

The invention discloses a small ship-borne cluster unmanned aerial vehicle sky hook recovery control method, and belongs to the field of unmanned aerial vehicle control. The method specifically comprises the following steps: for a small ship-borne cluster unmanned aerial vehicle, acquiring relative position, speed and course between the unmanned aerial vehicle and a ship and attitude information of the ship through differential satellite navigation, and guiding landing of the unmanned aerial vehicle; the route in the unmanned aerial vehicle sky hook recovery process is divided into three sections. In the approach section, a flight control module controls the unmanned aerial vehicle to descend, and the unmanned aerial vehicle is aligned with a recovery device to enter a follow-flight mode. In the recovery section, the hook point of the sky hook is continuously corrected through the real-time attitude of the ship, and the side offset distance control and the height control are continuously performed on the unma