The invention provides an unmanned aerial vehicle monitoring system for monitoring floating objects in water. The system comprises a UAV (unmanned aerial vehicle) cruise module and a ground monitoring processing module. By using the UAV cruise module to carry out monitoring, most water areas can be reached, the implementation difficulty of monitoring is small, a UAV does not carry monitoring personnel, the UAV cruise module reaches an observation point in the air, the disadvantages of power safety reliability and the interference of water area velocity and water flow direction by using an observation ship are overcome, the possibility of accidents is little, the reliability and safety of monitoring are improved, the floating objects in a large water area can be monitored in a short time, the monitoring efficiency is improved, a lot of manpower and resources are saved, the energy consumption of monitoring personnel is reduced, a monitoring area and a water area floating object area can be accurately calculated, the density of the water area floating objects is accurately calculated, and the analysis decision and further measures are facilitated according to provided detailed monitoring data.