The invention discloses an unmanned aerial vehicle unpowered safe landing control method, device and equipment, and aims to solve the problem of stable landing of an unmanned aerial vehicle after power failure. According to the method, after power failure is detected, the method is divided into a gliding stage, a leveling stage and a taxiing stage according to the field height, in the gliding stage, the maximum lift-drag ratio and the corresponding target
attack angle are determined based on aerodynamic characteristics of the unmanned aerial vehicle, the
attack angle is limited in combination with the safety speed, and an
elevator instruction is calculated through a
PID controller in the gliding stage; in the leveling stage, an
attack angle instruction is determined according to a gliding section
tail end attack angle, a grounding target attack angle and a field height, and an
elevator instruction is calculated by a leveling section
PID controller; in the taxiing stage, attack angle control is transited to pitching control, a
PID controller in the taxiing stage calculates an
elevator instruction, stable attitude and bounce prevention are guaranteed, finally, the attitude of the unmanned aerial vehicle is controlled through control surface deflection, safe landing is achieved, and therefore accurate control over the whole process from high-altitude gliding to safe landing of the unmanned aerial vehicle under the unpowered condition is achieved.