The invention discloses a high-fault-tolerance
sky hook
recovery method based on window
decision making. The method specifically comprises the steps that: an unmanned aerial vehicle flies to enter anenergy management section after flying to an end point of a return flight section; an
energy management window arranged in an
energy management section judges whether the unmanned aerial vehicle can enter a
tail end line collision section or not, and if so, the unmanned aerial vehicle enters the
tail end line collision section; otherwise, the unmanned aerial vehicle continuously and circularly flies according to the path of the
energy management section until passing through the window; after the unmanned aerial vehicle flies to the end point of a lower sliding section in the
tail end line collision section, the unmanned aerial vehicle flies into a
recovery decision-making window, the
recovery decision-making window judges whether the unmanned aerial vehicle can perform line collision or not, and if so, the unmanned aerial vehicle enters a re-flight decision-making window through a
level flight section; otherwise, the unmanned aerial vehicle enters the
level flight section and enters the energy management section again through the first re-flight section; the re-flight decision-making window judges whether the unmanned aerial vehicle successfully collides with the line or not, andif so, the engine is
shut down; and otherwise, the unmanned aerial vehicle enters the energy management section through a second re-flight section. The method has the advantages of high accuracy and the like.