The invention relates to the technical field of unmanned aerial vehicle
autonomous control, and discloses an unmanned aerial
vehicle control method and device, an unmanned aerial vehicle and a storage medium, and the method comprises the steps: obtaining a kinetic equation of the unmanned aerial vehicle under a rigid coordinate
system, and determining a relational expression of motion parameters, such as position, linear velocity,
angular velocity and attitude, with respect to control quantity; constructing an extended
state vector, and obtaining an extended
state space model through linear conversion; based on a
motion parameter measurement value under a world
system, the
extended model and an observation equation containing observation
noise, state
estimation is carried out on motion parameters of the unmanned aerial vehicle, and a state
estimation value composed of a state item and a disturbance item containing disturbance force / torque is obtained; the
target control quantity is solved according to the state item and the disturbance item in the estimated value, the unmanned aerial vehicle is controlled according to the
target control quantity, disturbance force / torque is modeled as a dynamic
state variable, online real-
time estimation is conducted, the disturbance force / torque is fed back to the control quantity, dynamic compensation is conducted, and the strong
interference resistance and the control precision of the unmanned aerial vehicle are remarkably improved.