The present application belongs to the technical field of unmanned aerial vehicle reconnaissance, and particularly relates to a composite window reconnaissance method based on unmanned aerial vehicle suspension, wherein environment data is acquired; in combination with unmanned aerial vehicle flight state data, a building facade three-dimensional model is constructed through a
point cloud processing algorithm, window position, glass type and reflection intensity are identified; based on the window position, glass type and reflection intensity, a sensing mode is dynamically switched, indoor optical images under different polarization states,
object distance and contour information are acquired, features are extracted using a sparse auto-
encoder algorithm, and a three-dimensional
semantic map of the indoor scene is constructed; according to the three-dimensional
semantic map, suspicious targets are identified in real time through a target detection
algorithm, dynamic trajectories and abnormal areas are labeled, a reconnaissance priority report is generated, and the report is transmitted to a ground control center using a
relay link, and a local caching mechanism is simultaneously enabled for caching. Thus, the problems of weak anti-interference ability, poor
flight stability and insufficient data fusion in the prior art are solved.