Embodiments of the invention disclose an unmanned aerial vehicle control method suitable for goods inventory of a high-rack warehouse, a goods inventory method, a goods inventory device, a server anda storage medium, wherein the unmanned aerial vehicle control method comprises the following steps: acquiring a flight video image of an unmanned aerial vehicle; acquiring ultrasonic data of an ultrasonic sensor configured on the unmanned aerial vehicle, and determining a height difference between the unmanned aerial vehicle and a reference object according to the ultrasonic data; determining motion information of the unmanned aerial vehicle based on an optical flow method according to the flight video image; determining a current position of the unmanned aerial vehicle according to positioning points in the flight video image in combination with a high-rack warehouse space model; and correcting unmanned aerial vehicle control information according to the current position and the motion information of the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to perform goods inventory according to a set route. Through adoption of the unmanned aerial vehicle control methodof the invention, indoor positioning range and precision can be improved, and the situation that persons are injured as well as facilities and goods in the warehouse are damaged because parts or devices fall due to accidental collision can be avoided.