Method for controlling an inspection flight of an unmanned aircraft for inspecting of an object, with: - Acquisition of image data for an object by means of a camera device, which is arranged on an unmanned aircraft, during a first flight movement of the unmanned aircraft in a flight coordinate system in the vicinity of the object; - Acquisition of depth data by means of a depth sensor device, which is arranged on the unmanned aircraft, and which comprises a lidar measuring device, a time-of-flight measuring device, and/or a radar measuring device, wherein the depth data display distances between the unmanned aircraft and the object during the first flight movement; - Processing of the image data and the depth data by means of an evaluation device, comprising: - Execution of an image analysis based on artificial intelligence for the image data, wherein thereby the object is recognised from the image data, with the aid of image recognition based on artificial intelligence, and pixel coordinates are determined in a camera coordinate system of the camera device for image pixels that are assigned to the recognised object; - Execution of a sensor data fusion for the image data and the depth data, wherein thereby the depth data that can be assigned to the image pixels of the object are respectively determined, and from the assigned depth data at least one object reference point for the object is determined; and - Determination of position coordinates for the at least one object reference point in the flight coordinate system, wherein the position coordinates indicate a position of the object in the flight coordinates system; - Determination of flight trajectory coordinates for the unmanned aircraft for a collision - avoiding inspection flight with reference to the object for inspecting the object, taking into account the position coordinates for the at least one object reference point; and - Control of the unmanned aircraft during a second flight movement, such that the unmanned aircraft thereby performs the collision-avoiding inspection flight in accordance with the flight trajectory coordinates, by means of a control device of the unmanned aircraft. - Acquisition of image data for an object by means of a camera device, which is arranged on an unmanned aircraft, during a first flight movement of the unmanned aircraft in a flight coordinate system in the vicinity of the object; - Acquisition of depth data by means of a depth sensor device, which is arranged on the unmanned aircraft, and which comprises a lidar measuring device, a time-of-flight measuring device, and/or a radar measuring device, wherein the depth data display distances between the unmanned aircraft and the object during the first flight movement; - Processing of the image data and the depth data by means of an evaluation device, comprising: - Execution of an image analysis based on artificial intelligence for the image data, wherein thereby the object is recognised from the image data, with the aid of image recognition based on artificial intelligence, and pixel coordinates are determined in a camera coordinate system of the camera device for image pixels that are assigned to the recognised object; - Execution of a sensor data fusion for the image data and the depth data, wherein thereby the depth data that can be assigned to the image pixels of the object are respectively determined, and from the assigned depth data at least one object reference point for the object is determined; and - Determination of position coordinates for the at least one object reference point in the flight coordinate system, wherein the position coordinates indicate a position of the object in the flight coordinates system; - Execution of an image analysis based on artificial intelligence for the image data, wherein thereby the object is recognised from the image data, with the aid of image recognition based on artificial intelligence, and pixel coordinates are determined in a camera coordinate system of the camera device for image pixels that are assigned to the recognised object; - Execution of a sensor data fusion for the image data and the depth data, wherein thereby the depth data that can be assigned to the image pixels of the object are respectively determined, and from the assigned depth data at least one object reference point for the object is determined; and - Determination of position coordinates for the at least one object reference point in the flight coordinate system, wherein the position coordinates indicate a position of the object in the flight coordinates system; - Determination of flight trajectory coordinates for the unmanned aircraft for a collision - avoiding inspection flight with reference to the object for inspecting the object, taking into account the position coordinates for the at least one object reference point; and - avoiding inspection flight with reference to the object for inspecting the object, taking into account the position coordinates for the at least one object reference point; and - Control of the unmanned aircraft during a second flight movement, such that the unmanned aircraft thereby performs the collision-avoiding inspection flight in accordance with the flight trajectory coordinates, by means of a control device of the unmanned aircraft.