In order to overcome the problem that traditional control equipment such as remote controller and ground station can not control UAV flexibly and conveniently in complex environment, a UAV end-side control system based on data glove is proposed, which can control UAV through gesture. Firstly, a wireless data glove based on STM32, which integrates flexible sensors and inertial sensors, is used to collect training and test data. According to the data obtained from the data glove, BP neural network deployed to STM32 embedded processor is used for end-side gesture recognition. At last, the gesture is converted into matched UAV control command and sent to the UAV to realize the control. A total of 400 recognition verifications were carried out for 8 kinds of gestures, and the gesture recognition rate was 97%. The UAV simulation experiment is carried out through the Airsim simulation platform. The recognition accuracy of the basic control commands of UAV corresponding to eight gestures is 100%, which shows that the gesture recognition effect of the system is ideal. Finally, the test flight is carried out in the real scene, and multiple participants can successfully complete the complex flight with a total route length of 35m specified in advance within 1 minute. The experiment shows that the UAV can respond quickly to the gesture, and the gesture control method provided by the system is simple and convenient, which can realize the real-time and stable control of the UAV at the end side.