In order to make the unmanned aerial vehicle (UAV) land at a specified point, this paper designed a fixed-point recovery control system against the parachute recycling characteristics of a certain UAV. This system divided the recycling phase into four stages, which include entering the recycling window, unpowered flight segment, parachute deceleration segment and steady drop segment. The dynamical and kinematical equations were established through reasonable assumptions of this recycling system and also the simulation study was conducted, in which way the recycling strategies were identified. Experimental results indicated that this design could meet the requirements of the recycling accuracy.