In this paper, we consider a multiple unmanned aerial vehicles (UAVs)-assisted wireless sensing network, where low-power ground users (GUs) periodically sense the environmental information and upload the recent sensing information to a base station (BS). The GUs firstly backscatter their information to the UAVs and then the UAVs transmit the information to the BS by the non-orthogonal multiple access (NOMA) transmissions. Our goal is to minimize the long-term age-of-information (AoI) by jointly optimizing the UAV's sensing scheduling, transmission control, and trajectories. To solve this problem, we propose the Lyapunov-driven hierarchical proximal policy optimization framework, named Lya-HPPO, to decouple the multi-stage AoI minimization problem into several control subproblems. In each control subproblem, the UAVs' sensing scheduling and transmission control are firstly determined by the outer-loop deep reinforcement learning (DRL) approach, and then the inner-loop optimization module is to update the UAVs' trajectories. Simulation results verify that the proposed Lya-HPPO framework converges very fast to a stable value and can make online decisions in real time, while guaranteeing the long-term data buffer and AoI stability.