Hovering control method and system for unmanned aerial vehicle, and unmanned aerial vehicle

A hovering control method for an unmanned aerial vehicle comprises the following steps: acquiring the flying speed of the unmanned aerial vehicle; acquiring the image frame of the current time as a key frame if the flying speed satisfies a preset condition; and taking the key frame as a reference object, controlling the unmanned aerial vehicle to hover. The hovering control method controls the hovering of the unmanned aerial vehicle by selecting the key frame as the reference object, and does not have to perform reverse compensation on the speed offset of the aircraft as compared with a way in the prior art by controlling the integration speed of the aircraft to zero, so the strenuous shaking of unmanned aircraft vehicle can be avoided. 种无人飞行器的悬停控制方法包括：获取无人飞行器的飞行速度，若飞行速度满足预设条件，则获取当前时刻的图像帧作为关键帧，以关键帧作为参考对象，控制无人飞行器悬停。该悬停控制方法通过选取关键帧作为参考对象，对无人飞行器的悬停进行控制，与现有技术的通过控制飞行器的积分速度为零的方式相比，不必对飞行器的速度偏移进行反向补偿，因此可以避免无人飞行器的剧烈晃动。