Cooperative control method and system for holder and aircraft

A cooperative control method and system for a pan-tilt (330) and an aircraft (310), the pan-tilt (330) being mounted on the aircraft (310), the method comprising: acquiring an Euler angle of the aircraft (310) and a joint angle of the pan-tilt (330); when it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft (310) reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft (310) not to be greater than a first preset speed; and when it is detected that an angle corresponding to the first direction in the joint angles of the holder (330) reaches a second preset angle, controlling the holder (330) to rotate in the same direction as the aircraft (310) in the first direction according to a first preset avoidance parameter, the first preset avoidance parameter being related to an increase speed of an Euler angle of the aircraft (310). When the cradle head (330) needs to avoid mechanical limitation and avoid propeller seeing, the