Control method, system and equipment for unmanned aerial vehicle to track target and medium

The invention discloses a control method, system, equipment and medium when an unmanned aerial vehicle tracks a target, and relates to the technical field of unmanned aerial vehicle flight control. The method comprises the following steps: acquiring a pan-tilt pitch angle, a pan-tilt yaw angle, an unmanned aerial vehicle course angle and an unmanned aerial vehicle flight height; determining the course angular velocity of the unmanned aerial vehicle according to the pan-tilt yaw angle; determining the east speed and the north speed of the unmanned aerial vehicle according to the course angle of the unmanned aerial vehicle, the flight height of the unmanned aerial vehicle, the pitch angle of the holder, the yaw angle of the holder, a set pointing direction and a set pitch angle; the unmanned aerial vehicle east direction speed, the unmanned aerial vehicle north direction speed and the unmanned aerial vehicle course angular speed are used for enabling the unmanned aerial vehicle to track a target at a set pitch