A heading control method for an aerial vehicle, comprising: receiving a control instruction from a controller, the control instruction comprising at least one initial acceleration in a control coordinate system; transforming the initial acceleration in the control coordinate system to a first acceleration in the north-east-down coordinate system; transforming the first acceleration in the north-east-down coordinate system to a target acceleration of a body coordinate system by using an Euler angle rotation matrix; and controlling a motor of the aerial vehicle to operate according to the target acceleration; wherein the transforming the initial acceleration in the control coordinate system to the first acceleration in the north-east-down coordinate system comprises: obtaining an X-axis unit vector and a Y-axis unit vector of projections of an X-axis and a Y-axis of the body coordinate system on to a level plane of the north-east-down coordinate system, the body coordinate system being a coordinate system with the aerial vehicle as a coordinate origin; calculating a vector sum of the X-axis unit vector k x and the Y-axis unit vector k y; representing an inclination angle by using the vector sum; and performing transformation between the north-east-down coordinate system and the control coordinate system by using the inclination angle; wherein the X-axis unit vector and the Y-axis unit vector are respectively calculated by using the following formulas; k x = T ⋅ 1 0 ‖ T ⋅ 1 0 ‖; k y = T ⋅ 0 1 ‖ T ⋅ 0 1 ‖ wherein T is a 2x2 matrix consisting of data taken from first two rows and first two columns of the Euler angle rotation matrix, k x is the X-axis unit vector, k y is the Y-axis unit vector and ‖ T ⋅ 1 0 ‖ is a norm of a product of matrices; wherein the inclination angle is represented by using the following formula: Ψ = tan − 1 k 2 k 1 − 45 ° wherein Ψ is the inclination angle, the vector sum is a two-dimensional vector, and k and k are respectively the length of projections of the vector sum on the Y-axis and the X-axis. receiving a control instruction from a controller, the control instruction comprising at least one initial acceleration in a control coordinate system; transforming the initial acceleration in the control coordinate system to a first acceleration in the north-east-down coordinate system; transforming the first acceleration in the north-east-down coordinate system to a target acceleration of a body coordinate system by using an Euler angle rotation matrix; and controlling a motor of the aerial vehicle to operate according to the target acceleration; wherein the transforming the initial acceleration in the control coordinate system to the first acceleration in the north-east-down coordinate system comprises: obtaining an X-axis unit vector and a Y-axis unit vector of projections of an X-axis and a Y-axis of the body coordinate system on to a level plane of the north-east-down coordinate system, the body coordinate system being a coordinate system with the aerial vehicle as a coordinate origin; calculating a vector sum of the X-axis unit vector k x and the Y-axis unit vector k y; representing an inclination angle by using the vector sum; and performing transformation between the north-east-down coordinate system and the control coordinate system by using the inclination angle; wherein the X-axis unit vector and the Y-axis unit vector are respectively calculated by using the following formulas; k x = T ⋅ 1 0 ‖ T ⋅ 1 0 ‖; k y = T ⋅ 0 1 ‖ T ⋅ 0 1 ‖ wherein T is a 2x2 matrix consisting of data taken from first two rows and first two columns of the Euler angle rotation matrix, k x is the X-axis unit vector, k y is the Y-axis unit vector and ‖ T ⋅ 1 0 ‖ is a norm of a product of matrices; wherein the inclination angle is represented by using the following formula: Ψ = tan − 1 k 2 k 1 − 45 ° wherein Ψ is the inclination angle, the vector sum is a two-dimensional vector, and k and k are respectively the length of projections of the vector sum on the Y-axis and the X-axis. obtaining an X-axis unit vector and a Y-axis unit vector of projections of an X-axis and a Y-axis of the body coordinate system on to a level plane of the north-east-down coordinate system, the body coordinate system being a coordinate system with the aerial vehicle as a coordinate origin; calculating a vector sum of the X-axis unit vector k x and the Y-axis unit vector k y; representing an inclination angle by using the vector sum; and performing transformation between the north-east-down coordinate system and the control coordinate system by using the inclination angle; wherein the X-axis unit vector and the Y-axis unit vector are respectively calculated by using the following formulas; k x = T ⋅ 1 0 ‖ T ⋅ 1 0 ‖; k y = T ⋅ 0 1 ‖ T ⋅ 0 1 ‖ wherein T is a 2x2 matrix consisting of data taken from first two rows and first two columns of the Euler angle rotation matrix, k x is the X-axis unit vector, k y is the Y-axis unit vector and ‖ T ⋅ 1 0 ‖ is a norm of a product of matrices; wherein the inclination angle is represented by using the following formula: Ψ = tan − 1 k 2 k 1 − 45 ° wherein Ψ is the inclination angle, the vector sum is a two-dimensional vector, and k and k are respectively the length of projections of the vector sum on the Y-axis and the X-axis.