A method for modifying an aircraft state in real time, wherein the aircraft comprises an image capturing unit and at least one kind of sensor, wherein the image capturing unit is fixed on the aircraft, and wherein the method comprises the following steps: obtaining historical state information of the image capturing unit, a current image shot by the image capturing unit and an historical image preceding the current image, and currently-measured external information or internal information sensed by the at least one kind of sensor; predicting a matching characteristic point in the current image corresponding to a target characteristic point in the historical image according to the historical state information, wherein the historical state information comprises information characterizing a motion vector comprising direction and speed, and wherein the step of predicting a matching characteristic point in the current image corresponding to a target characteristic point in the historical image according to the historical state information comprises: predicting a coordinate position of the target characteristic point of the historical image in the current image according to the historical state information, and selecting a characteristic point nearest to the coordinate position as said matching characteristic point in the current image corresponding to the target characteristic point in the historical image; and calculating, based on the matching characteristic point, the current external information or the internal information of the image capturing unit; calculating a relative proportional relationship between the external information of the image capturing unit and the external information of said at least one kind of sensor, or between the internal information of the image capturing unit and the internal information of said at least one kind of sensor, according to a predetermined positional relationship of said at least one kind of sensor relative to the image capturing unit, wherein external information comprises information about a distance to an external object and internal information comprises one or more of acceleration information, direction information, angular speed information, speed information or mileage information; and modifying current state information of the image capturing unit estimated from the historical state information, by using the relative proportional relationship. obtaining historical state information of the image capturing unit, a current image shot by the image capturing unit and an historical image preceding the current image, and currently-measured external information or internal information sensed by the at least one kind of sensor; predicting a matching characteristic point in the current image corresponding to a target characteristic point in the historical image according to the historical state information, wherein the historical state information comprises information characterizing a motion vector comprising direction and speed, and wherein the step of predicting a matching characteristic point in the current image corresponding to a target characteristic point in the historical image according to the historical state information comprises: predicting a coordinate position of the target characteristic point of the historical image in the current image according to the historical state information, and selecting a characteristic point nearest to the coordinate position as said matching characteristic point in the current image corresponding to the target characteristic point in the historical image; and predicting a coordinate position of the target characteristic point of the historical image in the current image according to the historical state information, and selecting a characteristic point nearest to the coordinate position as said matching characteristic point in the current image corresponding to the target characteristic point in the historical image; and calculating, based on the matching characteristic point, the current external information or the internal information of the image capturing unit; calculating a relative proportional relationship between the external information of the image capturing unit and the external information of said at least one kind of sensor, or between the internal information of the image capturing unit and the internal information of said at least one kind of sensor, according to a predetermined positional relationship of said at least one kind of sensor relative to the image capturing unit, wherein external information comprises information about a distance to an external object and internal information comprises one or more of acceleration information, direction information, angular speed information, speed information or mileage information; and modifying current state information of the image capturing unit estimated from the historical state information, by using the relative proportional relationship.